scholarly journals Development of a New Adaptive Backstepping Control Design for a Non-Strict and Under-Actuated System Based on a PSO Tuner

Information ◽  
2019 ◽  
Vol 10 (2) ◽  
pp. 38 ◽  
Author(s):  
Amjad Humaidi ◽  
Mustafa Hameed
Keyword(s):  
Steady State ◽  
Dynamic Performance ◽  
Control Design ◽  
Adaptive Controller ◽  
Backstepping Control ◽  
Controlled System ◽  
Design Algorithm ◽  
Adaptive Control Strategy ◽  
The Stability ◽  
Transient And Steady State

In this work, a new adaptive block-backstepping control design algorithm was developed for an under-actuated model (represented by a ball–arc system) to enhance the transient and steady-state behaviors and to improve the robustness characteristics of the controlled system against parameter variation (load change and model uncertainty). For this system, the main mission of the proposed controller is to simultaneously hold the ball at the top of the arc and retain the cart at the required position. The stability of a controlled system based on the proposed adaptive controller was analyzed, and its globally asymptotic stability was proven based on the Lyapunov theorem. A comparative study of adaptive and non-adaptive block-backstepping controllers was conducted in relation to the transient, steady-state, and robustness characteristics. The effectiveness of the controller was verified via simulation within a MATLAB/SIMULINK environment. The simulated results show that the proposed adaptive control strategy could successfully stabilize the under-actuated ball–arc system, regardless of both the regulation problem and the tracking problem. This provides a better dynamic performance and a better load rejection capability, and it performs well in solving the uncertainty problem in the model parameter.

On The Steady State and Dynamic Performance Characteristics of Floating Ring Bearings

1981 ◽  
Vol 103 (3) ◽  
pp. 389-397 ◽  
Author(s):  
Chin-Hsiu Li ◽  
S. M. Rohde
Keyword(s):  
Steady State ◽  
Linear Theory ◽  
High Speed ◽  
Dynamic Performance ◽  
Equations Of Motion ◽  
Nonlinear Behavior ◽  
Journal Bearings ◽  
Transient Problem ◽  
The Stability ◽  
Bearing System

An analysis of the steady state and dynamic characteristics of floating ring journal bearings has been performed. The stability characteristics of the bearing, based on linear theory, are given. The transient problem, in which the equations of motion for the bearing system are integrated in real time was studied. The effect of using finite bearing theory rather than the short bearing assumption was examined. Among the significant findings of this study is the existence of limit cycles in the regions of instability predicted by linear theory. Such results explain the superior stability characteristics of the floating ring bearing in high speed applications. An understanding of this nonlinear behavior, serves as the basis for new and rational criteria for the design of floating ring bearings.

Adaptive Synchronization for a Class of Switched Chaotic Systems with Uncertainty

2012 ◽  
Vol 499 ◽  
pp. 273-277
Author(s):  
Feng Ying Wang ◽  
Li Ming Du ◽  
Gui Li ◽  
Jin Xiang Pian
Keyword(s):  
Adaptive Control ◽  
Chaotic Systems ◽  
Adaptive Controller ◽  
Adaptive Synchronization ◽  
Common Lyapunov Function ◽  
Arbitrary Switching ◽  
Lyapunov Function Method ◽  
Error Dynamic ◽  
Adaptive Control Strategy ◽  
The Stability

In this paper, a new adaptive control strategy for synchronization of switched chaotic systems with uncertainties is developed. Using adaptive control theory and common Lyapunov function method, An adaptive controller is constructed, and a sufficient condition is attainted for the stability of the error dynamic between drive and response switched chaotic systems with uncertainty under arbitrary switching. The results of simulation are given to show effectiveness of the proposed method.

scholarly journals Backstepping control based on L1 adaptive theory for large transport aircraft heavy load airdrop

2018 ◽  
Vol 15 (1) ◽  
pp. 172988141774948
Author(s):  
Pengchao Zhang
Keyword(s):  
High Efficiency ◽  
Control Method ◽  
Uniform Boundedness ◽  
Adaptive Controller ◽  
Backstepping Control ◽  
Heavy Load ◽  
Transport Aircraft ◽  
External Loop ◽  
Control Switch ◽  
The Stability

A study of the L1 adaptive controller is conducted based on the backstepping method for the model of large transport aircraft with drastic changes appearing in heavy load airdrop process. The system is divided into an attitude subsystem and a velocity subsystem. For the attitude subsystem, the backstepping control is used to design the virtual control of path angle and the pitch angle in external loop with the L1 adaptive controller designed in internal loop to estimate the uncertainties and disturbances in the subsystem and to compensate them. In the stability analysis, the uniform boundedness of all signals in the closed-loop system is proven. Simulation results show that the proposed control method preserves the quick dynamic torque response, high efficiency, and robustness in heavy load airdrop; to some extent it can alleviate the control switch lead or lag problem and ensure the safety of the transport aircraft to fulfill the complete airdrop mission.

scholarly journals A Reactive Power Based Reference Model for Adaptive Control Strategy in a SEIG

2018 ◽  
Vol 8 (1) ◽  
pp. 2477-2484
Author(s):  
M. A. Taghikhani ◽  
A. D. Farahani
Keyword(s):  
Vector Control ◽  
Control Strategy ◽  
Reactive Power ◽  
Reference Model ◽  
Dynamic Performance ◽  
Adaptive Controller ◽  
Control Mode ◽  
Rotor Flux ◽  
Adaptive Control Strategy ◽  
Model Reference Adaptive

In this paper, a new control strategy is proposed for a three-phase squirrel-cage self-excited induction generator (SEIG) connected to a variable speed wind turbine in autonomous mode. In order to improve the dynamic performance of the mentioned vector control system, a model reference adaptive controller is used for online rotor time constant estimation. Thus, the main drawbacks of this method, which include the effects of the changes in machine parameters on rotor flux estimation, slip speed, the creation of instability problems and the system leaving vector control mode, are resolved. In this control strategy, a PI controller is used to control the dc voltage and three similar hysteresis current controllers (HCC) are used to control the switching of IGBTs. The results of the dynamic simulation indicate the desirable performance of the proposed system.

scholarly journals A New Adaptive Synergetic Control Design for Single Link Robot Arm Actuated by Pneumatic Muscles

Entropy ◽  
2020 ◽  
Vol 22 (7) ◽  
pp. 723
Author(s):  
Amjad J. Humaidi ◽  
Ibraheem Kasim Ibraheem ◽  
Ahmad Taher Azar ◽  
Musaab E. Sadiq
Keyword(s):  
Dynamic Performance ◽  
Optimization Technique ◽  
Control Design ◽  
Adaptive Controller ◽  
Design Parameters ◽  
Robot Arm ◽  
Synergetic Control Theory ◽  
Pneumatic Muscles ◽  
Optimal Dynamic ◽  
Synergetic Control

This paper suggests a new control design based on the concept of Synergetic Control theory for controlling a one-link robot arm actuated by Pneumatic artificial muscles (PAMs) in opposing bicep/tricep positions. The synergetic control design is first established based on known system parameters. However, in real PAM-actuated systems, the uncertainties are inherited features in their parameters and hence an adaptive synergetic control algorithm is proposed and synthesized for a PAM-actuated robot arm subjected to perturbation in its parameters. The adaptive synergetic laws are developed to estimate the uncertainties and to guarantee the asymptotic stability of the adaptive synergetic controlled PAM-actuated system. The work has also presented an improvement in the performance of proposed synergetic controllers (classical and adaptive) by applying a modern optimization technique based on Particle Swarm Optimization (PSO) to tune their design parameters towards optimal dynamic performance. The effectiveness of the proposed classical and adaptive synergetic controllers has been verified via computer simulation and it has been shown that the adaptive controller could cope with uncertainties and keep the controlled system stable. The proposed optimal Adaptive Synergetic Controller (ASC) has been validated with a previous adaptive controller with the same robot structure and actuation, and it has been shown that the optimal ASC outperforms its opponent in terms of tracking speed and error.

Groundwater and drawdown in a large earth excavation

1980 ◽  
Vol 17 (2) ◽  
pp. 185-202 ◽  
Author(s):  
F. Debidin ◽  
C. F. Lee
Keyword(s):  
Finite Element Method ◽  
Steady State ◽  
The Finite Element Method ◽  
Approximate Methods ◽  
Groundwater Response ◽  
The Stability ◽  
Under Construction ◽  
A Site ◽  
Ontario Hydro ◽  
Transient And Steady State

In deep excavations below the water table, the transient and steady state drawdown conditions are often of interest. Particularly in moderately pervious soils, the stability of the slopes, the excavation methods, and equipment are affected by the groundwater response in the excavation. The extent of the drawdown in the area beyond the excavation must also be determined.For a site under construction by Ontario Hydro, a test excavation to determine the drawdown response in the irregularly stratified soils is described. Analyses of the data by the finite element method and by the theory of aquifer tests are presented. The effect of recharge on the steady state and transient drawdown is discussed.For the main excavation, approximate methods to determine the rate of drawdown, the quantity of seepage, and the steady state drawdown position with recharge from infiltration or deep seepage are outlined.

Dynamic Performance of High-Speed Electric Multiple Unit within Multi-Body System Simulation

2019 ◽  
Vol 12 (4) ◽  
pp. 339-349
Author(s):  
Junguo Wang ◽  
Daoping Gong ◽  
Rui Sun ◽  
Yongxiang Zhao
Keyword(s):  
High Speed ◽  
Rapid Development ◽  
Dynamic Performance ◽  
Body System ◽  
High Speed Railway ◽  
Evaluation Indexes ◽  
Actual Operation ◽  
Multiple Unit ◽  
The Stability ◽  
Multi Body

Background: With the rapid development of the high-speed railway, the dynamic performance such as running stability and safety of the high-speed train is increasingly important. This paper focuses on the dynamic performance of high-speed Electric Multiple Unit (EMU), especially the dynamic characteristics of the bogie frame and car body. Various patents have been discussed in this article. Objective: To develop the Multi-Body System (MBS) model of EMU, verify whether the dynamic performance meets the actual operation requirements, and provide some useful information for dynamics and structural design of the proposed EMU. Methods: According to the technical characteristics of a typical EMU, a MBS model is established via SIMPACK, and the measured data of China high-speed railway is taken as the excitation of track random irregularity. To test the dynamic performance of the EMU, including the stability and safety, some evaluation indexes such as wheel-axle lateral forces, wheel-axle lateral vertical forces, derailment coefficients and wheel unloading rates are also calculated and analyzed in detail. Results: The MBS model of EMU has better dynamic performance especially curving performance, and some evaluation indexes of the stability and safety have also reached China’s high-speed railway standards. Conclusion: The effectiveness of the proposed MBS model is verified, and the dynamic performance of the MBS model can meet the design requirements of high-speed EMU.

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