scholarly journals Nonlinear Position Control with Nonlinear Coordinate Transformation Using Only Position Measurement for Single-Rod Electro-Hydrostatic Actuator

Mathematics ◽  
2020 ◽  
Vol 8 (8) ◽  
pp. 1273
Author(s):  
Wonhee Kim ◽  
Daehee Won
Keyword(s):  
Coordinate Transformation ◽  
Position Control ◽  
Internal State ◽  
Pressure Sensors ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
State Variables ◽  
Position Measurement ◽  
Full State ◽  
Position Controller

In existing methods, full-state feedback is required for the position tracking of single-rod Electro Hydrostatic Actuators (EHAs). Measuring a full state is not always possible because of cost and space limitations. Furthermore, measurement noise from pressure sensors may degrade the control performance. We propose an observer-based nonlinear position control with nonlinear coordinate transformation while only using position measurement to improve the position tracking of single-rod EHAs. The proposed method comprises a position controller and an observer. We propose a nonlinear coordinate transform for the controller design. The desired force is designed for the position tracking and boundedness of the internal state. The position controller is designed to track the desired state variables for the EHAs. Meanwhile, a nonlinear observer is proposed in order to estimate a full state using only the position measurement. The stability of the closed-loop system is investigated via an input-to-state stability property. The performance of the proposed method is validated via both simulations and experiments.

scholarly journals Nonlinear Position Control Using Only Position Feedback under Position Errors and Yaw Constraints for Air Bearing Planar Motors

Mathematics ◽  
2020 ◽  
Vol 8 (8) ◽  
pp. 1354
Author(s):  
Wonhee Kim ◽  
Donghoon Shin ◽  
Youngwoo Lee
Keyword(s):  
Position Control ◽  
Position Error ◽  
Nonlinear Observer ◽  
Closed Loop System ◽  
Tracking Errors ◽  
Position Errors ◽  
Full State ◽  
Position Feedback ◽  
Position Controller ◽  
The Stability

In this paper, we propose a nonlinear position control using only position feedback to guarantee the tolerances for position tracking errors and yaw. In the proposed method, both mechanical and electrical dynamics are considered. The proposed method consists of the nonlinear position controller and nonlinear observer. The nonlinear position controller is designed by a backstepping procedure using the barrier Lyapunov function to satisfy the constraints of position error and yaw. The nonlinear observer is developed to estimate full state using only position feedback. The stability of the closed-loop system is proven using Lyapunov and input-to-state stabilities. Consequently, the proposed method satisfies the constraints of position error and yaw using only position feedback for the planar motor.

scholarly journals Robust Nonlinear Position Control with Extended State Observer for Single-Rod Electro-Hydrostatic Actuator

Mathematics ◽  
2021 ◽  
Vol 9 (19) ◽  
pp. 2397
Author(s):  
Young Seop Son ◽  
Wonhee Kim
Keyword(s):  
Position Control ◽  
Estimation Error ◽  
External Disturbance ◽  
Input Function ◽  
High Gain ◽  
State Observer ◽  
Extended State Observer ◽  
Position Tracking ◽  
Extended State ◽  
Position Controller

In the existing literature, studies on position controller design using only position feedback, considering the disturbances for single-rod electro-hydrostatic actuators (EHAs), have not been reported. Herein, we propose a robust nonlinear position control with an extended state observer (ESO) for single-rod EHAs. A new EHA model that consists of position, velocity, and acceleration with an internal state variable is developed. Instead of the separated port pressure dynamics, the acceleration dynamics were defined. The external disturbance, model, and input function uncertainties were lumped into a disturbance. An ESO is developed to estimate the disturbance, as well as the position, velocity, and acceleration. In practice, it is difficult to accurately estimate the disturbance because it includes the external disturbance, system dynamics, and input function uncertainty. The poor estimation performance may degrade the position tracking performance, but a high gain cannot be used to suppress the estimation error because of the measurement noise amplification. To resolve this problem, a robust nonlinear position controller is developed via a backstepping procedure. In the controller, a nonlinear gain is implemented to sufficiently suppress position tracking without the use of a high gain. The stability of the closed-loop system is mathematically proven using the input-to-state stability. The proposed method is simple and suitable for real-time control.

scholarly journals Nonlinear Position Control with Augmented Observer in Brushless DC Motor

Mathematics ◽  
2021 ◽  
Vol 9 (20) ◽  
pp. 2553
Author(s):  
Youngwoo Lee ◽  
Wonhee Kim
Keyword(s):  
Position Control ◽  
Tracking Error ◽  
Dc Motor ◽  
Brushless Dc Motor ◽  
State Variables ◽  
Brushless Dc ◽  
Current Controller ◽  
Position Controller ◽  
Error Dynamics ◽  
A Current

In this paper, position control using both a nonlinear position controller and a current controller with an augmented observer is proposed for a Brushless DC motor. The nonlinear position controller is designed to improve the position tracking performance based on the tracking error dynamics. The current controller is developed to track the desired currents generated from the desired torque, which is calculated based on the nonlinear position controller. The augmented observer is designed to obtain the knowledge of both state variables and disturbance. Closed-loop stability is proven through the Lyapunov theorem. Simulations were performed to evaluate the effectiveness of the proposed method.

scholarly journals Nonlinear Optimal Position Control with Observer for Position Tracking of Surfaced Mounded Permanent Magnet Synchronous Motors

2021 ◽  
Vol 11 (22) ◽  
pp. 10992
Author(s):  
Dong Hyun Ha ◽  
Raeyoung Kim
Keyword(s):  
Permanent Magnet ◽  
Position Control ◽  
Control Method ◽  
Tracking Error ◽  
Nonlinear Observer ◽  
Position Tracking ◽  
Permanent Magnet Synchronous Motors ◽  
Optimal Position ◽  
Synchronous Motors ◽  
Cascade Structure

Previous control methods were designed based on cascade structure and consist of position and current controllers for permanent magnet-synchronous motors (PMSMs). Thus, the structures of the previous methods are necessarily complex although the stability is guaranteed. Thus, the gain tuning is difficult to obtain for the desired control performance for the PMSMs. To overcome this problem, this paper proposes a nonlinear optimal position control method with an observer to improve the position tracking performance of PMSMs. The proposed method consists of a desired state generator, controller, and nonlinear observer. The desired states and inputs are derived using the PMSM model. Then, the state feedback controller is designed based on the whole tracking error dynamics including both mechanical and electrical dynamics. The nonlinear observer is designed to estimate the velocity and load torque. The closed-loop stability is proven using the input-to-state stability. The proposed method is not designed based on the cascade structure. Furthermore, the control and observer gains are chosen using an optimal control method to obtain the desired performance for the PMSMs. This approach simplifies the design process such that the control algorithm is suitable for real-time control. The performance of the proposed method is validated via simulations and experiments.

Robust Two-degree-of-freedom Control Based on H∞ Method for PMSM Drive System

2020 ◽  
Vol 13 (4) ◽  
pp. 496-506
Author(s):  
Qixin Zhu ◽  
Lei Xiong ◽  
Hongli Liu ◽  
Yonghong Zhu ◽  
Guoping Zhang
Keyword(s):  
Control System ◽  
Control Theory ◽  
Position Control ◽  
Dynamic Performance ◽  
Servo System ◽  
Degree Of Freedom ◽  
Trade Off ◽  
Standard Design ◽  
Position Controller ◽  
Two Degree Of Freedom

Background: The conventional method using one-degree-of-freedom (1DOF) controller for Permanent Magnet Synchronous Motor (PMSM) servo system has the trade-off problem between the dynamic performance and the robustness. Methods: In this paper, by using H∞ control theory, a novel robust two-degree-of-freedom (2DOF) controller has been proposed to improve the position control performance of PMSM servo system. Using robust control theory and 2DOF control theory, a H∞ robust position controller has been designed and discussed in detail. Results: The trade-off problem between the dynamic performance and robustness which exists in one-degree-of-freedom (1DOF) control can be dealt with by the application of 2DOF control theory. Then, through H∞ control theory, the design of robust position controller can be translated to H∞ robust standard design problem. Moreover, the control system with robust controller has been proved to be stable. Conclusion: Further simulation results demonstrate that compared with the conventional PID control, the designed control system has better robustness and attenuation to the disturbance of load impact.

scholarly journals An extension of Gronwall inequality in the theory of bodies with voids

Open Physics ◽  
2020 ◽  
Vol 18 (1) ◽  
pp. 1161-1167
Author(s):  
Marin Marin ◽  
Praveen Ailawalia ◽  
Ioan Tuns
Keyword(s):  
Boundary Value Problem ◽  
Internal State ◽  
Boundary Value ◽  
Initial Boundary ◽  
Initial Boundary Value Problem ◽  
Uniqueness Result ◽  
Internal Variables ◽  
State Variables ◽  
Gronwall’S Inequality ◽  
Initial Boundary Value

Abstract In this paper, we obtain a generalization of the Gronwall’s inequality to cover the study of porous elastic media considering their internal state variables. Based on some estimations obtained in three auxiliary results, we use this form of the Gronwall’s inequality to prove the uniqueness of solution for the mixed initial-boundary value problem considered in this context. Thus, we can conclude that even if we take into account the internal variables, this fact does not affect the uniqueness result regarding the solution of the mixed initial-boundary value problem in this context.

Elastoviscoplastic Models with Relaxed Configurations and Internal State Variables

1990 ◽  
Vol 43 (7) ◽  
pp. 131-151 ◽  
Author(s):  
Sanda Cleja T¸igoiu ◽  
Eugen Soo´s
Keyword(s):  
Experimental Data ◽  
Structural Analysis ◽  
Internal State ◽  
State Variables ◽  
Internal State Variables ◽  
Local Current

We present the microstructural basis, the initial macroscopical formulations, and a possible axiomatic reconstruction of the elastoviscoplastic model for metals based on the use of the local, current, relaxed configurations. Structural analysis and experimental data show that using these configurations offers advantages for the formulation of the material laws when the deformations are small or moderately large. Our review aims to be a concise, historical, and critical exposition of the main stages, contributions and results, which led, during the late sixties and the beginning of seventies, to the formulation of the fundamental ideas lying at the basis of the model. We delineate the role played by Lee, Liu, Teodosiu, Sidoroff, Mandel, and Kratochvil in the first formulation of the theory between 1966 and 1972, as well as the contributions of Dafalias and Loret to the development of the model between 1983 and 1985. Finally, we discuss some results obtained between 1985 and 1988 with models based on local current relaxed configurations.

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

2021 ◽  
Vol 13 (2) ◽  
Author(s):  
Emmanouil Spyrakos-Papastavridis ◽  
Jian S. Dai
Keyword(s):  
State Feedback ◽  
Position Control ◽  
Impedance Control ◽  
Humanoid Robots ◽  
Flexible Joint ◽  
Model Free ◽  
Floating Base ◽  
Full State ◽  
Full State Feedback ◽  
Series Elastic Actuators

Abstract This paper attempts to address the quandary of flexible-joint humanoid balancing performance augmentation, via the introduction of the Full-State Feedback Variable Impedance Control (FSFVIC), and Model-Free Compliant Floating-base VIC (MCFVIC) schemes. In comparison to rigid-joint humanoid robots, efficient balancing control of compliant bipeds, powered by Series Elastic Actuators (or harmonic drives), requires the design of more sophisticated controllers encapsulating both the motor and underactuated link dynamics. It has been demonstrated that Variable Impedance Control (VIC) can improve robotic interaction performance, albeit by introducing energy-injecting elements that may jeopardize closed-loop stability. To this end, the novel FSFVIC and MCFVIC schemes are proposed, which amalgamate both collocated and non-collocated feedback gains, with power-shaping signals that are capable of preserving the system's stability/passivity during VIC. The FSFVIC and MCFVIC stably modulate the system's collocated state gains to augment balancing performance, in addition to the non-collocated state gains that dictate the position control accuracy. Utilization of arbitrarily low-impedance gains is permitted by both the FSFVIC and MCFVIC schemes propounded herein. An array of experiments involving the COmpliant huMANoid reveals that significant balancing performance amelioration is achievable through online modulation of the full-state feedback gains (VIC), as compared to utilization of invariant impedance control.

scholarly journals Robust Position Control of PMSM Using Fractional-Order Sliding Mode Controller

2012 ◽  
Vol 2012 ◽  
pp. 1-33 ◽  
Author(s):  
Jiacai Huang ◽  
Hongsheng Li ◽  
YangQuan Chen ◽  
Qinghong Xu
Keyword(s):  
Fractional Order ◽  
Position Control ◽  
Sliding Mode ◽  
Permanent Magnet Synchronous Motor ◽  
The State ◽  
Sliding Mode Controller ◽  
Sliding Surface ◽  
State Variables ◽  
Nonlinear Load ◽  
Special Case

A new robust fractional-order sliding mode controller (FOSMC) is proposed for the position control of a permanent magnet synchronous motor (PMSM). The sliding mode controller (SMC), which is insensitive to uncertainties and load disturbances, is studied widely in the application of PMSM drive. In the existing SMC method, the sliding surface is usually designed based on the integer-order integration or differentiation of the state variables, while in this proposed robust FOSMC algorithm, the sliding surface is designed based on the fractional-order calculus of the state variables. In fact, the conventional SMC method can be seen as a special case of the proposed FOSMC method. The performance and robustness of the proposed method are analyzed and tested for nonlinear load torque disturbances, and simulation results show that the proposed algorithm is more robust and effective than the conventional SMC method.

scholarly journals Design and Experimental Evaluation of a Robust Position Controller for an Electrohydrostatic Actuator Using Adaptive Antiwindup Sliding Mode Scheme

2013 ◽  
Vol 2013 ◽  
pp. 1-16 ◽  
Author(s):  
Ji Min Lee ◽  
Sung Hwan Park ◽  
Jong Shik Kim
Keyword(s):  
Control Systems ◽  
Pid Controller ◽  
Position Control ◽  
Sliding Mode ◽  
System Modeling ◽  
Modeling Error ◽  
Load Disturbance ◽  
Control Scheme ◽  
Position Controller ◽  
System Uncertainties

A robust control scheme is proposed for the position control of the electrohydrostatic actuator (EHA) when considering hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities. To reduce overshoot due to a saturation of electric motor and to realize robustness against load disturbance and lumped system uncertainties such as varying parameters and modeling error, this paper proposes an adaptive antiwindup PID sliding mode scheme as a robust position controller for the EHA system. An optimal PID controller and an optimal anti-windup PID controller are also designed to compare control performance. An EHA prototype is developed, carrying out system modeling and parameter identification in designing the position controller. The simply identified linear model serves as the basis for the design of the position controllers, while the robustness of the control systems is compared by experiments. The adaptive anti-windup PID sliding mode controller has been found to have the desired performance and become robust against hardware saturation, load disturbance, and lumped system uncertainties and nonlinearities.

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