15 research outputs found
Control Strategy Based on Fourier Transformation and Intelligent Optimization for Planar Pendubot
This paper presents a new control strategy based on Fourier transformation and intelligent optimization for a planar Pendubot with a passive second link, which can be treated as a second-order nonholonomic system whose control has been an open and challenging issue. A controller acting within a time corresponding to the frequency of its fundamental harmonic term is designed to realize the system control objective, which is to move the system from its initial position to the target position. By employing Fourier transformation, a general expression of the controller composed of a constant term and harmonic terms is obtained. Next, the constant term is obtained by the angular momentum theorem, and the particle swarm optimization algorithm is employed to obtain the harmonic terms of the controller. A feedback control strategy based on a nonlinear disturbance observer is then applied to overcome the uncertainties/disturbances in the system. Finally, simulation results prove the validity of this control method
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Trajectory Exploration and Maneuver Regulation of the Pendubot
The pendulum provides a seemingly inexhaustible source of practical applications and interesting problems which have motivated research in a variety of disciplines. In this thesis, we study equations that described a driven pendulum with odd-periodic driving. The equations also describe the under-actuated, double pendulum system called the pendubot. Techniques for trajectory exploration are developed.
For the inverted pendulum, we first wrote the problem as a two point boundary value problem with Dirichlet boundary conditions. Then, we develop an equivalent linear operator that combines a Nemitski operator (or superposition operator) with the linear operator for the unstable harmonic oscillator. By exploring the properties of the Green’s function for the unstable harmonic oscillator with Dirichlet boundary conditions, we developed bounds on various norms that prove useful for determining which parameter values will satisfy invariance and contraction conditions. With a direct application of the Schauder fixed point theorem, we showed that our family of equations representing an inverted pendulum always possessed an odd-periodic solution. Using the Banach fixed point theorem we showed that there is a unique solution within an invariant region of the space of possible solution curves. When there is a unique solution, successive approximations can be used to compute the solution trajectory. To illustrate the power and application of these ideas, we apply them to a pendubot with the inner arm moving at a constant velocity.
For non-inverted trajectories of the pendubot, we presented a necessary condition for trajectories to exist with general periodic forcing. For odd-periodic periodic driving functions this condition is always satisfied. For a driving function of A sin(wt), we found multiple solutions for the outer link. With the trajectories in hand, we demonstrated through simulation and/or physical implementation, the usefulness of maneuver regulation for providing orbital stabilization
Sliding Mode Control
The main objective of this monograph is to present a broad range of well worked out, recent application studies as well as theoretical contributions in the field of sliding mode control system analysis and design. The contributions presented here include new theoretical developments as well as successful applications of variable structure controllers primarily in the field of power electronics, electric drives and motion steering systems. They enrich the current state of the art, and motivate and encourage new ideas and solutions in the sliding mode control area
A Review of Resonant Converter Control Techniques and The Performances
paper first discusses each control technique and then gives experimental results and/or performance to highlights their merits. The resonant converter used as a case study is not specified to just single topology instead it used few topologies such as series-parallel resonant converter (SPRC), LCC resonant converter and parallel resonant converter (PRC). On the other hand, the control techniques presented in this paper are self-sustained phase shift modulation (SSPSM) control, self-oscillating power factor
control, magnetic control and the H-∞ robust control technique
OBSERVER-BASED-CONTROLLER FOR INVERTED PENDULUM MODEL
This paper presents a state space control technique for inverted pendulum system. The system is a common classical control problem that has been widely used to test multiple control algorithms because of its nonlinear and unstable behavior. Full state feedback based on pole placement and optimal control is applied to the inverted pendulum system to achieve desired design specification which are 4 seconds settling time and 5% overshoot. The simulation and optimization of the full state feedback controller based on pole placement and optimal control techniques as well as the performance comparison between these techniques is described comprehensively. The comparison is made to choose the most suitable technique for the system that have the best trade-off between settling time and overshoot. Besides that, the observer design is analyzed to see the effect of pole location and noise present in the system
State-Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System
This paper presents a state space control technique for inverted pendulum system using simulation and real experiment via MATLAB/SIMULINK software. The inverted pendulum is difficult system to control in the field of control engineering. It is also one of the most important classical control system problems because of its nonlinear characteristics and unstable system. It has three main problems that always appear in control application which are nonlinear system, unstable and non-minimumbehavior
phase system. This project will apply state feedback controller based on pole placement technique which is capable in stabilizing the practical based inverted pendulum at vertical position. Desired design specifications which are 4 seconds settling time and 5 % overshoot is needed to apply in full state feedback controller based on pole placement technique. First of all, the mathematical model of an inverted pendulum system is derived to obtain the state space representation of the system. Then, the design phase of the State-Feedback Controller can be conducted after linearization technique is
performed to the nonlinear equation with the aid of mathematical aided software such as Mathcad. After that, the design is simulated using MATLAB/Simulink software. The controller design of the inverted pendulum system is verified using simulation and experiment test. Finally the controller design is compared with PID controller for benchmarking purpose
A Review of Resonant Converter Control Techniques and The Performances
paper first discusses each control technique and then gives experimental results and/or performance to highlights their merits. The resonant converter used as a case study is not specified to just single topology instead it used few topologies such as series-parallel resonant converter (SPRC), LCC resonant converter and parallel resonant converter (PRC). On the other hand, the control techniques presented in this paper are self-sustained phase shift modulation (SSPSM) control, self-oscillating power factor
control, magnetic control and the H-∞ robust control technique
Systems and control : 21th Benelux meeting, 2002, March 19-21, Veldhoven, The Netherlands
Book of abstract
A SIMULATION STUDY OF STATE-FEEDBACK CONTROL METHOD FOR ELECTRO HYDRAULIC SERVO MODEL
Electro hydraulic servo system is used by many industries due to its ability to impart large forces.
It also has advantage in term of fast response and robustness. The electro hydraulic system suffered
from errors of the transient response which are steady state error, settling time and the ripples. It
is crucial to design a controller for the system to ensure the reliability of the system. Aiming at the
characteristic of the system, steady state feedback control method is designed to compensate the
error. The analysis of the system is done based on the transient response specifically on the actuator
part. MATLAB Simulink is used as the simulation software to evaluate the force performance of
state feedback controller method. The steady state error, settling time and ripple are observed and
recorded for each controller. Three methods is applied, which are full feedback, state feedback with
feed forward and integral control are compared with proportional, integral and derivatives (PID)
controller. The result of each controller shows the differences performance. Based on the simulation
results, the feedforward technique is found to be the best control technique for the electro hydraulic
servo system due to the requirement performance such as percent overshoot, settling time, rise time
and zero steady state error. This good result will directly benefit industries that use electro hydraulic
system as their actuator for production machines
State-Feedback Controller Based on Pole Placement Technique for Inverted Pendulum System
This paper presents a state space control technique for inverted pendulum system using simulation and real experiment via MATLAB/SIMULINK software. The inverted pendulum is difficult system to control in the field of control engineering. It is also one of the most important classical control system problems because of its nonlinear characteristics and unstable system. It has three main problems that always appear in control application which are nonlinear system, unstable and non-minimumbehavior
phase system. This project will apply state feedback controller based on pole placement technique which is capable in stabilizing the practical based inverted pendulum at vertical position. Desired design specifications which are 4 seconds settling time and 5 % overshoot is needed to apply in full state feedback controller based on pole placement technique. First of all, the mathematical model of an inverted pendulum system is derived to obtain the state space representation of the system. Then, the design phase of the State-Feedback Controller can be conducted after linearization technique is
performed to the nonlinear equation with the aid of mathematical aided software such as Mathcad. After that, the design is simulated using MATLAB/Simulink software. The controller design of the inverted pendulum system is verified using simulation and experiment test. Finally the controller design is compared with PID controller for benchmarking purpose