scholarly journals Event-Based Stabilization over Networks with Transmission Delays

2012 ◽  
Vol 2012 ◽  
pp. 1-8 ◽  
Author(s):  
Xiangyu Meng ◽  
Tongwen Chen
Keyword(s):  
Feedback Gain ◽  
Pendulum System ◽  
Transmission Delays ◽  
Performance Requirements ◽  
Inverted Pendulum System ◽  
Event Triggering ◽  
Continuous Feedback ◽  
And Performance ◽  
The Stability ◽  
Event Based

This paper investigates asymptotic stabilization for linear systems over networks based on event-driven communication. A new communication logic is proposed to reduce the feedback effort, which has some advantages over traditional ones with continuous feedback. Considering the effect of time-varying transmission delays, the criteria for the design of both the feedback gain and the event-triggering mechanism are derived to guarantee the stability and performance requirements. Finally, the proposed techniques are illustrated by an inverted pendulum system and a numerical example.

Fuzzy Control of an Inverted Pendulum

1996 ◽  
Author(s):  
Tuna Balkan ◽  
Mehmet Emin Ari
Keyword(s):  
Inverted Pendulum ◽  
Fuzzy Controller ◽  
Angular Position ◽  
Upright Position ◽  
Control Signal ◽  
Position Measurement ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
And Performance ◽  
The Stability

Abstract An inverted pendulum system has been designed and constructed as a physical model of inherently unstable mechanical systems. The vertical upright position of a pendulum is controlled by changing the horizontal position of a cart to which the pendulum is hinged. The stability of the system has been investigated when a fuzzy controller is used to produce the control signal, while making a single measurement. It has been shown that by using simple fuzzy rules to allow real time computation with a single angular position measurement, the system can not be made absolutely stable. However, the stability and performance of the system have been considerably improved by shrinking the membership functions of angular position, computed angular velocity and control signal when inverted pendulum is very close to the vertical upright position.

scholarly journals An Optimized Triggering Algorithm for Event-Triggered Control of Networked Control Systems

Mathematics ◽  
2021 ◽  
Vol 9 (11) ◽  
pp. 1262
Author(s):  
Sunil Kumar Mishra ◽  
Amitkumar V. Jha ◽  
Vijay Kumar Verma ◽  
Bhargav Appasani ◽  
Almoataz Y. Abdelaziz ◽  
...  
Keyword(s):  
Control Systems ◽  
Networked Control Systems ◽  
Networked Control ◽  
Pendulum System ◽  
Uniform Sampling ◽  
Inverted Pendulum System ◽  
Event Triggering ◽  
Non Uniform Sampling ◽  
System States ◽  
Event Triggered

This paper presents an optimized algorithm for event-triggered control (ETC) of networked control systems (NCS). Initially, the traditional backstepping controller is designed for a generalized nonlinear plant in strict-feedback form that is subsequently extended to the ETC. In the NCS, the controller and the plant communicate with each other using a communication network. In order to minimize the bandwidth required, the number of samples to be sent over the communication channel should be reduced. This can be achieved using the non-uniform sampling of data. However, the implementation of non-uniform sampling without a proper event triggering rule might lead the closed-loop system towards instability. Therefore, an optimized event triggering algorithm has been designed such that the system states are always forced to remain in stable trajectory. Additionally, the effect of ETC on the stability of backstepping control has been analyzed using the Lyapunov stability theory. Two case studies on an inverted pendulum system and single-link robot system have been carried out to demonstrate the effectiveness of the proposed ETC in terms of system states, control effort and inter-event execution time.

Stabilization of networked switched affine systems with event-triggered strategy

2021 ◽  
pp. 014233122110213
Author(s):  
Dandan Li ◽  
Zhiqiang Zuo ◽  
Yijing Wang
Keyword(s):  
Affine Systems ◽  
Switching Law ◽  
Event Time ◽  
Sliding Motion ◽  
State Dependent ◽  
Event Triggering ◽  
Stability Issue ◽  
The Stability ◽  
Event Based ◽  
Selection Of

Using an event-based switching law, we address the stability issue for continuous-time switched affine systems in the network environment. The state-dependent switching law in terms of the region function is firstly developed. We combine the region function with the event-triggering mechanism to construct the switching law. This can provide more candidates for the selection of the next activated subsystem at each switching instant. As a result, it is possible for us to activate the appropriate subsystem to avoid the sliding motion. The Zeno behavior for the switched affine system can be naturally ruled out by guaranteeing a positive minimum inter-event time between two consecutive executions of the event-triggering threshold. Finally, two numerical examples are given to demonstrate the effectiveness of the proposed method.

DESIGN OF ADAPTIVE FUZZY SLIDING MODE CONTROL FOR NONLINEAR SYSTEMS

1999 ◽  
Vol 07 (05) ◽  
pp. 463-474 ◽  
Author(s):  
JEN-YANG CHEN
Keyword(s):  
Sliding Mode ◽  
Membership Functions ◽  
System Specification ◽  
Pendulum System ◽  
Control Rules ◽  
Inverted Pendulum System ◽  
Equivalent Control ◽  
Fuzzy Sliding Mode ◽  
The Stability ◽  
The Individual

In this paper, a fuzzy sliding mode controller (FSMC), which is synthesized by a collection of linguistic control rules whose membership functions of THEN-part is adapted, is proposed. Both the membership functions of IF-part and THEN-part are arranged symmetrically and distributed equally in the individual universe of discourse. In particular, the membership functions of the THEN-part can be adapted via one parameter adaptation to meet the required system specification. The proposed direct adaptive FSMC can be synthesized through the following stages. First, the control rules are constructed according to the concepts of SMC, and the fuzzy sets whose membership functions are symmetrically covered in state space. Then, the derived adaptive law is used to adjust the membership functions of the THEN-part. The FSMC is employed to approximate the equivalent control of SMC without knowing the mathematical model of the controlled system. Third, a hitting control is developed to guarantee the stability of the control system. Finally, we apply this FSMC to control a nonlinear inverted pendulum system for confirming the validity of the proposed approach.

Hybrid Optimization Technique for Enhancing the Stability of Inverted Pendulum System

2021 ◽  
Vol 12 (1) ◽  
pp. 77-97
Author(s):  
M. E. Mousa ◽  
M. A. Ebrahim ◽  
Magdy M. Zaky ◽  
E. M. Saied ◽  
S. A. Kotb
Keyword(s):  
Inverted Pendulum ◽  
Optimization Technique ◽  
Linear Quadratic Regulator ◽  
Variable Structure ◽  
Grey Wolf Optimizer ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
New Variant ◽  
The Stability

The inverted pendulum system (IPS) is considered the milestone of many robotic-based industries. In this paper, a new variant of variable structure adaptive fuzzy (VSAF) is used with new reduced linear quadratic regulator (RLQR) and feedforward gain for enhancing the stability of IPS. The optimal determining of VSAF parameters as well as Q and R matrices of RLQR are obtained by using a modified grey wolf optimizer with adaptive constants property via particle swarm optimization technique (GWO/PSO-AC). A comparison between the hybrid GWO/PSO-AC and classical GWO/PSO based on multi-objective function is provided to justify the superiority of the proposed technique. The IPS equipped with the hybrid GWO/PSO-AC-based controllers has minimum settling time, rise time, undershoot, and overshoot results for the two system outputs (cart position and pendulum angle). The system is subjected to robustness tests to ensure that the system can cope with small as well as significant disturbances.

scholarly journals Proportional PDC Design-Based Robust Stabilization and Tracking Control Strategies for Uncertain and Disturbed T-S Model

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9 ◽  
Author(s):  
Chekib Ghorbel ◽  
Amira Tiga ◽  
Naceur Benhadj Braiek
Keyword(s):  
Tracking Control ◽  
Robust Stabilization ◽  
Fuzzy Model ◽  
Nonlinear Dynamic System ◽  
Disturbance Attenuation ◽  
Linear Matrix ◽  
Feedback Gain ◽  
Pendulum System ◽  
Inverted Pendulum System ◽  
S Model

This paper presents a proportional parallel distributed compensation (PPDC) design to the robust stabilization and tracking control of the nonlinear dynamic system, which is described by the uncertain and perturbed Takagi–Sugeno (T-S) fuzzy model. The proposed PPDC control design can greatly reduce the number of adjustable parameters involved in the original PDC and separate them from the feedback gain. Furthermore, the process of finding the common quadratic Lyapunov matrix is simplified. Then, the global asymptotic stability with decay rate and disturbance attenuation of the closed-loop T-S model affected by uncertainties and external disturbances are discussed using the H∞ synthesis and linear matrix inequality (LMI) tools. Finally, to illustrate the merit of our purpose, numerical simulation studies of stabilizing and tracking an inverted pendulum system are presented.

Design and Performance Analysis of LQR Controller for Stabilizing Double Inverted Pendulum System

2017 ◽  
Vol 2 (9) ◽  
pp. 1-5
Author(s):  
Ghassan A. Sultan ◽  
Ziyad K. Farej
Keyword(s):  
Inverted Pendulum ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Pendulum System ◽  
Inverted Pendulum Model ◽  
Inverted Pendulum System ◽  
Pendulum Model ◽  
Lqr Controller ◽  
And Performance ◽  
Performance Results

Double inverted pendulum (DIP) is a nonlinear, multivariable and unstable system. The inverted pendulum which continually moves toward an uncontrolled state represents a challenging control problem. The problem is to balance the pendulum vertically upward on a mobile platform that can move in only two directions (left or right) when it is offset from zero stat. The aim is to determine the control strategy that deliver better performance with respect to pendulum's angles and cart's position. A Linear-Quadratic-Regulator (LQR) technique for controlling the linearized system of double inverted pendulum model is presented. Simulation studies conducted in MATLAB environment show that the LQR controller are capable of controlling the multi output double inverted pendulum system. Also better performance results are obtained for controlling heavy driven part DIP system.

Comparing LQG/LTR and the SDRE Techniques for Hybrid Fully-Connected PLL Network Control

2013 ◽  
Author(s):  
Átila Madureira Bueno ◽  
Angelo Marcelo Tusset ◽  
Diego Paolo Ferruzzo Correa ◽  
José Roberto Castilho Piqueira ◽  
José Manoel Balthazar
Keyword(s):  
Integrated Circuits ◽  
Network Control ◽  
Clock Signal ◽  
Clock Distribution ◽  
Signal Distribution ◽  
Performance Requirements ◽  
Distribution Process ◽  
And Performance ◽  
The Stability ◽  
Fully Connected

Synchronization plays an important role in telecommunication systems and integrated circuits. The Master-Slave is a commonly used strategy for clock signal distribution. However, due to the wireless networks development and the higher operation frequency of integrated circuits, the Mutually-Connected clock distribution strategies are becoming important, and the Fully-Connected strategy appears as a convenient engineering solution. The main drawback of the Fully-Connected architecture is the definition of control algorithms that assure the stability of the network sinchronization. In hybrid synchronization techniques groups of nodes synchronized by the Fully-Connected architecture are synchronized with network master clocks by using the Master-Slave tecnique. In this arrangement, if a route of clock signal distribution becomes inoperative, the group of Fully-Connected nodes retain for some time the original phase and frequency received from the network. The Fully-Connected architecture complexity imposes difficulties to satisfy both stability and performance requirements in the control system design. For that reason the multi-variable LQG/LTR and the SDRE control techniques are applied in order to fulfill both stability and performance requirements. The performance of both techniques are compared, and the results seems to confirm the improvement in the transient response and in the precision of the clock distribution process.

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