Control Design for the System of Manipulator Handling a Flexible Payload With Input Constraints

2018 ◽  
Author(s):  
Shuyang Liu ◽  
Reza Langari ◽  
Yuanchun Li
Keyword(s):  
Differential Equation ◽  
Ordinary Differential Equation ◽  
Closed Loop ◽  
Semigroup Theory ◽  
Control Design ◽  
Hyperbolic Function ◽  
Control Law ◽  
Input Constraints ◽  
Closed Loop System ◽  
Simulation Results

In this paper, we consider the control design for manipulator handling a flexible payload in the presence of input constraints. The dynamics of the system is described by coupled ordinary differential equation and a partial differential equation. Considering actuators saturation, the proposed control law applies a smooth hyperbolic function to handle the effect of the input constraints. The asymptotic stability of the closed-loop system is proved by using semigroup theory and extended LaSalle’s Invariance Principle. Simulation results show that the proposed controller is effective.

Nonlinear Control of Semi-Active MacPherson Suspension System

2012 ◽  
Author(s):  
Olugbenga M. Anubi ◽  
Carl D. Crane
Keyword(s):  
Closed Loop ◽  
Control Design ◽  
Mr Damper ◽  
Suspension System ◽  
Time Domain Simulation ◽  
Closed Loop System ◽  
Output Feedback Controller ◽  
Space Frequency ◽  
Simulation Results ◽  
Active Damper

This paper presents the control design and analysis of a non-linear model of a MacPherson suspension system equipped with a magnetorheological (MR) damper. The model suspension considered incorporates the kinematics of the suspension linkages. An output feedback controller is developed using an ℒ2-gain analysis based on the concept of energy dissipation. The controller is effectively a smooth saturated PID. The performance of the closed-loop system is compared with a purely passive MacPherson suspension system and a semi-active damper, whose damping coefficient is tunned by a Skyhook-Acceleration Driven Damping (SH-ADD) method. Simulation results show that the developed controller outperforms the passive case at both the rattle space, tire hop frequencies and the SH-ADD at tire hop frequency while showing a close performance to the SH-ADD at the rattle space frequency. Time domain simulation results confirmed that the control strategy satisfies the dissipative constraint.

Stable Nonlinear Control Allocation for Aircraft with Multiple Control Effectors

2011 ◽  
Vol 138-139 ◽  
pp. 404-409 ◽  
Author(s):  
Heng Li ◽  
Jin Yong Yu ◽  
You An Zhang
Keyword(s):  
Closed Loop ◽  
Dynamic Control ◽  
Lyapunov Stability Theory ◽  
Invariant Set ◽  
Control Law ◽  
Control Allocation ◽  
Nonlinear Controller ◽  
Closed Loop System ◽  
Multiple Control ◽  
Simulation Results

With respect to aircraft with redundant multiple control effectors, a nonlinear controller, which is composed of a virtual control law and a dynamic control allocation with position constraints of each effector, is designed. Based on Lyapunov stability theory and LaSalle invariant set theorem, asymptotic stabilities of upper control subsystem, dynamic control allocation subsystem and overall closed-loop system are proved respectively. Simulation results show the effectiveness of the proposed method.

scholarly journals Loop-Shaping ℋ∞ Control of an Aeropendulum Model

2021 ◽  
Vol 26 (4) ◽  
pp. 1-16
Author(s):  
Ricardo Breganon ◽  
Uiliam Nelson L.T. Alves ◽  
João Paulo L.S. De Almeida ◽  
Fernando S.F. Ribeiro ◽  
Marcio Mendonça ◽  
...  
Keyword(s):  
Mathematical Model ◽  
Control Strategy ◽  
Feedback Linearization ◽  
Closed Loop ◽  
Angular Position ◽  
Control Design ◽  
Closed Loop System ◽  
Weighting Functions ◽  
Loop Shaping ◽  
Simulation Results

Abstract This work presents a mathematical model of an aeropendulum system with two sets of motors with propellers and the design and simulation of a loop-shaping ℋ∞ control for this system. In this plant, the objective is to control the angular position of the pendulum rod through the torque generated by the thrust of the motorized propellers at the end of the rod’s axis. The control design is obtained by first using feedback linearization and then designing the ℋ∞ controller using the resulting linear system. For the control strategy validation, simulations were conducted in the Matlab/Simulink® environment, and the weighting functions for the ℋ∞ controller were adjusted to obtain the desired performance and stability of the closed-loop system. The simulation results show the efficiency of the applied methodology.

scholarly journals Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Guoqing Xia ◽  
Jingjing Xue ◽  
Chuang Sun ◽  
Bo Zhao
Keyword(s):  
Lyapunov Function ◽  
Closed Loop ◽  
Control Law ◽  
Dynamic Positioning ◽  
Backstepping Technique ◽  
Closed Loop System ◽  
Positioning Control ◽  
Barrier Lyapunov Function ◽  
Backstepping Controller ◽  
Simulation Results

This paper presents a backstepping controller using barrier Lyapunov function (BLF) for dynamic positioning (DP) system. For safety reasons, the position and heading of DP ship are to be maintained in certain range. Thus, in this paper, a control law based on BLF and backstepping technique is proposed to limit the position and heading. The closed-loop system is proved stable in the sense of Lyapunov stability theories. In addition, since the velocities of ship are not measurable and the wave frequency (WF) motion is unavailable, a passive observer is adopted to estimate the velocities and the effect of WF motion. The simulation results show that the proposed controller can limit the position and heading of the vessel in a predefined range and verify the performance of the proposed controller and the passive observer.

ADAPTIVE CONTROL OF UNCERTAIN LORENZ SYSTEM USING DECOUPLED BACKSTEPPING

2004 ◽  
Vol 14 (04) ◽  
pp. 1439-1445 ◽  
Author(s):  
S. S. GE
Keyword(s):  
Adaptive Control ◽  
Closed Loop ◽  
Lorenz System ◽  
Physical Property ◽  
Asymptotic Convergence ◽  
Closed Loop System ◽  
Feedback Form ◽  
Controlling Chaos ◽  
Simulation Results ◽  
The Lorenz System

In this letter, we reconsider the problem of controlling chaos in the well-known Lorenz system. Firstly, the difficulty in controlling the Lorenz system is discussed in the general strict-feedback form. Then, singularity-free adaptive control is presented for the Lorenz system with three key parameters unknown by exploiting the physical property of the system using decoupled backstepping design. The proposed controller guarantees the asymptotic convergence of the output and the boundedness of all the signals in the closed-loop system. Simulation results are conducted to show the effectiveness of the approach.

scholarly journals Circular Formation Control of Multiagent Systems with Any Preset Phase Arrangement

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Lina Jin ◽  
Shuanghe Yu ◽  
Dongxu Ren
Keyword(s):  
Control Problem ◽  
Multiagent Systems ◽  
Formation Control ◽  
Closed Loop ◽  
Phase Distribution ◽  
The Other ◽  
Control Law ◽  
Closed Loop System ◽  
The Stability ◽  
Phase Arrangement

This paper deals with the circular formation control problem of multiagent systems for achieving any preset phase distribution. The control problem is decomposed into two parts: the first is to drive all the agents to a circle which either needs a target or not and the other is to arrange them in positions distributed on the circle according to the preset relative phases. The first part is solved by designing a circular motion control law to push the agents to approach a rotating transformed trajectory, and the other is settled using a phase-distributed protocol to decide the agents’ positioning on the circle, where the ring topology is adopted such that each agent can only sense the relative positions of its neighboring two agents that are immediately in front of or behind it. The stability of the closed-loop system is analyzed, and the performance of the proposed controller is verified through simulations.

Model Simplification and Stability Robustness With Elastic Flight Vehicles

1995 ◽  
Vol 117 (3) ◽  
pp. 336-342
Author(s):  
Brett Newman ◽  
David K. Schmidt
Keyword(s):  
Closed Loop ◽  
Order Reduction ◽  
Higher Order ◽  
Reduced Order Model ◽  
Control Law ◽  
Model Simplification ◽  
Closed Loop System ◽  
Order Model ◽  
Reduced Order ◽  
Stability Robustness

Quantitative criteria are presented for model simplification, or order reduction, such that the reduced order model may be used to synthesize and evaluate a control law, and the stability and stability robustness obtained using the reduced order model will be preserved when controlling the higher order system. The error introduced due to model simplification is treated as modeling uncertainty, and some of the results from multivariable robustness theory are brought to bear on the model simplification problem. Also, the importance of the control law itself, in meeting the modeling criteria, is underscored. A weighted balanced order reduction technique is shown to lead to results that meet the necessary criteria. The procedure is applied to an aeroelastic vehicle model, and the results are used for control law development. Critical robustness properties designed into the lower order closed-loop system are shown to be present in the higher order closed-loop system.

Iterative Learning Impedance Control in Gait Rehabilitation Robot

2014 ◽  
Vol 494-495 ◽  
pp. 1084-1087
Author(s):  
Fu Cheng Cao ◽  
Hai Xin Sun ◽  
Li Rong Wang
Keyword(s):  
Iterative Learning Control ◽  
Control Algorithm ◽  
Closed Loop ◽  
Impedance Control ◽  
Iterative Learning ◽  
Gait Rehabilitation ◽  
Control Law ◽  
Rehabilitation Robot ◽  
Simulation Results ◽  
Impedance Parameters

An iterative learning impedance control algorithm is presented to control a gait rehabilitation robot. According to the circumstances of the patient, the appropriate rehabilitation target impedance parameters are set. With the adoption of iterative learning control law, the impedance error in the closed loop is guaranteed to converge to zero and the iterative trajectories follow the desired trajectories over the entire operation interval. The effectiveness of the proposed method is shown through numerical simulation results.

Adaptive Servoregulation of a Projectile Fin Using Piezoelectric Actuator

2006 ◽  
Vol 129 (1) ◽  
pp. 100-104 ◽  
Author(s):  
Smitha Mani ◽  
Sahjendra N. Singh ◽  
Surya Kiran Parimi ◽  
Woosoon Yim
Keyword(s):  
Piezoelectric Actuator ◽  
Closed Loop ◽  
Rotation Angle ◽  
Control Law ◽  
Flexible Beam ◽  
Test Results ◽  
Closed Loop System ◽  
Laboratory Test Results ◽  
Aerodynamic Moment ◽  
Elastic Modes

This brief paper treats the question of adaptive control of a projectile fin using a piezoelectric actuator. The hollow projectile fin is rigid, within which a flexible cantilever beam with a piezoelectric active layer is mounted. The model of the fin-beam system includes the aerodynamic moment, which is a function of angle of attack of the projectile. The rotation angle of the fin is controlled by deforming the flexible beam, which is hinged at the tip of the rigid fin. An adaptive servoregulator is designed for the control of the fin angle using the fin angle and its derivative for feedback. Interestingly, the knowledge of the dimension and parameters of the system is not essenstial for the synthesis of the control law. In the closed-loop system, the fin angle asymptotically converges to the desired set point and the elastic modes converge to their equilibrium values. Computer simulation and laboratory test results are presented to show the performance of the controller.

Speed Model Predictive Control Based on the Track Error Rate

2013 ◽  
Vol 336-338 ◽  
pp. 839-842
Author(s):  
Jin Huang ◽  
Cheng Zhi Yang ◽  
Ji Feng Wang
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Closed Loop ◽  
Tracking Error ◽  
Matlab Simulation ◽  
Closed Loop System ◽  
Index Function ◽  
Dynamical Characteristics ◽  
Simulation Results ◽  
Controlled Object

In order to make the controlled object have better dynamical characteristics, through introducing the differential item of error into optimal performance index function of tracking error, an improved algorithm of model predictive control is discussed in this paper. The theoretical analysis and Matlab simulation results show that it has better controlled quality and stronger robustness for closed-loop system.

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