Extended grey wolf optimization–based adaptive fast nonsingular terminal sliding mode control of a robotic manipulator

This article proposes a novel hybrid metaheuristic technique based on nonsingular terminal sliding mode controller, time delay estimation method, an extended grey wolf optimization algorithm and adaptive super twisting control law. The fast convergence is assured by nonsingular terminal sliding mode controller owing to its inherent nonlinear property and no prior knowledge of the robot dynamics is required due to time delay estimation. The proposed extended grey wolf optimization algorithm determines an optimal approximation of the inertial matrix of the robot. Moreover, adaptive super twisting control based on the Lyapunov approach overcomes the disturbances and compensate the higher dynamics not achievable by the time delay estimation method. First, the fast nonsingular terminal sliding mode controller relying on time delay estimation is designed and is combined with super twisting control for chattering attenuation. The constant gain matrix of the time delay is determined by the proposed extended grey wolf optimization algorithm. Second, an adaptive law based on Lyapunov stability theorem is designed for improving tracking performance in the presence of uncertainties and disturbances. The novelty of the proposed method lies in the adaptive law where the prior knowledge of parametric uncertainties and disturbances is not needed. Moreover, the constant gain matrix of time delay estimation method is obtained using the proposed algorithm. The control method has been tested in simulation on a 3-degrees of freedom robotic manipulator in trajectory tracking mode in the presence of control disturbances and uncertainties. The results obtained confirmed the effectiveness, robustness and the superior precision of the proposed control method compared to the classical ones

Adaptive control of a nonlinear suspension with time-delay compensation

This paper addresses the challenge of predictive control of a quarter-car nonlinear suspension and low controller-precision. This is done by designing and implementing an adaptive controller with time-delay compensation. First, a real-time control model is created. Then, time-delay compensation is realized and both frequency-domain and time-domain simulation of the controller performance are conducted. According to the simulation results, the sprung-mass acceleration of the suspension controlled by an adaptive controller with time-delay compensation is superior to that without time-delay compensation. Both the period to settle down and the peak of vibration acceleration are smaller. This means the proposed controller is capable of dealing with problems including variable time delay, nonlinear vibration and predictive control

Input space dependent controller for civil structures exposed to multi-hazard excitations

A challenge in the control of civil structures exposed to multiple types of hazards is in the tuning of control parameters to ensure a prescribed level of performance under substantially different excitation dynamics, which could be considered as largely uncertain. A solution is to leverage data driven control algorithms, which, in their adaptive formulation, can self-tune to uncertain environments. The authors have recently proposed a new type of data-driven controller, termed input space dependent controller (ISDC), that has the particularity to adapt its input space in real-time to identify key measurements that represent the essential dynamics of the system. Previous studies have focused on time delay formulations, where the adaptive control rule would use time delayed measurements as inputs. In this configuration, termed variable multi-delay controller (VMDC), the time delay itself was adaptive, which provided the input space dependence capabilities. However, the size, or embedding dimension, of the input space was kept constant. In this paper, the authors formulate and study a strategy to also have the embedding dimension vary, therefore providing full adaptive input space capabilities. This generalization of the ISDC algorithm will allow the controller to adapt to excitations with higher levels of chaos, such as a seismic event. The performance of ISDC under multi-hazard excitations is first investigated on a single-degree-of-freedom system and compared with the previously developed and demonstrated VMDC. Results show that the adaptive embedding dimension provides significantly enhanced mitigation performance. After, the ISDC performance is assessed on two benchmark buildings equipped with a semi-active friction device and subjected to non-simultaneous multi-hazard excitations (wind, blast and earthquake). Results are compared with a sliding mode controller, where the ISDC is shown to provide better mitigation capabilities

Real-Time Variable Multidelay Controller for Multihazard Mitigation

High performance control systems (HPCS), including semiactive, active, and hybrid damping systems, are effective solutions to increase structural performance versus multihazard excitations. However, the implementation of HPCS within structural systems is still in its infancy, because of the complexity in designing a robust closed-loop control system that can ensure reliable and high mitigation performance. To overcome this challenge, a new type of controller with high adaptive capabilities is proposed. The control algorithm is based on real-time embedding of measurements to minimally represent the essential dynamics of the controlled system, therefore providing adaptive input space capabilities. This type of controller is termed an input-space dependent controller. In this paper, a specialized case of input-space dependent controller is investigated, where the embedding dimension is fixed, but the time delay used in the construction of the embedding varies with time. This constitutes a variable multidelay controller (VMDC), which includes an algorithm enabling the online selection of a time delay based on information theory. Here, optimal time delay selection is first studied and its applicability of the VMDC algorithm demonstrated. Numerical simulations are conducted on a single-degree-of-freedom (SDOF) system to study the performance of the VMDC versus different control strategies. Results show a significant gain in performance from the inclusion of an adaptive input space, and that the algorithm was robust with respect to noise. Simulations also demonstrate that critical gains in performance could be obtained from added knowledge in the system’s dynamics by comparing mitigation results with a linear quadratic regulator (LQR) controller. Additional simulations are conducted on a three degrees-of-freedom (3DOF) system, which consists of a model structure equipped with an actuator and subjected to nonsimultaneous multihazards. Results show enhanced mitigation performance of the VMDC versus LQR strategies when using limited-state feedback, validating the capability of the controller at mitigating vibrations based on limited knowledge and limited measurements, and thus its promise at multihazard applications

Adaptive High-Bandwidth Digitally Controlled Buck Converter with Improved Line and Load Transient Response

Digitally controlled switching converter suffers from bandwidth limitation because of the additional phase delay in the digital feedback control loop. In order to overcome the bandwidth limitation without using a high sampling rate, this paper presents an adaptive third-order digital controller for regulating a voltage-mode buck converter with a modest 2x oversampling ratio. The phase lag due to the ADC conversion time delay is virtually compensated by providing an early estimation of the error voltage for the next sampling time instant, enabling a higher unity-gain bandwidth without compromising stability. An additional pair of low-frequency pole and zero in the third-order controller increases the low-frequency gain, resulting in faster settling time and smaller output voltage deviation during line transient. Both simulation and experimental results demonstrate that the proposed adaptive third-order controller reduces the settling time by 50% in response to a 1 V line transient and 30% in response to a 600 mA load transient, compared to the baseline static second-order controller. The fastest settling time is measured to be around 11.70 s, surpassing the transient performance of conventional digital controllers and approaching that of the state-of-the-art analog-based controllers.postprin

Adaptive torque control of a diesel engine for transient test cycles

Adaptive control techniques have been applied to the problem of diesel engine torque control. Adaptive control has the potential of greater versatility than classical control techniques. Three adaptive control strategies are tested and compared to each other: self-tuning control with one-shot parameter identification and controller design, self-tuning gain-scheduling control, and self-tuning control with continuous adaptation of system and controller parameters. A continuous-time parameter identification approach, namely the Poisson Moment Functional (PMF) method, is employed due to its superior noise rejection capability. To ensure the applicability of time delay systems, a Smith predictor is employed. The controller design is implemented using a new pole-zero placement algorithm to ensure closed-loop stability. Comparisons with constant parameter controllers reveal that adaptive control provides equal or better torque control than a constant parameter controller. The results of the transient cycle tests also prove that the self-tuning control can be successfully applied to systems with dramatically different dynamic characteristics, and hence show the versatility of the self-tuning adaptive control