Persistence Filters for Estimation: Applications to Control in Shared-Sensing Reversible Transducer Systems

2012 ◽  
Vol 134 (4) ◽  
Author(s):  
Srikant Sukumar ◽  
Maruthi R. Akella
Keyword(s):  
Controller Design ◽  
Stable State ◽  
Control Design ◽  
Open Loop ◽  
Stabilizing Controller ◽  
State Observers ◽  
Technical Assumption ◽  
Schedule Design ◽  
Interesting Special Case ◽  
Nonlinear Extensions

We investigate state observer and feedback control design for systems with state- and time-dependent control or measurement gains. In this framework, we look at reversible transducers that are continually switched between the actuation and sensing modes at some prespecified schedule. Design and analysis of stable state-observers and feedback controllers for these classes of switched/hybrid systems are significantly complicated by the fact that, at any given instant of time, the overall system loses either controllability (during the sensing phase) or observability (during the actuation phase). In this work, we consider systems with scalar time-varying measurement gains and provide a novel observer construction that guarantees exponential reconstruction of state estimates to their true values. We go a step further to derive an exponentially stabilizing controller design that uses the state estimates resulting from our observer. This amounts to the establishment of a rather remarkable separation property of the control design. These developments hinge on a rather mild technical assumption, which can be interpreted for the reversible transducer problem as a persistent dwell time for both the sensing and actuation modes. An important feature here is that the convergence rate can be specified to any arbitrary value. Our theoretical results are validated through numerical simulations of challenging test-cases that include open-loop unstable systems. The paper also illustrates potential for nonlinear extensions of the observer based control design by considering an interesting special case.

scholarly journals Robust Control System Design for Multivariable Plants With Lightly Damped Modes

2007 ◽  
Author(s):  
D. Nelson-Gruel ◽  
P. Lanusse ◽  
A. Oustaloup ◽  
V. Pommier
Keyword(s):  
Control System ◽  
System Design ◽  
Transfer Matrix ◽  
Transfer Functions ◽  
Controller Design ◽  
Open Loop ◽  
Bench Mark ◽  
Control System Design ◽  
Stabilizing Controller ◽  
Robust Control System

A robust controller design is proposed for the active suspension system bench-mark problem. The CRONE control system design used is extended to unstable multivariable plants with lightly damped modes and RHP zeros. Decoupling and stabilizing controller K, is achieved for the open-loop transfer matrix. Fractional order transfer functions are used to define all the components of the diagonal open-loop transfer matrix, β. In defining the fractional open-loop transfer function β0i some elements of the plants, G0 and its inverse must be considered to achieve the stable controller. Optimisation provides the best fractional open-loop βopt. Finally, frequency domain system identification is used to find controller K=G0−1 βopt.

Impedance Reduction Controller Design for Mechanical Systems

2013 ◽  
Author(s):  
Hanseung Woo ◽  
Kyoungchul Kong
Keyword(s):  
Case Studies ◽  
Closed Loop ◽  
Controller Design ◽  
Mechanical Impedance ◽  
Open Loop ◽  
Mechatronic Systems ◽  
Closed Loop Systems ◽  
Guaranteed Stability ◽  
Reaction Forces ◽  
Definition Of

Safety is one of important factors in control of mechatronic systems interacting with humans. In order to evaluate the safety of such systems, mechanical impedance is often utilized as it indicates the magnitude of reaction forces when the systems are subjected to motions. Namely, the mechatronic systems should have low mechanical impedance for improved safety. In this paper, a methodology to design controllers for reduction of mechanical impedance is proposed. For the proposed controller design, the mathematical definition of the mechanical impedance for open-loop and closed-loop systems is introduced. Then the controllers are designed for stable and unstable systems such that they effectively lower the magnitude of mechanical impedance with guaranteed stability. The proposed method is verified through case studies including simulations.

Model-Matching Controller Design With Input-Output Data—A Numerical Approach for Redundantly Actuated Systems

1994 ◽  
Vol 116 (4) ◽  
pp. 800-805
Author(s):  
Jenq-Tzong H. Chan
Keyword(s):  
Explicit Knowledge ◽  
Controller Design ◽  
Numerical Technique ◽  
Open Loop ◽  
Loop System ◽  
Synthesis Process ◽  
Model Matching ◽  
Input Output ◽  
Output Data ◽  
Redundantly Actuated

A numerical technique for control system synthesis based on input-output data is presented. The method is applicable when the system is open-loop stable and redundantly actuated. The major merits of the method are as follows. First, the closed-loop system equation may be arbitrarily assigned. Second, explicit knowledge of an open-loop system model is not needed for controller synthesis. Third, the stability of the synthesized system may be verified during the synthesis process; hence, the workability of the controller is ensured.

Controllability Ellipsoid to Evaluate the Performance of Mobile Manipulators for Manufacturing Tasks

2017 ◽  
Vol 9 (6) ◽  
Author(s):  
Stephen L. Canfield ◽  
Reabetswe M. Nkhumise
Keyword(s):  
Time Domain ◽  
Controller Design ◽  
Control Design ◽  
Quantitative Measure ◽  
Space Representation ◽  
System Response ◽  
Geometric Representation ◽  
Mobile Manipulators ◽  
Control Parameters ◽  
The Time Domain

This paper develops an approach to evaluate a state-space controller design for mobile manipulators using a geometric representation of the system response in tool space. The method evaluates the robot system dynamics with a control scheme and the resulting response is called the controllability ellipsoid (CE), a tool space representation of the system’s motion response given a unit input. The CE can be compared with a corresponding geometric representation of the required motion task (called the motion polyhedron) and evaluated using a quantitative measure of the degree to which the task is satisfied. The traditional control design approach views the system response in the time domain. Alternatively, the proposed CE views the system response in the domain of the input variables. In order to complete the task, the CE must fully contain the motion polyhedron. The optimal robot arrangement would minimize the total area of the CE while fully containing the motion polyhedron. This is comparable to minimizing the power requirements of robot design when applying a uniform scale to all inputs. It will be shown that changing the control parameters changes the eccentricity and orientation of the CE, implying a preferred set of control parameters to minimize the design motor power. When viewed in the time domain, the control parameters can be selected to achieve desired stability and time response. When coupled with existing control design methods, the CE approach can yield robot designs that are stable, responsive, and minimize the input power requirements.

Robust Stabilizing Controller Design for Inverted Pendulum System

2014 ◽  
Vol 71 (1) ◽  
Author(s):  
Hazem I. Ali
Keyword(s):  
Steady State ◽  
Time Domain ◽  
State Feedback ◽  
Inverted Pendulum ◽  
Controller Design ◽  
H Infinity ◽  
Pendulum System ◽  
Stabilizing Controller ◽  
Inverted Pendulum System ◽  
System Uncertainties

In this paper the design of robust stabilizing state feedback controller for inverted pendulum system is presented. The Ant Colony Optimization (ACO) method is used to tune the state feedback gains subject to different proposed cost functions comprise of H-infinity constraints and time domain specifications. The steady state and dynamic characteristics of the proposed controller are investigated by simulations and experiments. The results show the effectiveness of the proposed controller which offers a satisfactory robustness and a desirable time response specifications. Finally, the robustness of the controller is tested in the presence of system uncertainties and disturbance.

Neuron Optimization Based PID Approach for Cutting Force Control

2006 ◽  
Vol 315-316 ◽  
pp. 85-89
Author(s):  
S. Jiang ◽  
Yan Shen Xu ◽  
J. Wu
Keyword(s):  
Neural Network ◽  
Controller Design ◽  
Open Loop ◽  
Network Control ◽  
Neural Network Control ◽  
System A ◽  
The Neural Network ◽  
Nc Milling ◽  
Hidden Layer ◽  
Control Principle

To improve the cutting efficiency, one of key approaches is to control with constant force in the full depth working condition. And the controller design is vital to realize the real-time feasibility and robustness of the system. A neuron optimization based PID approach is proposed in this paper and adopted in the NC cutting process. This approach optimizes the parameters of PID controller real-timely with the neural network control principle. It not only overcomes the mismatch of the open-loop system model which occurred in constant PID control, but also solves the contradiction between the calculation speed and precision in the neural network which caused by the node choosing of the hidden layer. At last, the simulation has been carried out on a NC milling machine to prove the validity and effectiveness of the proposed approach.

Sign in / Sign up

Export Citation Format

Share Document