scholarly journals Concise Robust Control of the Nonlinear Ship in Course-Keeping Control

2021 ◽  
Vol 4 (2) ◽  
pp. 35
Author(s):  
Changjun Zou ◽  
Jia Yu ◽  
Yingxuan Guo
Keyword(s):  
Robust Control ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Coupled Model ◽  
Lateral Velocity ◽  
Wave Interference ◽  
Wear And Tear ◽  
Nomoto Model ◽  
Stability Principle

Most of the existing nonlinear ship course-keeping control systems are designed with the Nomoto model, which solely considers the yawing of the ship with only one Degree of Freedom (DOF), and it does not consider the coupling between the longitudinal and the lateral velocity of the ship. In this paper, a nonlinear ship course controller design method that can be used in a nonlinear coupled model was proposed. A stable nonlinear ship course controller with anti-wind and anti-wave interference was constructed based on the Lyapunov stability principle and robust control theory, which can be used in the course control of autopilot in the case of wind and waves. In this method, the coupling among the longitudinal and lateral velocity as well as yawing of the ship was considered. The simulation results showed that the method can not only effectively control the ship’s course but also can track the dynamic course effectively. At the same time, compared with the PID control method based on backstepping, the steering angle of the rudder angle of our method is smaller and the wear and tear of steering gear will be smaller.

A New Iterative Identification and Control Method of Closed-Loop Power System Based on Ambient Signals

2015 ◽  
Vol 798 ◽  
pp. 261-265
Author(s):  
Miao Yu ◽  
Chao Lu
Keyword(s):  
Power System ◽  
Closed Loop ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Stability Margin ◽  
System Stability ◽  
Iterative Identification ◽  
Effective Performance ◽  
And Control

Identification and control are important problems of power system based on ambient signals. In order to avoid the model error influence of the controller design, a new iterative identification and control method is proposed in this paper. This method can solve model set and controller design of closed-loop power system. First, an uncertain model of power system is established. Then, according to the stability margin of power system, stability theorem is put forward. And then controller design method and the whole algorithm procedure are given. Simulation results show the effective performance of the proposed method based on the four-machine-two-region system.

Learning control of flexible manipulator with unknown dynamics

2017 ◽  
Vol 37 (3) ◽  
pp. 304-313 ◽  
Author(s):  
Zhiguang Chen ◽  
Chenguang Yang ◽  
Xin Liu ◽  
Min Wang
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Weight Ratio ◽  
Response Speed ◽  
Dynamic Surface Control ◽  
Flexible Manipulator ◽  
Dynamic Surface ◽  
Content Type ◽  
Surface Control

Purpose The purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is introduced elastodynamics in the study and complicated to control. However, due to the flexible manipulator, system has a significant advantage in response speed, control accuracy and load weight ratio to attract a lot of researchers. Design/methodology/approach Since the order of flexible manipulator system is high, designing controller process will be complex, and have a large amount of calculation, but this paper will use the dynamic surface control method to solve this problem. Findings Dynamic surface control method as a controller design method which can effectively solve the problem with the system contains nonlinear and reduced design complexity. Originality/value The authors assume that the dynamic parameters of flexible manipulator system are unknown, and use Radial Basis Function neural network to approach the unknown system, combined with the dynamic surface control method to design the controller.

INTEGRATED PID CONTROLLER DESIGN FOR AN UNMANNED AERIAL VEHICLE WITH STATIC STABILITY

2013 ◽  
Vol 54 (3) ◽  
pp. 200-215 ◽  
Author(s):  
R. LI ◽  
Y. J. SHI ◽  
H. L. XU
Keyword(s):  
Fuzzy Control ◽  
Unmanned Aerial Vehicle ◽  
Pid Controller ◽  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Design Procedure ◽  
Static Stability ◽  
Aerial Vehicle ◽  
Rolling Mode

AbstractThis paper presents an integrated guidance and control (IGC) design method for an unmanned aerial vehicle with static stability which is described by a nonlinear six-degree-of-freedom (6-DOF) model. The model is linearized by using small disturbance linearization. The dynamic characteristics of pitching mode, rolling mode and Dutch rolling mode are obtained by analysing the linearized model. Furthermore, an IGC design procedure is also proposed in conjunction with a proportional–integral–derivative (PID) control method and fuzzy control method. A PID controller is applied in the control loop of the elevator and aileron, and the attitude angle and attitude angular velocity are used as compensation feedback, giving a simple and low-order control law. A fuzzy control method is applied to perform the cross-coupling control of rolling and yawing. Finally, the 6-DOF simulation shows the effectiveness of the developed method.

scholarly journals Discrete-Time Robust Control With an Anticipative Action for Preview Systems

2018 ◽  
Vol 141 (3) ◽  
Author(s):  
Asma Achnib ◽  
Tudor-Bogdan Airimitoaie ◽  
Patrick Lanusse ◽  
Sergey Abrashov ◽  
Mohamed Aoun ◽  
...  
Keyword(s):  
Robust Control ◽  
Discrete Time ◽  
Controller Design ◽  
Design Method ◽  
Reference Signal ◽  
Feedback Controller ◽  
Water Tank ◽  
Level Control ◽  
Model Uncertainties ◽  
Crone Control

A discrete-time robust controller design method is proposed for optimal tracking of future references in preview systems. In the context of preview systems, it is supposed that future values of the reference signal are available a number of time steps ahead. The objective is to design a control algorithm that minimizes a quadratic error between the reference and the output of the system and at the same time achieves a good level of the control signal. The proposed solution combines a robust feedback controller with a feedforward anticipative filter. The feedback controller's purpose is to assure robustness of the closed-loop system to model uncertainties. Any robust control methodology can be used (such as μ-synthesis, qft, or crone control). The focus of this paper will be on the design of the feedforward action in order to introduce the anticipative effect with respect to known future values of the reference signal without hindering the robustness achieved through the feedback controller. As such, the model uncertainties are taken into account also in the design of the feedforward anticipative filter. The proposed solution is validated in simulation and on an experimental water tank level control system.

A Nonlinear Controller Design Method for Fuel-Injected Automotive Engines

1988 ◽  
Vol 110 (3) ◽  
pp. 313-320 ◽  
Author(s):  
D. Cho ◽  
J. K. Hedrick
Keyword(s):  
Fuel Injection ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Design Method ◽  
Model Errors ◽  
Nonlinear Controller ◽  
Engine Model ◽  
Automotive Engines ◽  
On Line

A nonlinear, “sliding mode” fuel-injection controller is designed based on a physically motivated, mathematical engine model. The designed controller can achieve a commanded air-to-fuel ratio with excellent transient properties, which offers the potential for improving fuel economy, torque transients, and emission levels. The controller is robust to model errors as well as to rapidly changing maneuvers of throttle and spark advance. The sliding mode control method offers a great potential for future engine control problems, since: it results in a relatively simple control structure that requires little on-line computing and no table lookups; it is robust to model errors and disturbances; and it can be easily adapted to a family of engines.

scholarly journals Fast Flux and Torque Control of a Double Inverter-Fed Wound Machine Considering All Coupling Interferences

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1845
Author(s):  
Yongsu Han
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Current Control ◽  
Torque Control ◽  
Flux Control ◽  
Efficient Operation ◽  
Decoupling Method ◽  
Current Controller ◽  
Fast Flux

For efficient operation of the squirrel cage induction motor, the flux must be properly adjusted according to the torque. However, in such variable flux operation, the performance of torque control is limited by the flux control because it is not possible to measure and control the rotor current that affects the flux. On the contrary, in a double inverter-fed wound machine (DIFWM), the inverter is connected to the rotor side, as well as the stator side, and the rotor current can be controlled. This controllability of the rotor currents improves the operation performance of a DIFWM. This article presents the decoupling current control method of a DIFWM for fast flux and torque control. Since the rotor flux is directly calculated by the stator and rotor currents, the bandwidth of the flux control can be improved to the bandwidth of the current controller, which means that the torque control also has the same bandwidth. In this article, a detailed current controller design method with a DIFWM feed-forwarding decoupling method to eliminate all coupling interferences is proposed. The simulation and experimental results regarding the DIFWM are presented to verify the torque and flux control performance of the proposed control method.

scholarly journals Design Framework for Achieving Guarantees with Learning-Based Observers

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2039
Author(s):  
Balázs Németh ◽  
Tamás Hegedűs ◽  
Péter Gáspár
Keyword(s):  
Controller Design ◽  
Design Method ◽  
Path Following ◽  
Front Wheel ◽  
Observer Design ◽  
Observation Error ◽  
Lateral Velocity ◽  
Controlled System ◽  
Velocity Signal ◽  
Dynamic Simulator

The paper proposes a novel framework for state observer design, in which learning-based observers are incorporated. The aim of the method is to provide a framework, which is able to guarantee the limitation of the observation error, even if the error of the learning-based observer under all scenarios cannot be verified. The framework is based on the robust H∞ design method, which is able to provide guarantees on the resulted observer. Moreover, the observer design process is extended with a controller design, which leads to a joint robust H∞ controller-observer design. In this paper the proposed method is applied on a vehicle control problem, such as lateral path following. In this problem the goal of the observer is to provide an accurate lateral velocity signal for the vehicle, which is used in the controlled system for the generation of front wheel steering angle. The effectiveness of the method is illustrated through simulation examples on high-fidelity vehicle dynamic simulator CarMaker.

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 Robust composite nonlinear feedback control for uncertain robot manipulators

2020 ◽  
Vol 17 (2) ◽  
pp. 172988142091480
Author(s):  
Yuan Jiang ◽  
Ke Lu ◽  
Chenglong Gong ◽  
Hao Liang
Keyword(s):  
Robust Control ◽  
Feedback Control ◽  
Control Method ◽  
Robot Manipulators ◽  
Design Method ◽  
Torque Control ◽  
Nonlinear Feedback Control ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Uncertain Robot

On the basis of the classical computed torque control method, a new composite nonlinear feedback design method for robot manipulators with uncertainty is presented. The resulting controller consists of the composite nonlinear feedback control and robust control. The core is to use the robust control for online approximation of the system’s uncertainty as a compensation term for the composite nonlinear feedback controller. The design method of the new controller is given, and the convergence of the closed-loop system is proved. The simulation results show that the proposed scheme can make the uncertain robot system have strong robustness and anti-interference ability.

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