scholarly journals Vibration-Attenuation Controller Design for Uncertain Mechanical Systems with Input Time Delay

2016 ◽  
Vol 2016 ◽  
pp. 1-7 ◽  
Author(s):  
Yuanchun Ding ◽  
Falu Weng ◽  
Xiaohua Jiang ◽  
Minkang Tang
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
State Space Model ◽  
Mechanical Systems ◽  
Sufficient Conditions ◽  
Uncertain System ◽  
Disturbance Attenuation ◽  
System Model ◽  
Closed Loop System ◽  
Vibration Attenuation

The problems of vibration-attenuation controller design for uncertain mechanical systems with time-varying input delay are of concern in this paper. Firstly, based on matrix transformation, the mechanical system is described as a state-space model. Then, in terms of introducing the linear varying parameters, the uncertain system model is established. Secondly, the LMI-based sufficient conditions for the system to be stabilizable are deduced by utilizing the LMI technique. By solving the obtained LMIs, the controllers are achieved for the closed-loop system to be stable with a prescribed level of disturbance attenuation. Finally, numerical examples are given to show the effectiveness of the proposed theorems.

scholarly journals Finite-Time Vibration-Attenuation Controller Design for Structural Systems with Parameter Uncertainties

2014 ◽  
Vol 6 ◽  
pp. 673174 ◽  
Author(s):  
Yuanchun Ding ◽  
Falu Weng ◽  
Ji Ge ◽  
Liming Liang ◽  
Guoliang Yang
Keyword(s):  
Finite Time ◽  
Closed Loop ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Disturbance Attenuation ◽  
Structural Systems ◽  
Time Stability ◽  
Parameter Uncertainties ◽  
Finite Time Stability ◽  
Vibration Attenuation

The problem of finite-time vibration-attenuation controller design for buildings structural systems with parameter uncertainties is the concern of this paper. The objective of designing controllers is to guarantee the finite-time stability of closed-loop systems with a prescribed level of disturbance attenuation. First, based on matrix transformation, the structural system is described as state-space model, which contains parameter uncertainties. Then, based on finite-time stability analysis method, some sufficient conditions for the existence of finite-time vibration-attenuation controllers are obtained. By solving these conditions, the desired controllers can be obtained for the closed-loop system to be finite-time stable with the performance ∥ z∥2 < γ∥ω∥2. It is shown by the simulation results, that compared with some Lyapunov asymptotic stability results, finite-time stability control can obtain better state responses, especially while the system is under nonzero initial states.

Finite-time dissipative control for networked control systems with hybrid-triggered scheme

2020 ◽  
pp. 014233122094650
Author(s):  
Qian Zhang ◽  
Huaicheng Yan ◽  
Shiming Chen ◽  
Xisheng Zhan ◽  
Xiaowei Jiang
Keyword(s):  
Control Systems ◽  
Finite Time ◽  
Closed Loop ◽  
Controller Design ◽  
Networked Control Systems ◽  
Sufficient Conditions ◽  
Networked Control ◽  
Closed Loop System ◽  
Network Resources ◽  
Dissipative Control

This paper is concerned with the problem of finite-time dissipative control for networked control systems by hybrid triggered scheme. In order to save network resources, a hybrid triggered scheme is proposed, which consists of time-triggered scheme and event-triggered scheme simultaneously. Firstly, sufficient conditions are derived to guarantee that the closed-loop system is finite-time bounded (FTBD) and [Formula: see text] dissipative. Secondly, the corresponding controller design approach is presented based on the derived conditions. Finally, a numerical example is presented to show the effectiveness of the proposed approach.

scholarly journals Robust Synchronization Controller Design for a Class of Uncertain Fractional Order Chaotic Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-8
Author(s):  
Lin Wang ◽  
Chunzhi Yang
Keyword(s):  
Fractional Order ◽  
Chaotic Systems ◽  
Closed Loop ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Closed Loop System ◽  
Synchronization Problem ◽  
Robust Synchronization ◽  
Lyapunov Stability Criterion ◽  
Theoretical Results

Synchronization problem for a class of uncertain fractional order chaotic systems is studied. Some fundamental lemmas are given to show the boundedness of a complicated infinite series which is produced by differentiating a quadratic Lyapunov function with fractional order. By using the fractional order extension of the Lyapunov stability criterion and the proposed lemma, stability of the closed-loop system is analyzed, and two sufficient conditions, which can enable the synchronization error to converge to zero asymptotically, are driven. Finally, an illustrative example is presented to confirm the proposed theoretical results.

Passivity-Based Stabilization of Underactuated Mechanical Systems

2013 ◽  
Vol 421 ◽  
pp. 16-22
Author(s):  
Shan Shan Wu ◽  
Wei Huo
Keyword(s):  
Closed Loop ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Mechanical Systems ◽  
Matching Condition ◽  
Loop System ◽  
Closed Loop System ◽  
Underactuated Mechanical Systems ◽  
Stabilization Control

A new stabilization control method for underactuated linear mechanical systems is presented in this paper. By proper setting the desired closed-loop system, the matching condition for controller design is reduced to one equation and an adjustable parameter (damping coefficient) is introduced to the controller. Stability of the closed-loop system is proved based on passivity. As an application example, stabilization control of 2-DOF Pendubot is studied. The system is linearized at its equilibrium point and the proposed controller design method is applied to the linearized system. The procedure of solving matching condition and design controller for the Pendubot is provided. The simulation results verify feasibility of the proposed method.

scholarly journals Fault Tolerant Vibration-Attenuation Controller Design for Uncertain Linear Structural Systems with Input Time-Delay and Saturation

2013 ◽  
Vol 20 (5) ◽  
pp. 963-977 ◽  
Author(s):  
Falu Weng ◽  
Yuanchun Ding ◽  
Liming Liang ◽  
Guoliang Yang
Keyword(s):  
Time Delay ◽  
Closed Loop ◽  
Controller Design ◽  
Fault Tolerant ◽  
Disturbance Attenuation ◽  
Structural Systems ◽  
Control Input ◽  
Earthquake Excitation ◽  
Vibration Attenuation ◽  
Input Time

The problem of fault tolerant vibration-attenuation controller design for uncertain linear structural systems with control input time-delay and saturation is investigated in this paper. The objective of designing controllers is to guarantee the asymptotic stability of closed-loop systems while attenuate disturbance from earthquake excitation. Firstly, based on matrix transformation, the structural system is described as state-space model, which contains actuator fault, input signal time-delay and saturation at the same time. Based on the obtained model, an LMIs-based condition for the system to be stabilizable is deduced. By solving these LMIs, the controller is established for the closed-loop system to be stable with a prescribed level of disturbance attenuation. The condition is also extended to the uncertain case. Finally, an example is included to demonstrate the effectiveness of the proposed theorems.

Output Feedback Stabilizing Control With an H∞ Bound on Disturbance Attenuation

1993 ◽  
Vol 115 (3) ◽  
pp. 531-535 ◽  
Author(s):  
B. C. Fabien
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Continuation Method ◽  
Sufficient Conditions ◽  
Disturbance Attenuation ◽  
Mixed Norm ◽  
Stabilizing Controller ◽  
Stabilizing Controllers ◽  
Controller Gain ◽  
Loop Transfer Function

This paper considers the design of direct output static and dynamic stabilizing controllers for linear systems. Here, the controllers that stabilize the closed-loop system must satisfy an H∞ disturbance attenuation constraint. Sufficient conditions for the existence of such controllers are presented in the form of two coupled nonlinear matrix equations. These conditions are derived by solving a mixed-norm H2/H∞ optimal control problem. The solution of these equations via a continuation method is also presented. Using the solution algorithm, a fixed order stabilizing controller gain matrix that minimizes the H∞ norm of the closed-loop transfer function can be computed. The controller design technique is applied to the vertical dynamics of an aircraft. It is shown that the performance of the reduced order controllers designed using the technique proposed in this paper is superior to that of full order controllers obtained using the standard LQG approach.

Controller Design for See-Saw Systems

2014 ◽  
Vol 898 ◽  
pp. 680-683
Author(s):  
Hai Yan Wang
Keyword(s):  
Control Theory ◽  
State Feedback ◽  
Closed Loop ◽  
Controller Design ◽  
The State ◽  
Feedback Controller ◽  
System Model ◽  
Asymptotically Stable ◽  
Closed Loop System ◽  
State Feedback Controller

The control theory has widely application in many fields such as industrial and agricultural. A class of see-saw system model will be studied in this paper. Using the theory of pole assignment, we will design the state feedback controller, such that the closed-loop system is asymptotically stable. At the same time, using the tool of MATLAB, the model of closed see-saw system will be simulated and analyzed. It reveals the state regularity of see-saw system.

Two-degree-of-freedom compensator design for disturbance attenuation problem via higher order sinusoidal input describing functions theory

2019 ◽  
pp. 014233121988037
Author(s):  
Bilal Erol ◽  
Muhammed Ali Oz ◽  
Levent Ucun
Keyword(s):  
Closed Loop ◽  
Controller Design ◽  
Higher Order ◽  
Loop System ◽  
Disturbance Attenuation ◽  
Closed Loop System ◽  
Describing Functions ◽  
Sinusoidal Input ◽  
Bounded Uncertainties ◽  
Norm Bounded Uncertainties

In order to deal with disturbance attenuation problem in the presence of norm bounded uncertainties, different techniques involving [Formula: see text]/[Formula: see text] and linear quadratic regulator (LQR) designs exist in literature. The major drawbacks of these approaches may be classified as obtaining controllers with high order terms and too much computational load during the controller design. Hence, two-degree-of freedeom (2-DOF) controller design is taken into consideration in this study in order to avoid some of these drawbacks in the controller design and implementation process for disturbance attenuation problem. Here, the procedure for the design of 2-DOF structure is divided into two parts: designing [Formula: see text] controller to stabilize the closed loop system and implementing a higher order sinusoidal input describing functions (HOSIDF)-based compensator as a secondary controller in order to increase the disturbance attenuation performance of the overall closed loop system where the norm bounded uncertainties already exist. Thanks to the Lur’e type system definition that is also used in the design process of HOSIDF compensator, the research also proves that the proposed 2-DOF design structure is suitable to be implemented into the systems involving nonlinearities such as actuator saturation.

Passivity-Based Tracking Control Design for Underactuated Mechanical Systems

2012 ◽  
Vol 591-593 ◽  
pp. 1225-1230 ◽  
Author(s):  
Shan Shan Wu ◽  
Wei Huo
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Controller Design ◽  
Design Method ◽  
Mechanical Systems ◽  
Matching Condition ◽  
Loop System ◽  
Closed Loop System ◽  
Underactuated Mechanical Systems ◽  
Design Procedures

Passivity-based tracking control of the underactuated linear mechanical systems is investigated in this paper. As our main contribution, the matching condition is decreased into two equations and an adjustable gain (damping gain) is introduced into the controller by setting the desired closed-loop system properly. Stability of the closed-loop system is proved based on passivity of the system. Furthermore, as examples, tracking control of 2-DOF Acrobot and 2-DOF Pendubot are studied. The systems are linearized at their equilibriums and the passivity-based controller design method is applied to the linearized systems. Matching conditions are solved and the design procedures of associate controllers for the two robots are provided. The simulation results show that the designed controllers can realize asymptotical tracking for the given desired trajectories.

scholarly journals l1-Induced State-Feedback Controller Design for Positive Fuzzy Systems

2016 ◽  
Vol 2016 ◽  
pp. 1-9
Author(s):  
Xiaoming Chen ◽  
Mou Chen ◽  
Jun Shen
Keyword(s):  
Fuzzy Systems ◽  
State Feedback ◽  
Closed Loop ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Feedback Controller ◽  
Closed Loop System ◽  
State Feedback Controller ◽  
Takagi Sugeno ◽  
Theoretical Results

The problem ofl1-induced state-feedback controller design is investigated for positive Takagi-Sugeno (T-S) fuzzy systems with the use of linear Lyapunov function. First, a novel performance characterization is established to guarantee the asymptotic stability of the closed-loop system withl1-induced performance. Then, the sufficient conditions are presented to design the required fuzzy controllers and iterative convex optimization approaches are developed to solve the conditions. Finally, one example is presented to show the effectiveness of the derived theoretical results.

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