Analysis and Design of a Nonlinear Robust Controller

1996 ◽  
Vol 118 (2) ◽  
pp. 339-341 ◽  
Author(s):  
Chyun-Chau Fuh ◽  
Pi-Cheng Tung
Keyword(s):  
Fuzzy Control ◽  
Pid Controller ◽  
Simple Structure ◽  
Design Method ◽  
Nonlinear Controller ◽  
Robust Controller ◽  
Analysis And Design ◽  
Parameter Variations ◽  
Digital Simulations ◽  
Nonlinear Robust

A nonlinear controller and its design method are proposed. The development of the controller is motivated by fuzzy control. The controller has the advantages of simple structure, rapid computation, zero steady error, few parameters to set, and robustness to structure uncertainties and to parameter variations. Comparing the new controller with the PID controller, we find the performance of the new controller to be better. Its sensitivity to variations of the system is smaller than that of the PID and it requires no prefilter to avoid large overshoot. Digital simulations are performed to verify the capability of the proposed new nonlinear controller.

INTEGRATED PID CONTROLLER DESIGN FOR AN UNMANNED AERIAL VEHICLE WITH STATIC STABILITY

2013 ◽  
Vol 54 (3) ◽  
pp. 200-215 ◽  
Author(s):  
R. LI ◽  
Y. J. SHI ◽  
H. L. XU
Keyword(s):  
Fuzzy Control ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Static Stability ◽  
Aerial Vehicle ◽  
Rolling Mode

AbstractThis paper presents an integrated guidance and control (IGC) design method for an unmanned aerial vehicle with static stability which is described by a nonlinear six-degree-of-freedom (6-DOF) model. The model is linearized by using small disturbance linearization. The dynamic characteristics of pitching mode, rolling mode and Dutch rolling mode are obtained by analysing the linearized model. Furthermore, an IGC design procedure is also proposed in conjunction with a proportional–integral–derivative (PID) control method and fuzzy control method. A PID controller is applied in the control loop of the elevator and aileron, and the attitude angle and attitude angular velocity are used as compensation feedback, giving a simple and low-order control law. A fuzzy control method is applied to perform the cross-coupling control of rolling and yawing. Finally, the 6-DOF simulation shows the effectiveness of the developed method.

Gravity Powered Locomotion and Active Control of Three Mass System

2010 ◽  
Author(s):  
Ali Tavakoli ◽  
Yildirim Hurmuzlu
Keyword(s):  
Active Control ◽  
Research Effort ◽  
Robust Controller ◽  
Mass System ◽  
Gait Patterns ◽  
Hybrid Dynamics ◽  
Control Scheme ◽  
Parameter Variations ◽  
A Chain ◽  
Nonlinear Robust

This paper presents the latest results of our research effort to develop a family of energetically efficient robotic locomotors and introduce new gait patterns for them. We study a chain of mechanisms that span from the very simple to the progressively more complicated. These mechanisms can be as simple as a bouncing ball or as complex as a five link biped. This paper presents the results of our study for a three mass dynamical system. We show that this system can generate a rich set of passive gaits such as hopping, tapping, walking. We developed a nonlinear robust controller for the hybrid dynamics of three mass system that is insensitive to parameter variations of the system. The active control scheme generates the passive gaits on arbitrary ground slope angles.

Application of Compound PID Control in the DC Servo Motor

2009 ◽  
Vol 16-19 ◽  
pp. 145-149 ◽  
Author(s):  
Xiao Yan Song ◽  
Qing Jie Yang ◽  
Xue Ming Zhang ◽  
Qi Gao Feng
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Pid Control ◽  
Pid Controller ◽  
Design Method ◽  
Servo System ◽  
Fuzzy Pid ◽  
Control Effect ◽  
Fuzzy Pid Controller ◽  
Performance Requirements

Although the traditional PID controller is widely used in many fields, the system parameters varying and external disturbances existing in the DC servo system will cause large overshoot or poor stability. To improve the performance of the PID controller, a compound servo control system combining the conventional PID control and the fuzzy control is presented to meet the demand of a vehicular antenna servo system in this paper. Incorporating the fuzzy control and the conventional PID control, this paper presents a design method of the fuzzy PID controller that is based on the fuzzy tuning rules and formed by integrating two above control ideas. Simulation results are presented to show the efficiency of the proposed controller. The practical control effect shows that the control system that adopts the fuzzy PID controller has better performance than that of the traditional PID control system, and meets the performance requirements of the servo system.

Robust Nonlinear Control Design for a Hypersonic Aircraft Using Sum–of–Squares Method

2010 ◽  
Author(s):  
Armin Ataei-Esfahani ◽  
Qian Wang
Keyword(s):  
Controller Design ◽  
Sum Of Squares ◽  
Nonlinear Controller ◽  
Robust Controller ◽  
Robust Nonlinear Control ◽  
New Approach ◽  
Aircraft Model ◽  
Hypersonic Aircraft ◽  
Robust Nonlinear Controller ◽  
Nonlinear Robust

In recent years, Sum–Of–Squares (SOS) method has attracted increasing interest as a new approach for stability analysis and controller design of nonlinear dynamic systems. This paper utilizes SOS method to design a robust nonlinear controller for longitudinal dynamics of a hypersonic aircraft model. Specifically, the searching of the nonlinear robust controller is reformulated as a robust SOS/robust LMI problem, and then solved via a stochastic iterative algorithm. As the simulation results show, the designed controller is capable of stabilizing the aircraft and following pilot commands in presence of parametric uncertainties in the aircraft model.

scholarly journals Study on Hybrid Fuzzy Controller Design by Model Reduction Method

2018 ◽  
Vol 7 (3.34) ◽  
pp. 558
Author(s):  
Joon Ho Cho ◽  
. .
Keyword(s):  
Genetic Algorithm ◽  
Fuzzy Control ◽  
Performance Index ◽  
Delay Time ◽  
Pid Controller ◽  
Control Parameter ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Design Method ◽  
Reduced Model

Background/Objectives: In this paper, we proposed an improved model shrinking method and a hybrid-smith prediction fuzzy control design using a reduced model.Methods/Statistical analysis: The method of model reduction is based on Nyquist curve of frequency response, and the reduced model is obtained by considering the response of the transient state and the response of the steady state to the method. The proposed hybrid-smith prediction fuzzy controller tuning method was able to obtain the parameter value by utilizing a reduced model and using a genetic algorithm.Findings: The optimum PID controller design method using the reduced model applied a reduced model and a Smith prediction structure that compensates for the delay time in order to improve the control performance, and as a result, in order to minimize the performance index ITAE value I was able to design a controller. Here, the value of the control parameter was used by combining a method of directly obtaining the reduced model and a method of using the genetic algorithm by numerical analysis. In conclusion, the design method of the hybrid-smith Fuzzy control is a method of controlling by combining the PID controller, the Smith prediction compensating the delay time and the fuzzy controller in parallel, the value of the PID control parameter is optimized using the reduced model The value of the PID parameter was determined. The conversion coefficients (GE, GD, GH, GC) of Fuzzy control were obtained by applying genetic algorithm.Improvements/Applications: In the proposed method, it is possible to obtain directly the value of the parameter of the optimum PID controller and the value of the Smith prediction by using the reduced model, and the part of the Fuzzy conversion coefficient can be obtained by using the genetic algorithm , The ITAE performance index improved more than the conventional method.  

A Design Method of Robust Controller for a Flexible Structure Using H∞/μ Control Theory

1995 ◽  
Author(s):  
Toru Watanabe ◽  
Kazuo Yoshida
Keyword(s):  
Control Theory ◽  
Structural Dynamics ◽  
Design Method ◽  
Flexible Structure ◽  
Vibration Modes ◽  
Model Errors ◽  
Robust Controller ◽  
Parameter Variations ◽  
Torsional Coupling ◽  
And Control

Abstract This paper discusses about robust vibration control of a flexible structure that has transverse and torsional vibration modes. A design method of a controller taking account of the parameter variations and the residual dynamics is presented. The transverse-torsional coupling is translated into parameter variations, and other model errors of structural dynamics of the system are interpreted as frequency-shaped weighting functions. The H∞/μ control theory is applied to synthesize controller and these perturbations are formulated in the generalized plant. To examine the capability of the obtained controller, computer simulations and control experiments are carried out and the effectiveness of the presented method is verified.

Pengembangan Sistem Informasi Siklus Pendapatan pada PT XYZ (Pendekatan Studi Kasus)

2014 ◽  
Vol 5 (1) ◽  
pp. 12-19
Author(s):  
Yohannes Kurniawan ◽  
Janastasha Christie Parapaga
Keyword(s):  
Information System ◽  
Information Systems ◽  
Business Processes ◽  
Design Method ◽  
Accounting Information ◽  
Accounting Information System ◽  
Accounting Information Systems ◽  
Analysis And Design ◽  
Research Goal ◽  
Revenue Cycle

The research goal is to identify and analyze the need of accounting information system related to the revenue cycle at PT XYZ. This paper designing the useful of accounting information systems to support the current business processes, especially on the revenue cycle process. The design method is an Object Oriented Analysis and Design (OOAD) which refers to the modeling and design requirements discipline. And the result achieved by analysis and design of accounting information systems can support current activities of the revenue cycle, especially for the documentation and store of transaction data, and generate reports in accordance with company requirements. Conclusions derived from the analysis and design is the implementation of a webbased application that can help PT XYZ to do the work in different places, such as marketing office, head office and especially at the exhibition. Index Terms - Accounting Information System, revenue cycle, OOAD 

scholarly journals Delay-Dependent Robust Stabilization for Nonlinear Large Systems via Decentralized Fuzzy Control

2011 ◽  
Vol 2011 ◽  
pp. 1-20 ◽  
Author(s):  
Chun-xia Dou ◽  
Zhi-sheng Duan ◽  
Xing-bei Jia ◽  
Xiao-gang Li ◽  
Jin-zhao Yang ◽  
...  
Keyword(s):  
Time Delay ◽  
Fuzzy Control ◽  
Upper Bound ◽  
Time Delays ◽  
Sufficient Conditions ◽  
Large System ◽  
Disturbance Attenuation ◽  
Robust Controller ◽  
Large Systems ◽  
Delay Dependent

A delay-dependent robust fuzzy control approach is developed for a class of nonlinear uncertain interconnected time delay large systems in this paper. First, an equivalent T–S fuzzy model is extended in order to accurately represent nonlinear dynamics of the large system. Then, a decentralized state feedback robust controller is proposed to guarantee system stabilization with a prescribedH∞disturbance attenuation level. Furthermore, taking into account the time delays in large system, based on a less conservative delay-dependent Lyapunov function approach combining with linear matrix inequalities (LMI) technique, some sufficient conditions for the existence ofH∞robust controller are presented in terms of LMI dependent on the upper bound of time delays. The upper bound of time-delay and minimizedH∞performance index can be obtained by using convex optimization such that the system can be stabilized and for all time delays whose sizes are not larger than the bound. Finally, the effectiveness of the proposed controller is demonstrated through simulation example.

Sign in / Sign up

Export Citation Format

Share Document