Stability and performance comparison analysis for linear active disturbance rejection control–based system

This paper investigates the stability and performance of the linear active disturbance rejection control (LADRC)–based system with uncertainties and external disturbance via transfer functions and a frequency-domain view. The performance of LADRC is compared with the state-observer-based state feedback control (SOSFC) and state feedback control (SFC). First, the transfer functions and the error transfer functions for LADRC, SOSFC, and SFC are studied using the state-space method. It is proven that the LADRC-, SOSFC-, and SFC-based closed-loop systems have the same transfer function from the reference input to the output and achieve the same control effects for the nominal system. Then, it is proven for the first time that the LADRC has a better anti-interference ability than the SOSFC and SFC. Besides, the asymptotic stability condition of LADRC-based closed-loop system considering large parameter perturbations is given first. Moreover, the sensitivity analysis of the closed-loop system is carried out. The results show that the LADRC has stronger robustness under parameter perturbations. According to the results, we conclude that the LADRC is of great disturbance rejection ability and strong robustness.

Nonlinear Robust Control on Yaw Motion of a Variable-Speed Unmanned Aerial Helicopter under Multi-Source Disturbances

This paper studies the multi-source disturbances attenuation problem on the yaw motion of unmanned aerial helicopter with a variable-speed rotor. The yaw motion subsystem dominated by an electrically-driven tail rotor is firstly introduced, and its trajectory accuracy requires particularly close attention. To this end, we establish a fourth-order yaw error dynamic equation; subsequently, a nonlinear robust control scheme based on optimal H∞ principle is developed, consisting of laws of virtual functions, parameter estimation and a compensation signal. The novelty of this scheme lies in unifying the techniques to deal with the uncertain parameters, noise perturbations, actuator output fault and external airflow turbulence into a simple framework. Stability analysis guarantees that the yaw closed-loop system has the predefined performance of disturbance suppression in the sense of a finite L2-gain. Comparison results with the extended state observer based backstepping controller verify the effectiveness and superior performance of proposed scheme in an aircraft prototype.

SIMULATION OF A CLOSED SYSTEM OF A DC ELECTRIC DRIVE WITH A WIDTH-PULSE CONVERTER

This article investigates the regulation of the angular speed of an electric drive (ED) with a pulse-width converter (PWC) and a direct current motor (DC motor) of independent excitation (NV) when controlled in a closed-loop system. A proportional-integral (PI) -regulator was used as a regulator of the angular velocity. To analyze the processes in the closed-loop SHIP-DPT system, the methods of simulation are used. The principle of operation of an electric drive with control from a PWM is described. Developed and modeled EP circuits with PWM in the Matlab environment using blocks from the Simulink / SimPowerSystem library. A model block has been modeled that calculates the static and dynamic power losses of the PWP IGBT. To calculate the static and dynamic losses, the method of approximating the loss graphs was used. The obtained mathematical dependences describe quite accurately the graphs of the power losses of the IGBT transistor. It is shown that when using a PI-controller, the angular speed of the electric drive is set according to a given speed reference signal.

Boundary stabilization and disturbance rejection for an unstable time fractional diffusion-wave equation

In this paper, we study boundary stabilization and disturbance rejection problem for an unstable time fractional diffusion-wave equation with Caputo time fractional derivative. For the case of no boundary external disturbance, both state feedback control and output feedback control via Neumann boundary actuation are proposed by the classical backstepping method. It is proved that the state feedback makes the closed-loop system Mittag-Leffler stable and the output feedback makes the closed-loop system asymptotically stable. When there is boundary external disturbance, we propose a disturbance estimator constructed by two infinite dimensional auxiliary systems to recover the external disturbance. A novel control law is then designed to compensate for the external disturbance in real time, and rigorous mathematical proofs are presented to show that the resulting closed-loop system is Mittag-Leffler stable and the states of all subsystems involved are uniformly bounded. As a result, we completely resolve, from a theoretical perspective, two long-standing unsolved mathematical control problems raised in [Nonlinear Dynam., 38(2004), 339-354] where all results were verified by simulations only.

Robust piecewise adaptive control for an uncertain semilinear parabolic distributed parameter systems

In this study, we focus on designing a robust piecewise adaptive controller to globally asymptotically stabilize a semilinear parabolic distributed parameter systems (DPSs) with external disturbance, whose nonlinearities are bounded by unknown functions. Firstly, a robust piecewise adaptive control is designed against the unknown nonlinearity and the external disturbance. Then, by constructing an appropriate Lyapunov–Krasovskii functional candidate (LKFC) and using the Wiritinger’s inequality and a variant of the Agmon’s inequality, it is shown that the proposed robust piecewise adaptive controller not only ensures the globally asymptotic stability of the closed-loop system, but also guarantees a given performance. Finally, two simulation examples are given to verify the validity of the design method.

Metaheuristic Optimization of PD and PID Controllers for Robotic Manipulators

In this paper, the Particle Swarm Optimization algorithm (PSO) is combined with Proportional-Derivative (PD) and Proportional-Integral-Derivative (PID) to design more efficient PD and PID controllers for robotic manipulators. PSO is used to optimize the controller parameters Kp (proportional gain), Ki (integral gain) and Kd (derivative gain) to achieve better performances. The proposed algorithm is performed in two steps: (1) First, PD and PID parameters are offline optimized by the PSO algorithm. (2) Second, the obtained optimal parameters are fed in the online control loop. Stability of the proposed scheme is established using Lyapunov stability theorem, where we guarantee the global stability of the resulting closed-loop system, in the sense that all signals involved are uniformly bounded. Computer simulations of a two-link robotic manipulator have been performed to study the efficiency of the proposed method. Simulations and comparisons with genetic algorithms show that the results are very encouraging and achieve good performances.

Discourse for Transition toward Sustainability Development in Industrial Ecology Context in Kutai Kartanegara

A rich ecological value area within East Kalimantan, Kutai Kartanegara, represents a specific-particular ecological system of an island in a tropical country. Covered by the evergreen forest in the past, it has a closed-loop system formed naturally due to its metabolism. This system maintains the high diversity of nature which provides abundant resources both renewable and non-renewable. Owing to its ecological system value, the earth has been numerous beneficial the economic sector both for country and region for decades. Let say coal is one of the attractive resources for the energy sector, which has been contributing over 80% of the GDRP of Kutai Kartanegara in 2010.

Composite nonlinear feedback–based adaptive integral sliding mode control for a servo position control system subject to external disturbance

This paper presents a composite nonlinear feedback–based adaptive integral sliding mode controller with a reaching law (CNF-AISMRL) for fast and accurate control of a servo position control system subject to external disturbance. The proposed controller exploits the advantages of composite nonlinear feedback (CNF) and sliding mode control (SMC) schemes to improve the transient performance and increase the robustness of the closed-loop system. An integral sliding mode combined with a quick reaching law is designed to eliminate the effect of disturbances, which mitigates chattering and achieves finite-time convergence of the sliding mode. An adaptation tuning approach is utilized to deal with unknown but bounded system uncertainties and disturbances. When considering the model uncertainties and disturbances, the stability of the closed-loop system is verified based on the Lyapunov theorem. Numerical simulations are investigated to the effectiveness of the proposed scheme. The transient performance of load disk position to step signal with disturbances using CNF, composite nonlinear feedback based integral sliding mode control (CNF-ISM), and the proposed CNF-AISMRL schemes is given. The simulation results indicate that, without acquiring the knowledge of bounds on system disturbances, the proposed control scheme has superior performance in the presence of time-varying disturbances.