Robust Control of Nonlinear Tape Transport Systems With and Without Tension Sensors

2006 ◽  
Vol 129 (1) ◽  
pp. 41-55 ◽  
Author(s):  
Matthew D. Baumgart ◽  
Lucy Y. Pao
Keyword(s):  
Robust Control ◽  
Feedback Linearization ◽  
State Feedback ◽  
Transport Systems ◽  
Tape Transport ◽  
Control Laws ◽  
Damping Characteristics ◽  
Lyapunov Redesign ◽  
Time Invariant ◽  
Web Media

Web-winding systems, such as tape drives, are often modeled as linear and time-invariant, but at least two nonlinearities are common in these systems. First, the reel radii and moments of inertia change as web media spools from one reel to another. Second, friction can draw a thin layer of air between the layers of web media wrapped on the take-up reel, making the system’s spring and damping characteristics nonlinear by allowing a greater length of media to vibrate freely. In addition to these nonlinearities, there is often uncertainty in the motor parameters. In the first part of this paper, feedback linearization ideas motivate state feedback and changes of variables that transform the system into decoupled and intuitively meaningful tension and velocity loops. For the case where tension measurements are available, Lyapunov redesign techniques are then used to develop control laws that are robust with respect to these nonlinearities and uncertainties. The second part of this paper then develops an observer-based controller for the case where no tension measurements are available. Performance is established analytically for both the measurement-based and observer-based schemes. Simulations illustrate this performance.

Hinf Control of Uncertain Takagi-Sugeno Fuzzy Descriptor Systems

2013 ◽  
Vol 694-697 ◽  
pp. 2110-2115
Author(s):  
Bao Ping Ma ◽  
Ming Chen
Keyword(s):  
State Feedback ◽  
Descriptor Systems ◽  
Descriptor System ◽  
Linear Matrix ◽  
Matrix Inequalities ◽  
Control Laws ◽  
Invariant Norm ◽  
Norm Bound ◽  
Takagi Sugeno ◽  
Time Invariant

This paper focuses on the problem of Hinf control for uncertain Takagi-Sugeno fuzzy descriptor system with time-invariant norm-bound uncertainty. Sufficient condition for robust Hinf control with state feedback is derived. It is shown that the control laws can be obtained by solving a set of linear matrix inequalities (LMIs) which is numerically tractable with commercially available software. Numerical example is given to demonstrate the advantage of the proposed method.

Time Delay Control of a High-DOF Robot Manipulator Through Feedback Linearization Based Predictor

2019 ◽  
Author(s):  
Mostafa Bagheri ◽  
Peiman Naseradinmousavi ◽  
Miroslav Krstić
Keyword(s):  
Feedback Linearization ◽  
Robot Manipulator ◽  
Input Delay ◽  
Delay Systems ◽  
Control Laws ◽  
Common Control ◽  
Place Task ◽  
Input Delays ◽  
Time Invariant

Abstract We formulate a predictor-based controller for a high-DOF manipulator to compensate a time-invariant input delay during a pick-and-place task. Robot manipulators are widely used in tele-manipulation systems on the account of their reliable, fast, and precise motions while they are subject to large delays. Using common control algorithms on such delay systems can cause not only poor control performance, but also catastrophic instability in engineering applications. Therefore, delays need to be compensated in designing robust control laws. As a case study, we focus on a 7-DOF Baxter manipulator subject to three different input delays. First, delay-free dynamic equations of the Baxter manipulator are derived using the Lagrangian method. Then, we formulate a predictor-based controller, in the presence of input delay, in order to track desired trajectories. Finally, the effects of input delays in the absence of a robust predictor are investigated, and then the performance of the predictor-based controller is experimentally evaluated to reveal robustness of the algorithm formulated. Simulation and experimental results demonstrate that the predictor-based controller effectively compensates input delays and achieves closed-loop stability.

Robust Control for High Performance Induction Motor Drives Based on Partial State-Feedback Linearization

2019 ◽  
Vol 55 (1) ◽  
pp. 490-503 ◽  
Author(s):  
Angelo Accetta ◽  
Francesco Alonge ◽  
Maurizio Cirrincione ◽  
Filippo D'Ippolito ◽  
Marcello Pucci ◽  
...  
Keyword(s):  
Robust Control ◽  
Induction Motor ◽  
Feedback Linearization ◽  
High Performance ◽  
State Feedback ◽  
Motor Drives ◽  
Induction Motor Drives ◽  
Partial State

The Swing Control of Cranes with Variable Rope Length Based on Linear Time Varying System Theory

2012 ◽  
Vol 461 ◽  
pp. 763-767
Author(s):  
Li Fu Wang ◽  
Zhi Kong ◽  
Xin Gang Wang ◽  
Zhao Xia Wu
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Linear Time ◽  
Feedback Stabilization ◽  
Time Varying ◽  
Closed Loop System ◽  
Overhead Cranes ◽  
Time Varying Systems ◽  
Time Invariant ◽  
Time Invariant System

In this paper, following the state-feedback stabilization for time-varying systems proposed by Wolovich, a controller is designed for the overhead cranes with a linearized parameter-varying model. The resulting closed-loop system is equivalent, via a Lyapunov transformation, to a stable time-invariant system of assigned eigenvalues. The simulation results show the validity of this method.

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