PID-structured controller design for interval systems: Application to piezoelectric microactuators

2011 ◽  
Author(s):  
Sofiane Khadraoui ◽  
Micky Rakotondrabe ◽  
Philippe Lutz
Keyword(s):  
Controller Design ◽  
Interval Systems

Robust fractional-order fixed-structure controller design for uncertain non-commensurate fractional plants using fractional Kharitonov theorem

2021 ◽  
pp. 095965182199135
Author(s):  
Mohsen Ebrahimi ◽  
Mersad Asgari
Keyword(s):  
Fractional Order ◽  
Robust Stability ◽  
Controller Design ◽  
Fractional Order Systems ◽  
Stabilizing Controller ◽  
Kharitonov Theorem ◽  
Comparison Results ◽  
Fixed Structure ◽  
Control Methodology ◽  
Interval Systems

This article deals with the problem of robust fractional-order fixed-structure controller design for commensurate and non-commensurate fractional-order interval systems using fractional Kharitonov theorem. The contribution of this study is to develop a simple control methodology to stabilize the fractional-order Kharitonov-defined vortex polynomials. Using the idea of robust stability testing function and extending it to the systems under study, the straightforward graphical and systematic procedures are proposed to investigate the robust stability of the system by searching for a non-conservative fractional-order Kharitonov region in the controller parameters plane. This region can establish all the fractional-order controllers that make the uncertain fractional-order systems stable. The relation between the fractional-order Kharitonov region and the parameters of the stabilizing controller is also found. Finally, comparison results with three relevant works are given to illustrate the feasibility of the proposed method.

scholarly journals Sine Cosine Algorithm Assisted FOPID Controller Design for Interval Systems Using Reduced-Order Modeling Ensuring Stability

Algorithms ◽  
2020 ◽  
Vol 13 (12) ◽  
pp. 317
Author(s):  
Jagadish Kumar Bokam ◽  
Naresh Patnana ◽  
Tarun Varshney ◽  
Vinay Pratap Singh
Keyword(s):  
Controller Design ◽  
Performance Criteria ◽  
Approximation Technique ◽  
Test Case ◽  
Single Input Single Output ◽  
Reduced Order ◽  
Single Output ◽  
Sine Cosine Algorithm ◽  
Interval Systems ◽  
Order Continuous

The focus of present research endeavor was to design a robust fractional-order proportional-integral-derivative (FOPID) controller with specified phase margin (PM) and gain cross over frequency (ωgc) through the reduced-order model for continuous interval systems. Currently, this investigation is two-fold: In the first part, a modified Routh approximation technique along with the matching Markov parameters (MPs) and time moments (TMs) are utilized to derive a stable reduced-order continuous interval plant (ROCIP) for a stable high-order continuous interval plant (HOCIP). Whereas in the second part, the FOPID controller is designed for ROCIP by considering PM and ωgc as the performance criteria. The FOPID controller parameters are tuned based on the frequency domain specifications using an advanced sine-cosine algorithm (SCA). SCA algorithm is used due to being simple in implementation and effective in performance. The proposed SCA-based FOPID controller is found to be robust and efficient. Thus, the designed FOPID controller is applied to HOCIP. The proposed controller design technique is elaborated by considering a single-input-single-output (SISO) test case. Validity and efficacy of the proposed technique is established based on the simulation results obtained. In addition, the designed FOPID controller retains the desired PM and ωgc when implemented on HOCIP. Further, the results proved the eminence of the proposed technique by showing that the designed controller is working effectively for ROCIP and HOCIP.

Inverse controller design for fuzzy interval systems

2006 ◽  
Vol 14 (1) ◽  
pp. 111-124 ◽  
Author(s):  
R. Boukezzoula ◽  
L. Foulloy ◽  
S. Galichet
Keyword(s):  
Controller Design ◽  
Interval Systems ◽  
Fuzzy Interval

Continuous Time Controller Design

IEE Review ◽  
1991 ◽  
Vol 37 (6) ◽  
pp. 228
Author(s):  
Stephen Barnett
Keyword(s):  
Continuous Time ◽  
Controller Design

Path Tracking Controller Design of Automatic Guided Vehicle Based on Four-Wheeled Omnidirectional Motion Model

2020 ◽  
Vol 17 (2) ◽  
pp. 7996-8010
Author(s):  
X. Wu ◽  
Y. Yang
Keyword(s):  
Control System ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Threshold Value ◽  
Position Angle ◽  
Path Tracking ◽  
Global Coordinate System ◽  
Automatic Guided Vehicle ◽  
Input Variables ◽  
Industrial Pc

This paper presents a new design of omnidirectional automatic guided vehicle based on a hub motor, and proposes a joint controller for path tracking. The proposed controller includes two parts: a fuzzy controller and a multi-step predictive optimal controller. Firstly, based on various steering conditions, the kinematics model of the whole vehicle and the pose (position, angle) model in the global coordinate system are introduced. Secondly, based on the modeling, the joint controller is designed. Lateral deviation and course deviation are used as the input variables of the control system, and the threshold value is switched according to the value of the input variable to realise the correction of the large range of posture deviation. Finally, the joint controller is implemented by using the industrial PC and the self-developed control system based on the Freescale minimum system. Path tracking experiments were made under the straight and circular paths to test the ability of the joint controller for reducing the pose deviation. The experimental results show that the designed guided vehicle has excellent ability to path tracking, which meets the design goals.

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