scholarly journals Finite-Time Control for a Coupled Four-Tank Liquid Level System Based on the Port-Controlled Hamiltonian Method

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-14
Author(s):  
Tao Xu ◽  
Haisheng Yu ◽  
Jinpeng Yu
Keyword(s):  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Hamiltonian Function ◽  
Settling Time ◽  
Liquid Level ◽  
Level System ◽  
Time Control ◽  
Practical Engineering ◽  
The Relationship

This work investigates the finite-time control problem for a nonlinear four-tank cross-coupled liquid level system by the port-controlled Hamiltonian (PCH) model. A fixed-free methodology is exhibited which can be used to simplify the controller design procedure. To get an adjustable convergent gain of the finite-time control, a feasible technique named damping normalization is proposed. A novel parameter autotuning algorithm is given to clarify the principle of choosing parameters of the PCH method. Furthermore, a finite-time controller is designed by a state-error desired Hamiltonian function, and the relationship between the settling time and a parameter is given, which can be applied in practical engineering easily to adjust the settling time according to the industrial need. Finally, simulation and experimental results verify the effectiveness of the proposed algorithm.

scholarly journals Finite-Time Stabilization of Stochastic Nonholonomic Systems and Its Application to Mobile Robot

2012 ◽  
Vol 2012 ◽  
pp. 1-18 ◽  
Author(s):  
Fangzheng Gao ◽  
Fushun Yuan
Keyword(s):  
Mobile Robot ◽  
Finite Time ◽  
Controller Design ◽  
Design Procedure ◽  
Nonholonomic Systems ◽  
Finite Time Stability ◽  
Adding A Power Integrator ◽  
Time Control ◽  
Finite Time Stabilization ◽  
System States

This paper investigates the problem of finite-time stabilization for a class of stochastic nonholonomic systems in chained form. By using stochastic finite-time stability theorem and the method of adding a power integrator, a recursive controller design procedure in the stochastic setting is developed. Based on switching strategy to overcome the uncontrollability problem associated withx0(0)=0, global stochastic finite-time regulation of the closed-loop system states is achieved. The proposed scheme can be applied to the finite-time control of nonholonomic mobile robot subject to stochastic disturbances. The simulation results demonstrate the validity of the presented algorithm.

scholarly journals Finite-Time Stabilization for Discrete-Time Delayed Markovian Jump Systems with Partially Delayed Actuator Saturation

2016 ◽  
Vol 2016 ◽  
pp. 1-12
Author(s):  
Guoliang Wang ◽  
Bo Feng
Keyword(s):  
Discrete Time ◽  
Finite Time ◽  
Controller Design ◽  
Actuator Saturation ◽  
Probability Distributions ◽  
Sufficient Conditions ◽  
Markovian Jump Systems ◽  
Markovian Jump ◽  
Time Control ◽  
Jump Systems

The finite-time control problem of discrete-time delayed Markovian jump systems with partially delayed actuator saturation is considered by a mode-dependent parameter approach. Different from the traditionally saturated actuators, a kind of saturated actuator being partially delay-dependent is firstly proposed, where both nondelay and delay states are included and occur asynchronously. Moreover, the probability distributions of such two terms are described by the Bernoulli variable and are taken into account in the controller design. Sufficient conditions for the existence of the desired controller are presented with LMIs. Finally, a numerical example is provided to show the effectiveness and superiority of the obtained results.

scholarly journals Resilient Finite-Time Controller Design of a Class of Stochastic Nonlinear Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Zhiguo Yan
Keyword(s):  
Nonlinear Systems ◽  
Finite Time ◽  
State Feedback ◽  
Controller Design ◽  
Sufficient Conditions ◽  
Stochastic Nonlinear Systems ◽  
Matrix Inequalities ◽  
Annular Domain ◽  
Stabilizing Controller ◽  
Time Control

This paper deals with the problem of resilient finite-time control for a class of stochastic nonlinear systems. The notion of finite-time annular domain stability of stochastic nonlinear systems is first introduced. Then, some sufficient conditions are given for the existence of resilient state feedback finite-time annular domain stabilizing controller, which are expressed in terms of matrix inequalities. A double-parameter searching algorithm is proposed to solve these obtained matrix inequalities. Finally, an example is given to illustrate the effectiveness of the developed method.

Application of Bat-Inspired Algorithm to Optimal PIDA Controller Design for Liquid-Level System

2018 ◽  
Author(s):  
Chaiyo Thammarat ◽  
Kittisak Lurang ◽  
Deacha Puangdownreong ◽  
Sarot Hlangnamthip ◽  
Auttarat Nawikavatan ◽  
...  
Keyword(s):  
Controller Design ◽  
Liquid Level ◽  
Level System

Robust fixed-time formation control for quadrotor unmanned aerial vehicles with directed topology

2021 ◽  
pp. 014233122110325
Author(s):  
Shikai Shao ◽  
Yuanjie Zhao ◽  
Xiaojing Wu
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Finite Time ◽  
Formation Control ◽  
Controller Design ◽  
Initial Conditions ◽  
Fixed Time ◽  
Settling Time ◽  
Lyapunov Theory ◽  
Directed Topology ◽  
Aerial Vehicles

Formation control is one of the key technologies for multiple unmanned aerial vehicles (UAVs). Compared with asymptotic or finite-time controllers, fixed-time controller can provide a guaranteed settling time, which does not depend on initial conditions and is an appealing property for controller design. Thus, robust fixed-time formation controller design for quadrotor UAVs under external disturbance and directed topology is investigated in this paper. A multi-variable super-twisting like integral sliding mode surface and a disturbance observer are respectively designed for position and attitude loops to guarantee robustness. Bi-limit homogeneity is utilized to design the whole closed-loop fixed-time controllers. By skillfully using bi-limit homogeneity technique and Lyapunov theory, the comprehensive stability of position and attitude loops is addressed. Finally, the multiple UAVs are utilized to track a pre-planned trajectory in 3D space and simulation results illustrate that the settling time can be reduced about 40% compared with finite-time controllers.

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