scholarly journals The Admissible Control Correction Method in a Nonlinear Terminal Perturbed Problem

2021 ◽  
Vol 11 (12) ◽  
pp. 5560
Author(s):  
Yuliya Belinskaya ◽  
Mikhail Dmitriev ◽  
Dmitry Makarov
Keyword(s):  
Admissible Control ◽  
Perturbation Parameter ◽  
Correction Method ◽  
Limit Problem ◽  
Open Loop ◽  
Unperturbed System ◽  
Problem Solution ◽  
Loop Control ◽  
Point Control ◽  
Point To Point

A solution of a nonlinear perturbed unconstrained point-to-point control problem, in which the unperturbed system is differentially flat, is considered in the paper. An admissible open-loop control in it is constructed using the covering method. The main part of the obtained admissible control correction in the limit problem is found by expanding the perturbed problem solution in series by the perturbation parameter. The first term of the expansion is determined by A.N. Tikhonov’s regularization of the Fredholm integral equation of the first kind. As shown by numerical experiments, the found structure of an admissible control allows one to find the final form of high precision point-to-point control based on the solution of an auxiliary variational problem in its neighborhood.

Experiments on Point-to-Point Control of a Flexible Beam Using Laplace Transform Technique: Part II—Closed-Loop

1991 ◽  
Vol 113 (3) ◽  
pp. 438-443 ◽  
Author(s):  
S. P. Bhat ◽  
D. K. Miu
Keyword(s):  
Closed Loop ◽  
Position Control ◽  
Open Loop ◽  
Flexible Beam ◽  
Laplace Domain ◽  
Loop Control ◽  
Feed Forward Control ◽  
Laplace Transform Technique ◽  
Point Control ◽  
Point To Point

Using the Laplace domain synthesis technique documented in earlier publications, experiments on the closed-loop point-to-point position control of a flexible beam are presented. Two different approaches are described, a feed-forward control and an iterative open-loop control. Solution to the robustness problems encountered during actual implementation is also demonstrated.

Point Control of a One-Link Flexible Manipulator

1986 ◽  
Vol 53 (1) ◽  
pp. 23-27 ◽  
Author(s):  
S. B. Skaar ◽  
D. Tucker
Keyword(s):  
Transfer Functions ◽  
Control Strategies ◽  
Open Loop ◽  
Flexible Manipulator ◽  
Distributed Parameter ◽  
Loop Control ◽  
Control Approach ◽  
Alternative Approach ◽  
Single Link ◽  
Point Control

An alternative approach to the control of nonrigid, distributed parameter systems is presented. Transfer functions that relate the response of points on the system to a controlling force or torque are used in place of ordinary differential equations, which represent an approximation to the system dynamics. The implications of this “point control” approach are discussed with regard to plant modeling accuracy, uncontrolled regions, open-loop and closed-loop control strategies, system identification, and feedback estimation. Sample optimal control histories are illustrated for a single-link manipulator member with end load.

scholarly journals Flexible Link End-Point Control Based on Exact Dynamic Inversion: Experimental Results

2001 ◽  
Author(s):  
Aurelio Piazzi ◽  
Antonio Visioli
Keyword(s):  
Open Loop ◽  
Experimental Results ◽  
Flexible Link ◽  
End Point ◽  
Point Motion ◽  
Inversion Procedure ◽  
System Inversion ◽  
Point Control ◽  
Tip Position ◽  
Point To Point

Abstract In this paper we present a new method for the point-to-point motion control of the end-point of a single flexible link manipulator. The technique is based on an exact system inversion procedure, that allows to define a suitable motion law for the hub in order to reduce the residual vibration at the end of the tip motion. Thus, the end-point control is actually performed in open-loop, therefore avoiding the use of a sensor to measure the actual tip position. Experimental results demonstrate the effectiveness of the approach and that the overall control system is inherently robust to modelling errors.

Antisway Control for a Rotary Crane by Using Evolutionary Computation

2016 ◽  
Vol 28 (5) ◽  
pp. 646-653 ◽  
Author(s):  
Akira Abe ◽  
◽  
Keisuke Okabe ◽  
Keyword(s):  
Evolutionary Computation ◽  
Optimal Trajectory ◽  
Control Method ◽  
Open Loop ◽  
Two Dimensional ◽  
Loop Control ◽  
Dimensional Plane ◽  
Rotary Crane ◽  
Point To Point ◽  
Sway Motion

[abstFig src='/00280005/05.jpg' width='250' text='Photograph of the experimental setup' ] We present a simple antisway control method for a rotary crane, whose load can move in a two-dimensional plane. In particular, we investigate the suppression of residual sway motion of a rotary crane with a boom that performs point-to-point motion. In the proposed method, we attempt to generate the trajectory of the boom using a combination of polynomial and cycloidal functions. The profile of the generated trajectory depends on the coefficients of the polynomial function. Thus, it is necessary to tune the coefficients to minimize the sway motion in the two-dimensional plane as much as possible. We adopt a particle swarm optimization algorithm, an evolutionary computation technique, to tune the coefficients and then obtain the optimal trajectory. By rotating the boom along the optimal trajectory, the two-dimensional residual sway motion is suppressed, i.e., an open-loop control is realized. The effectiveness and feasibility of the proposed control scheme is demonstrated via simulations and experiments.

Solutions to Point-to-Point Control Problems Using Laplace Transform Technique

1991 ◽  
Vol 113 (3) ◽  
pp. 425-431 ◽  
Author(s):  
S. P. Bhat ◽  
D. K. Miu
Keyword(s):  
Laplace Transform ◽  
Linear Time ◽  
Open Loop ◽  
Control Problems ◽  
Algebraic Equations ◽  
Programming Technique ◽  
Linear Algebraic Equations ◽  
Laplace Transform Technique ◽  
Point Control ◽  
Point To Point

Using finite-time Laplace transform, the governing differential equations of linear, time invariant point-to-point control problems are converted into an equivalent set of linear algebraic equations embedded with the desired boundary conditions, characterizing the entire set of optimal and sub-optimal solutions. A linear programming technique for synthesizing the control inputs using selected sets of basis functions is presented. A new concept of feedback control which involves a recursive evaluation of the open-loop input is also developed.

scholarly journals Research on system modeling and motion control simulation of automatic power trowel

2021 ◽  
Vol 2125 (1) ◽  
pp. 012031
Author(s):  
Hao Xu ◽  
Yutian Zhu ◽  
Mo Chen ◽  
Zhao Liu
Keyword(s):  
Control Algorithm ◽  
Control Method ◽  
System Modeling ◽  
Open Loop ◽  
State Feedback Control ◽  
Open Loop Control ◽  
Loop Control ◽  
Point Motion ◽  
Point To Point ◽  
The Relationship

Abstract Aiming at the problems that the existing control researches on the power trowel are limited to the analysis of the motion principle and the open-loop control of some mechanisms, taking a hydraulically-driven ride-on power trowel as the research object, the closed-loop control method of the point-to-point motion of the power trowel is studied. After analyzing the motion principle of the power trowel, based on the assumption of elastic deformation of concrete, the dynamic model of a single trowel is established, and the relationship between the driving force, driving moment and hydraulic moment, velocity, and angular velocity of the trowel is obtained. The whole machine motion equation of the power trowel is deduced, the point-to-point state feedback control algorithm of the power trowel is studied, and a simulation model is built to verify the accuracy of the system model of the power trowel and the effectiveness of the control algorithm. This research can provide reference for the control method design of other complex motions of the power trowel.

Experiments on Point-to-Point Position Control of a Flexible Beam Using Laplace Transform Technique: Part I—Open-Loop

1991 ◽  
Vol 113 (3) ◽  
pp. 432-437 ◽  
Author(s):  
S. P. Bhat ◽  
M. Tanaka ◽  
D. K. Miu
Keyword(s):  
Position Control ◽  
Flexible Structures ◽  
Open Loop ◽  
Engineering Problem ◽  
Flexible Beam ◽  
Loop Control ◽  
Point Position ◽  
Control Functions ◽  
Laplace Transform Technique ◽  
Point To Point

When lightly damped flexible structures are used in high bandwidth applications, the elimination of residual vibration during point-to-point positioning is an important engineering problem. Using the Laplace domain synthesis technique introduced in earlier publications, experiments on the precise point-to-point position control of a flexible beam have been performed. In Part I of this two-part paper, results related to open-loop control are presented. A variety of candidate control functions are evaluated and performance issues related to robustness and sensitivity are investigated.

scholarly journals АНАЛИТИЧЕСКОЕ КОНСТРУИРОВАНИЕ РАЗОМКНУТЫХ СИСТЕМ СТОХАСТИЧЕСКОГО УПРАВЛЕНИЯ МНОГОМЕРНЫМ НЕЛИНЕЙНЫМ ОБЪЕКТОМ

2017 ◽  
Vol 8 (3) ◽  
Author(s):  
Л. Н. Блохин ◽  
С. И. Осадчий ◽  
В. А. Зозуля
Keyword(s):  
Control System ◽  
Transfer Functions ◽  
Block Diagram ◽  
Control Object ◽  
Metrological Certification ◽  
Open Loop ◽  
Problem Solution ◽  
Loop Control ◽  
Control Signals ◽  
Random Components

This article is devoted to the development of a new method of synthesis a regulators’ transfer functions matrix of an optimal multivariable open-loop control system. The regulator is designed to maximize an accuracy of a nonlinear multivariable control object transition from one steady state to another. It is assumed that disturbances act on the control object and sensors measuring data has inertia and noise. Both disturbances and noises are an additive combination of regular and random components. Random components belong to a class of interconnected stationary processes with rational spectral density matrices. A substantiated method differs from the known one by the fact that during formulation and solution of the problem somebody uses a new block diagram of the control system, which takes into account the results of metrological certification of a sensor dynamics. Synthesis of the regulator is carried out in the frequency domain by the Wiener-Kolmogorov method. A new algorithm, which is obtained as a result of synthesis problem solution, allows you to find the matrix of regulator transfer functions , which provides a minimum of corresponding quadratic quality criteria’s. The first of them is equal to the sum of certain way weighted squared deviations regular repetition errors of the object path and control signals. The second criterion is equal to the sum of the weighted variance of the random error components and the control signals. To execute the proposed algorithm it is necessary to perform the operations of Wiener factorization and separation of rational matrices. The corresponding functions are contained in the freely distributed software package SciLab.

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