scholarly journals Integral Backstepping Control of Induction Machine

2021 ◽  
Vol 23 (4) ◽  
pp. 345-351
Author(s):  
Abdelhak Benheniche ◽  
Farid Berrezzek
Keyword(s):  
High Speed ◽  
Induction Machine ◽  
Lyapunov Theory ◽  
System Stability ◽  
External Disturbances ◽  
Control Approach ◽  
Integral Action ◽  
Resistance Variation ◽  
Control Scheme ◽  
Rotor Flux

The goal of this work is to propose a latest design of a rotor speed and rotor flux modulus control approach for an induction machine using a Backstepping corrector with an integral action. The advantage of the Backstepping Strategy is the ability to manage a nonlinear system. The Lyapunov theory has been used to ensure the system stability. To improve the controller robustness proprieties the integral action is used, despite the system uncertainties and the existence of external disturbances. The unavailable rotor flux is recovered by estimation of the rotor flux of the machine based on the integration of the stator voltage expressions. The simulation results illustrate the effectiveness of the proposed control scheme under load disturbances, rotor resistance variation and low and high speed.

scholarly journals Research on a LADRC Strategy for Trajectory Tracking Control of Delta High-Speed Parallel Robots

2020 ◽  
Vol 2020 ◽  
pp. 1-12
Author(s):  
Cheng Liu ◽  
Yanming Cheng ◽  
Dejun Liu ◽  
Guohua Cao ◽  
Ilkyoo Lee
Keyword(s):  
Trajectory Tracking ◽  
High Speed ◽  
External Disturbance ◽  
Parallel Robot ◽  
Parallel Robots ◽  
System Stability ◽  
External Disturbances ◽  
Trajectory Tracking Control ◽  
Disturbance Rejection Control ◽  
Control Scheme

In order to better track the planned trajectory of Delta high-speed parallel robot, this paper proposes a dynamics control strategy for Delta high-speed parallel robots based on the linear active disturbance rejection control (LADRC) strategy which realizes decoupling control through observing and compensating the coupling and internal and external disturbances between the three joints. Firstly, the structure and dynamics model of the Delta high-speed parallel robot are analyzed, respectively. Secondly, the control scheme of the Delta high-speed parallel robot dynamic LADRC strategy is constructed, and then, the system stability is analyzed. Taking a representative 8-shaped space helical variance trajectory as a given input of the system and a triangular wave as an external disturbance as given disturbance input of the system, simulations are carried out to demonstrate the effectiveness of the proposed LADRC strategy; results indicate that the system with the LADRC strategy has a good quick and precise real-time trajectory tracking and strong robustness.

Robust Guidance Control for Nonholonomic AGV Based on First Order Dynamic Sliding Mode Techniques

2013 ◽  
Vol 709 ◽  
pp. 583-588
Author(s):  
Jin Hua Ye ◽  
Di Li ◽  
Shi Yong Wang ◽  
Feng Ye
Keyword(s):  
High Performance ◽  
Sliding Mode ◽  
Path Following ◽  
Lyapunov Theory ◽  
External Disturbances ◽  
Guidance Control ◽  
First Order ◽  
Control Scheme ◽  
The Impact ◽  
Dynamic Sliding Mode

This paper develops a high performance guidance controller for automated guided vehicle (AGV) with nonholonomic constraint. In this controller, the path following method in the Serret-Frenet frame is used for driving the AGV onto a predefined path at a constant forward speed. Moreover, a first order dynamic sliding mode controller is proposed, not only to overcome the impact of unknown model uncertainties and external disturbances of the system, but also to weaken the chattering in the standard sliding mode control. The global asymptotic stability and robustness of the system is proven by the Lyapunov theory and LaSalles invariance principle. Simulation results show the validity of the proposed guidance control scheme.

A New Cast Stone Roller Kiln and its Combustion Control Approach

2012 ◽  
Vol 605-607 ◽  
pp. 428-432 ◽  
Author(s):  
Jing Chen ◽  
Ai Jun Luo ◽  
You Xin Yuan ◽  
Chun Xiao ◽  
Wang Lin Wang ◽  
...  
Keyword(s):  
Energy Consumption ◽  
High Speed ◽  
High Energy ◽  
Combustion Control ◽  
Cast Stone ◽  
Roller Kiln ◽  
Control Approach ◽  
Control Scheme ◽  
Dense Distribution ◽  
High Energy Consumption

The domestic cast stone industrial production is of high energy consumption and low productivity, so a new cast stone roller kiln is firstly developed. A combustion control approach is advanced to accommodate the new roller kiln architecture and meet the combustion control requirements. Continuous proportion and pulse control methods are adopted to the high-speed isothermal burners with internal dense distribution. Two controllers mutually collaborated in pairs to obtain the internal uniform temperature. The implementation of the combustion control scheme is put forward. The application results demonstrated that the new roller kiln and combustion controller could effectively decrease the furnace temperature difference, increase stability of the combustion atmosphere, improve product quality, reduce energy consumption and NOx emissions.

Stable and High Performance Energy-Efficient Motion Control of Electric Load Sensing Controlled Hydraulic Manipulators

2013 ◽  
Author(s):  
Janne Koivumäki ◽  
Jouni Mattila
Keyword(s):  
Motion Control ◽  
Energy Efficient ◽  
High Performance ◽  
System Stability ◽  
Electric Load ◽  
Hydraulic Systems ◽  
Control Approach ◽  
Load Sensing ◽  
Hydraulic Manipulators ◽  
Control Scheme

In order to achieve higher energy efficiency for hydraulic systems the Load Sensing (LS) systems, i.e. a Variable Displacement Pump (VDP) with hydro-mechanical control system, can be considered as a state-of-the-art solution. However, as is well known, these traditional hydraulic LS-systems are usually characterized by difficulties in tuning, which can lead to system stability problems. In our previous studies, we have developed a high precision motion control for hydraulic manipulators with separate meter-in meter-out controlled hydraulic actuators. Our control approach was based on the Virtual Decomposition Control (VDC) approach that ensured high motion tracking performance while rigorously guaranteeing the system stability. In this paper, we propose both energy-efficient and high performance nonlinear model based motion control scheme that utilizes the developed servocontrolled Electric Load Sensing (ELS) system for hydraulic robotic manipulators. Experimental results are presented with the proposed ELS-controlled VDP and hydraulic manipulator lifting servoactuator that utilized a separate meter-in meter-out flow control scheme.

scholarly journals An Adaptive Hierarchical Sliding Mode Controller for Autonomous Underwater Vehicles

Electronics ◽  
2021 ◽  
Vol 10 (18) ◽  
pp. 2316
Author(s):  
Quang Van Vu ◽  
Tuan Anh Dinh ◽  
Thien Van Nguyen ◽  
Hoang Viet Tran ◽  
Hai Xuan Le ◽  
...  
Keyword(s):  
Adaptive Learning ◽  
Autonomous Underwater Vehicle ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Lyapunov Theory ◽  
Control Technique ◽  
External Disturbances ◽  
Control Scheme ◽  
Hierarchical Sliding Mode ◽  
Over Time

The paper addresses a problem of efficiently controlling an autonomous underwater vehicle (AUV), where its typical underactuated model is considered. Due to critical uncertainties and nonlinearities in the system caused by unavoidable external disturbances such as ocean currents when it operates, it is paramount to robustly maintain motions of the vehicle over time as expected. Therefore, it is proposed to employ the hierarchical sliding mode control technique to design the closed-loop control scheme for the device. However, exactly determining parameters of the AUV control system is impractical since its nonlinearities and external disturbances can vary those parameters over time. Thus, it is proposed to exploit neural networks to develop an adaptive learning mechanism that allows the system to learn its parameters adaptively. More importantly, stability of the AUV system controlled by the proposed approach is theoretically proved to be guaranteed by the use of the Lyapunov theory. Effectiveness of the proposed control scheme was verified by the experiments implemented in a synthetic environment, where the obtained results are highly promising.

Planing force identification in high-speed underwater vehicles

2016 ◽  
Vol 22 (20) ◽  
pp. 4176-4191 ◽  
Author(s):  
Mojtaba Mirzaei ◽  
Mohammad Eghtesad ◽  
Mohammad Mahdi Alishahi
Keyword(s):  
High Speed ◽  
Hybrid Control ◽  
Equations Of Motion ◽  
Nonlinear Behavior ◽  
Underwater Vehicles ◽  
The Body ◽  
Force Identification ◽  
Control Approach ◽  
Control Scheme ◽  
Highly Nonlinear

One of the most important issues, which high-speed underwater vehicles (HSUV) deal with, is the so-called planing force. The dynamic of HSUV includes two separate phases called planing phase and non-planing phase. Ideally, in perfect flight, the vehicle should fly within the cavity walls. However, in practice, the vehicle impacts on the cavity boundaries due to disturbances. The magnitude of the planing force is large and has a strong effect on dynamics of HSUV. However, planing force modeling is often too simple and therefore inaccurate, due to the nonlinear interaction among the solid, liquid, and gaseous phases, which is not well understood yet. Consequently, planing force identification is of great importance and should be studied in details. The present paper discusses the identification of the planing force in HSUV. For this purpose, the equations of motion are developed for the HSUV in the planing phase while the tail and the body end impact on the cavity wall. Then, a robust hybrid switching control approach is employed to deal with the highly nonlinear behavior of the underwater vehicle as it is influenced by the liquid-gas boundary interactions. An on-line planing force identification based on Lyapunov function is considered within designing controller procedure, thus the stability of the system is guaranteed. Lateral and longitudinal planing force identification are achieved and discussed. Compared to the proportional-integral-derivative control scheme, the hybrid control scheme seems to increase the stabilization of HSUV, which is useful in avoiding unsteady changes of cavity shape.

Adaptive control for networked uncertain cooperative dual-arm manipulators: an event-triggered approach

Robotica ◽  
2021 ◽  
pp. 1-28
Author(s):  
Mohamed Abbas ◽  
Santosha K. Dwivedy
Keyword(s):  
Adaptive Controller ◽  
System Stability ◽  
Superior Performance ◽  
Network Resources ◽  
Control Approach ◽  
Control Scheme ◽  
Adaptive Motion ◽  
Triggering Conditions ◽  
Internal Forces ◽  
Event Triggered

Abstract In this paper, an improved adaptive motion-force control approach is introduced to control the cooperative manipulators transporting a shared object under limited communication. The adaptive controller is designed based on the backstepping approach to control the motion of the handled object in the presence of uncertainties and external disturbances. Moreover, the force controller is established to maintain constant internal forces. An event-triggered (ET) mechanism is derived based on the Lyapunov analysis to deal with the bandwidth restrictions and maintain the system stability during the cooperative manipulation. The effectiveness of the proposed control scheme is investigated by comparing it with the existing variations of adaptive backstepping control (i.e., traditional and state augmented schemes). Moreover, the designed triggering mechanism is compared with different triggering conditions presented in the literature. The proposed control approach is further validated in a more realistic virtual robot experimentation platform (i.e., V-REP) using two SCORBOT-ER VPlus manipulators. From the TrueTime-based simulation runs, the proposed control scheme exhibits superior performance in tandem with efficient utilization of the network resources during the transportation task.

Sensor faults tolerance control for a novel multi-rotor aircraft based on sliding mode control

2017 ◽  
Vol 233 (1) ◽  
pp. 180-196 ◽  
Author(s):  
Chunyang Fu ◽  
Yantao Tian ◽  
Cheng Peng ◽  
Xun Gong ◽  
Lei Zhang ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Sliding Mode Control ◽  
Sliding Mode ◽  
Lyapunov Theory ◽  
System Stability ◽  
Sensor Faults ◽  
External Disturbances ◽  
Outer Loop ◽  
Velocity Sensor ◽  
Mode Control

This paper deals with the controllers design using a novel siding mode control and proportional–derivative control for the trajectory tracking problem of a new multi-rotor aircraft, which experiences angular velocity sensor faults and external disturbances. The control system is divided into two parts: the inner loop for attitude subsystem and outer loop for position subsystem. For the inner loop, the angular velocity sensor faults, including bias, drift, loss of accuracy, and loss of effectiveness are considered as equivalent mismatched disturbances, while the system internal coupling, nonlinearity, and external disturbances are considered as equivalent matched disturbances. A novel sliding mode control approach is proposed for inner loop controller design, which includes a nonlinear disturbance observer to estimate both mismatched and matched disturbances, a novel switching surface based on the estimation of the mismatched disturbance to counteract its impact, a double power reaching law to attenuate the chattering problem, and a compensation for the matched disturbance to reduce the controller gains. The sensor faults are handled without fault detection and controller reconfiguration, making the method require less computation and easy implementation. The proposed method enhances the robustness without sacrificing the nominal properties. For outer loop, the proportional–derivative approach is used to design the virtual controller. The closed-loop system stability is proved by the Lyapunov theory. Finally, various simulation experiments are shown to validate the effectiveness, robustness, and the superiority of the proposed flight control scheme.

Optimal backstepping control for a ship using firefly optimization algorithm and disturbance observer

2017 ◽  
Vol 40 (6) ◽  
pp. 1983-1998 ◽  
Author(s):  
Muhammad Ejaz ◽  
Mou Chen
Keyword(s):  
Optimization Algorithm ◽  
Disturbance Observer ◽  
Optimization Design ◽  
System Stability ◽  
External Disturbances ◽  
Control Scheme ◽  
Firefly Optimization ◽  
Optimal Control Scheme ◽  
The Cost ◽  
Firefly Optimization Algorithm

In this paper, an optimal control scheme is presented for a ship in the presence of external disturbances. Using the backstepping technique and a disturbance observer method, a nonlinear control scheme has been designed and its closed loop system stability has been guaranteed. The parameters of the proposed controller have been optimized via a metaheuristic optimization algorithm called the firefly algorithm. In the optimization design, the modified Integral of the time-weighted absolute value of the error has been used as the cost function. To prove the effectiveness of the controller, the results are compared via simulation with the traditional backstepping controller on a model ship named Cybership II.

scholarly journals Backstepping Control of an Unmanned Helicopter Subjected to External Disturbance and Model Uncertainty

2021 ◽  
Vol 11 (12) ◽  
pp. 5331
Author(s):  
Wenlong Zhao ◽  
Zhijun Meng ◽  
Kaipeng Wang ◽  
Haoyu Zhang
Keyword(s):  
External Disturbance ◽  
Flight Test ◽  
Lyapunov Theory ◽  
Outdoor Environment ◽  
Wind Gust ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Control Scheme ◽  
Highly Nonlinear ◽  
The Stability

A helicopter is a highly nonlinear system. Its mathematical model is difficult to establish accurately, especially the complicated flapping dynamics. In addition, the forces and moments exerted on the fuselage are very vulnerable to external disturbances like wind gust when flying in the outdoor environment. This paper proposes a composite control scheme which consists of a nonlinear backstepping controller and an extended state observer (ESO) to handle the above problems. The stability of the closed-loop system can be guaranteed based on Lyapunov theory. The external disturbances and model nonlinearities are treated as a lumped disturbance. Meanwhile, the ESO is employed to compensate the influence by estimating the lumped disturbance in real-time. Numerical simulation results are presented to demonstrate that the algorithm can achieve accurate and agile attitude tracking under the external wind gust disturbances even with model uncertainties. When coming to the flight test, a block dropping device was designed to generate a quantifiable and replicable disturbance, and the experimental results indicate that the algorithm introduced above can reject the external disturbance rapidly and track the given attitude command precisely.

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