Performance improvement of improved practical control method for two-mass PTP positioning systems in the presence of actuator saturation

2011 ◽  
Author(s):  
Mohd Fitri Mohd Yakub ◽  
Rini Akmeliawati
Keyword(s):  
Performance Improvement ◽  
Control Method ◽  
Actuator Saturation ◽  
Positioning Systems

Composite Nonlinear Feedback for Vehicle Active Front Steering

2014 ◽  
Vol 663 ◽  
pp. 127-134 ◽  
Author(s):  
M.H. Che Hasan ◽  
Y.M. Sam ◽  
Ke Mao Peng ◽  
Muhamad Khairi Aripin ◽  
Muhamad Fahezal Ismail
Keyword(s):  
Control Method ◽  
Actuator Saturation ◽  
External Disturbance ◽  
Reference Signal ◽  
Stability Control ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Active Front Steering ◽  
Yaw Stability ◽  
Fast Settling

In this paper, Composite Nonlinear Feedback (CNF) is applied on Active Front Steering (AFS) system for vehicle yaw stability control in order to have an excellent transient response performance. The control method, which has linear and nonlinear parts that work concurrently capable to track reference signal very fast with minimum overshoot, fast settling time, and without exceed nature of actuator saturation limit. Beside, modelling of 7 degree of freedom for typical passenger car with magic formula to represent tyre nonlinearity behaviour is also presented to simulate controlled vehicle as close as possible with a real situation. An extensive computer simulation is performed with considering a various profile of cornering manoeuvres with external disturbance to evaluate its performance in different scenarios. The performance of the proposed controller is compared to conventional Proportional Integration and Derivative (PID) for effectiveness analysis.

scholarly journals Performance Improvement of a Hydraulic Active/Passive Heave Compensation Winch Using Semi Secondary Motor Control: Experimental and Numerical Verification

Energies ◽  
2020 ◽  
Vol 13 (10) ◽  
pp. 2671
Author(s):  
Geir-Arne Moslått ◽  
Michael Rygaard Hansen ◽  
Damiano Padovani
Keyword(s):  
Performance Improvement ◽  
Experimental Validation ◽  
Control Method ◽  
Feedforward Control ◽  
State Of The Art ◽  
Numerical Verification ◽  
Stability Margins ◽  
Hydrostatic Transmission ◽  
Expected Performance ◽  
Variable Displacement

In this paper, a newly developed controller for active heave compensated offshore cranes is compared with state-of-the-art control methods. The comparison is divided into a numerical part on stability margins as well as operational windows and an experimental validation of the expected performance improvement based on a full-scale testing on site with a crane rated to 250 metric tons. Such a crane represents the typical target for the new control method using a combination of active and passive hydraulic actuation on the main winch. The active hydraulic actuation is a hydrostatic transmission with variable-displacement pumps and variable-displacement motors. The new controller employs feedforward control of the motors’ displacement so that the window of operation is increased and, simultaneously, oscillations in the system are markedly reduced.

Robust stabilization of longitudinal tracking for cooperative adaptive cruise control considering input saturation

2020 ◽  
Vol 34 (35) ◽  
pp. 2050409
Author(s):  
Youguo He ◽  
Xiaoxiao Tian ◽  
Jie Shen ◽  
Chaochun Yuan ◽  
Yingkui Du
Keyword(s):  
Adaptive Cruise Control ◽  
Control Method ◽  
Controller Design ◽  
Actuator Saturation ◽  
Kinematic Model ◽  
Input Saturation ◽  
Robust Stabilization ◽  
State Feedback Control ◽  
Cruise Control ◽  
Cooperative Adaptive Cruise Control

This paper is concerned with the problem of constraint control for cooperative adaptive cruise control (CACC) with input saturation and input-additive uncertainties. An integrated longitudinal kinematic model of CACC system including vehicle model and constant time headway is established taking into account input saturation and input-additive uncertainties. According to the system’s robustness requirements under input saturation, the saturation control method is introduced. In order to achieve robust global stabilization of the system, a low-gain state feedback control law is designed by using linear low-gain feedback and gain scheduling. Meanwhile, in order to avoid the saturation of the control system, the low gain parameter [Formula: see text] is introduced into the controller design. Finally, the simulation of homogeneous and heterogeneous platoons is carried out by MATLAB/Simulink, which verifies the feasibility and effectiveness of the designed controller. Compared with the SMC controller, saturation controller successfully suppresses the acceleration amplification in the process of propagation along the vehicle platoon, avoids actuator saturation and realizes the stability of CACC system.

Adaptive Identification and Control of Hysteresis in Piezoelectric Actuators

2014 ◽  
Vol 625 ◽  
pp. 129-133
Author(s):  
Xue Song Chen ◽  
Xin Chen ◽  
Xin Du Chen ◽  
Ming Sheng Yang
Keyword(s):  
Fuzzy Control ◽  
Control Algorithm ◽  
Control Method ◽  
Hysteresis Effect ◽  
Hammerstein Model ◽  
Small Displacement ◽  
Precision Positioning ◽  
Positioning Systems ◽  
Hysteresis Nonlinearity ◽  
Fuzzy Control Algorithm

Smart actuators, such as piezoceramic actuators, magnetostrictive actuators, and shape memory alloy actuators are widely used in applications of micrositioning and vibration control. Piezoelectric (PZT) actuators having the characteristic of infinitely small displacement resolution are popularly applied as actuators in precision positioning systems. However, the tracking control accuracy of the precision positioning systems is difficultly achieved because of its nonlinear hysteresis effect. Hence, it is important to take hysteresis effect into consideration for improving the trajectory tracking performance. In this paper, in order to capture the hysteresis nonlinearity in the PZT actuators, the Hammerstein model is put to use. The fuzzy control algorithm is used to identify the weighing values. The adaptive inverse controller based on adaptive fuzzy inference is used to track the PZT actuator. We firstly identify the weighting values of the Hammerstein model in situ using the multi-mode fuzzy control algorithm based on the error between reference displacement and actual displacement of the actuator, and then calculate the weighting values and threshold values of the Hammerstein model. Finally, we obtain the feed-forward input voltage. The stability of the controller in the presence of the estimated state is demonstrated. The experimental results show the performance is effectively improved under the intelligent control method.

scholarly journals A New Path Tracking Method Based on Multilayer Model Predictive Control

2019 ◽  
Vol 9 (13) ◽  
pp. 2649 ◽  
Author(s):  
Guoxing Bai ◽  
Yu Meng ◽  
Li Liu ◽  
Weidong Luo ◽  
Qing Gu ◽  
...  
Keyword(s):  
Model Predictive Control ◽  
Real Time ◽  
Predictive Control ◽  
Control Method ◽  
Control Period ◽  
Path Tracking ◽  
Positioning Systems ◽  
The Real ◽  
Time Performance ◽  
Tracking Controllers

At present, many path tracking controllers are unable to actively adjust the longitudinal velocity according to path information, such as the radius of the curve, to further improve tracking accuracy. For this problem, we propose a new path tracking framework based on model predictive control (MPC). This is a multilayer control system that includes three path tracking controllers with fixed velocities and a velocity decision controller. This new control method is named multilayer MPC. This new control method is compared to other control methods through simulation. In this paper, the maximum values of the displacement error and the heading error of multilayer MPC are 92.92% and 77.02%, respectively, smaller than those of nonlinear MPC. The real-time performance of multilayer MPC is very good, and parallel computation can further improve the real-time performance of this control method. In simulation results, the calculation time of multilayer MPC in each control period does not exceed 0.0130 s, which is much smaller than the control period. In addition, when the error of positioning systems is at the centimeter level, the performance of multilayer MPC is still good.

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