Fractional Order LQR for Optimal Robust Control of a Simple Structure

2007 ◽  
Author(s):  
Abdollah Shafieezadeh ◽  
Keri Ryan ◽  
YangQuan Chen
Keyword(s):  
Robust Control ◽  
Control Problem ◽  
Fractional Order ◽  
Simple Structure ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Fractional Damping ◽  
Fractional Order Control

This study combines fractional order control with linear quadratic regulator (LQR) for optimal robust control of a simple civil structure. As a first attempt, the purpose of this paper is to demonstrate that, when fractional damping is introduced, additional benefits can be obtained over the best traditional control method. The control problem of this paper can be used as a simple benchmark example to test new control ideas before applying to more complicated models.

scholarly journals A Novel Control Method for Integer Orders Chaos Systems via Fractional-Order Derivative

2011 ◽  
Vol 2011 ◽  
pp. 1-8 ◽  
Author(s):  
Ping Zhou ◽  
Fei Kuang
Keyword(s):  
Theoretical Result ◽  
Fractional Order ◽  
Simple Structure ◽  
Control Method ◽  
Order Derivative ◽  
Control Law ◽  
Fractional Order Control ◽  
Fractional Order Derivative ◽  
Chaos Attractor

A fractional-order control method is obtained to stabilize the point in chaos attractor of integer orders chaos systems. The control law has simple structure and is designed easily. Two examples are also given to illustrate the effectiveness of the theoretical result.

Observer-based robust control for flexible-joint robot manipulators: A state-dependent Riccati equation-based approach

2020 ◽  
Vol 42 (16) ◽  
pp. 3135-3155
Author(s):  
Neda Nasiri ◽  
Ahmad Fakharian ◽  
Mohammad Bagher Menhaj
Keyword(s):  
Robust Control ◽  
Control Problem ◽  
Riccati Equation ◽  
Power Transmission ◽  
Control Method ◽  
Main Idea ◽  
Robotic Systems ◽  
Flexible Joint ◽  
State Dependent ◽  
Highly Nonlinear

In this paper, the robust control problem is tackled by employing the state-dependent Riccati equation (SDRE) for uncertain systems with unmeasurable states subject to mismatched time-varying disturbances. The proposed observer-based robust (OBR) controller is applied to two highly nonlinear, coupled and large robotic systems: namely a manipulator presenting joint flexibility due to deformation of the power transmission elements between the actuator and the robot known as flexible-joint robot (FJR) and also an FJR incorporating geared permanent magnet DC motor dynamics in its dynamic model called electrical flexible-joint robot (EFJR). A novel state-dependent coefficient (SDC) form is introduced for uncertain EFJRs. Rather than coping with the OBR control problem for such complex uncertain robotic systems, the main idea is to solve an equivalent nonlinear optimal control problem where the uncertainty and disturbance bounds are incorporated in the performance index. The stability proof is presented. Solving the complicated robust control problem for FJRs and EFJRs subject to uncertainty and disturbances via a simple and flexible nonlinear optimal approach and no need of state measurement are the main advantages of the proposed control method. Finally, simulation results are included to verify the efficiency and superiority of the control scheme.

scholarly journals System design for inverted pendulum using LQR control via IoT

2020 ◽  
Vol 11 ◽  
pp. 12
Author(s):  
Dechrit Maneetham ◽  
Petrus Sutyasadi
Keyword(s):  
Inverted Pendulum ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Lqr Control ◽  
Lqr Controller ◽  
Model Tuning ◽  
And Performance ◽  
Performance Results ◽  
And Control

This research proposes control method to balance and stabilize an inverted pendulum. A robust control was analyzed and adjusted to the model output with real time feedback. The feedback was obtained using state space equation of the feedback controller. A linear quadratic regulator (LQR) model tuning and control was applied to the inverted pendulum using internet of things (IoT). The system's conditions and performance could be monitored and controlled via personal computer (PC) and mobile phone. Finally, the inverted pendulum was able to be controlled using the LQR controller and the IoT communication developed will monitor to check the all conditions and performance results as well as help the inverted pendulum improved various operations of IoT control is discussed.

scholarly journals Research on Control Methods for the Pressure Continuous Regulation Electrohydraulic Proportional Axial Piston Pump of an Aircraft Hydraulic System

2019 ◽  
Vol 9 (7) ◽  
pp. 1376
Author(s):  
Peng Zhang ◽  
Yunhua Li
Keyword(s):  
Feedback Linearization ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Piston Pump ◽  
Control Methods ◽  
Hydraulic Systems ◽  
Axial Piston Pump ◽  
Linear Quadratic ◽  
Delivery Pressure ◽  
Axial Piston

The objective of this paper is to design a pump that can match its delivery pressure to the aircraft load. Axial piston pumps used in airborne hydraulic systems are required to work in a constant pressure mode setting based on the highest pressure required by the aircraft load. However, the time using the highest pressure working mode is very short, which leads to a lot of overflow lose. This study is motivated by this fact. Pressure continuous regulation electrohydraulic proportional axial piston pump is realized by combining a dual-pressure piston pump with electro-hydraulic proportional technology, realizing the match between the delivery pressure of the pump and the aircraft load. The mathematical model is established and its dynamic characteristics are analyzed. The control methods such as a proportional integral derivative (PID) control method, linear quadratic regulator (LQR) based on a feedback linearization method and a backstepping sliding control method are designed for this nonlinear system. It can be seen from the result of simulation experiments that the requirements of pressure control with a pump are reached and the capacity of resisting disturbance of the system is strong.

scholarly journals LQR-Based Power Train Control Method Design for Fuel Cell Hybrid Vehicle

2013 ◽  
Vol 2013 ◽  
pp. 1-7 ◽  
Author(s):  
Yun Haitao ◽  
Zhao Yulan ◽  
Liu Zunnian ◽  
Hao Kui
Keyword(s):  
Fuel Cell ◽  
Cell Hybrid ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
Hybrid Vehicle ◽  
Feedback Gain ◽  
Linear Quadratic ◽  
Power Train ◽  
Fuel Cell Hybrid Vehicle ◽  
Fuel Cell Hybrid

Based on the mathematical model of fuel cell hybrid vehicle (FCHV) proposed in our previous study, a multistate feedback control strategy of the hybrid power train is designed based on the linear quadratic regulator (LQR) algorithm. A Kalman Filter (KF) observer is introduced to estimate state of charge (SOC) of the battery firstly, and then a linear quadratic regulator is constructed to compute the state feedback gain matrix of the closed-loop control system. At last, simulation and actual test are utilized to demonstrate this new approach.

scholarly journals A Congestion Detection Based Traffic Control for Signalized Intersection

2017 ◽  
Author(s):  
István Varga
Keyword(s):  
Traffic Control ◽  
Error Term ◽  
Control Method ◽  
Road Traffic ◽  
Fundamental Problem ◽  
Linear Quadratic Regulator ◽  
Detection Algorithm ◽  
Linear Quadratic ◽  
Congestion Detection ◽  
Detection Filter

The paper investigates a traffic-responsive control method applicable at isolated signalized intersections. The proposed strategy involves three basic parts: a traffic model, a reconfigurable regulator, and a congestion detection filter. Road traffic dynamics is modeled by the well-known store-and-forward approach. The controller is based on the efficient Linear Quadratic Regulator algorithm. The filter is designed by using the modified version (for discrete time case) of the Fundamental Problem of Residual Generation. The main achievement of the system is the ability to deal with a time-varying model parameter, namely the saturation flow rate of the road links. To this end, an error term is estimated continuously by appropriate fault detection algorithm. The predicted error term is further used by the reconfigurable controller which finally aims to mitigate the number of vehicles waiting at the stop line, i.e. the delay caused by the intersection. A simulation study is also carried out to demonstrate the effectiveness of the controller extended by congestion detection filter.

Flight Control System Design for Propulsion-Controlled Aircraft

2005 ◽  
Vol 219 (4) ◽  
pp. 329-340 ◽  
Author(s):  
Y Ochi
Keyword(s):  
Flight Control ◽  
Linear Models ◽  
Control Method ◽  
Linear Quadratic Regulator ◽  
State Feedback Control ◽  
Longitudinal Motion ◽  
Linear Quadratic ◽  
Engine Thrust ◽  
Model Following Control ◽  
Flight Controls

The loss of an aircraft's primary flight controls can lead to a fatal accident. However, if the engine thrust is available, controllability and safety can be retained. This article describes flight control using engine thrust only when an aircraft has lost all primary flight controls. This is a kind of flight control reconfiguration. For safe return, the aircraft must first descend to a landing area, decelerate to a landing speed, and then be capable of precise flight control for approach and landing. For these purposes, two kinds of controllers are required: a controller for descent and deceleration and a controller for approach and landing. The former controller is designed for longitudinal motion using a model-following control method, based on a linear quadratic regulator. The latter is designed by an H∞ state-feedback control method for both longitudinal and lateral-directional motions. Computer simulation is conducted using linear models of the Boeing 747. The results indicate that flight path control, including approach and landing, is possible using thrust only; however, speed control proves more difficult. However, if the horizontal stabilizer is available, the airspeed can be reduced to a safe landing speed.

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