5,268 research outputs found
Quasi-optimal robust stabilization of control systems
In this paper, we investigate the problem of semi-global minimal time robust
stabilization of analytic control systems with controls entering linearly, by
means of a hybrid state feedback law. It is shown that, in the absence of
minimal time singular trajectories, the solutions of the closed-loop system
converge to the origin in quasi minimal time (for a given bound on the
controller) with a robustness property with respect to small measurement noise,
external disturbances and actuator noise
Fault estimation and fault-tolerant control for discrete-time dynamic systems
In this paper, a novel discrete-time estimator is proposed, which is employed for simultaneous estimation of system states, and actuator/sensor faults in a discrete-time dynamic system. The existence of the discrete-time simultaneous estimator is proven mathematically. The systematic design procedure for the derivative and proportional observer gains is addressed, enabling the estimation error dynamics to be internally proper and stable, and robust against the effects from the process disturbances, measurement noise, and faults. Based on the estimated fault signals and system states, a discrete-time fault-tolerant design approach is addressed, by which the system may recover the system performance when actuator/sensor faults occur. Finally, the proposed integrated discrete-time fault estimation and fault-tolerant control technique is applied to the vehicle lateral dynamics, which demonstrates the effectiveness of the developed techniques
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Robust hybrid global asymptotic stabilization of rigid body dynamics using dual quaternions
A hybrid feedback control scheme is proposed for stabilization of rigid body dynamics (pose and velocities) using unit dual quaternions, in which the dual quaternions and veloc- ities are used for feedback. It is well-known that rigid body attitude control is subject to topological constraints which often result in discontinuous control to avoid the unwinding phenomenon. In contrast, the hybrid scheme allows the controlled system to be robust in the presence of uncertainties, which would otherwise cause chattering about the point of discontinuous control while also ensuring acceptable closed-loop response characteristics. The stability of the closed-loop system is guaranteed through a Lyapunov analysis and the use of invariance principles for hybrid systems. Simulation results for a rigid body model are presented to illustrate the performance of the proposed hybrid dual quaternion feedback control scheme
A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
Industrial Fieldbus Improvements in Power Distribution and Conducted Noise Immunity With No Extra Costs
Industrial distributed control continues the move
toward networks at all levels. At lower levels, control networks
provide flexibility, reliability, and low cost, although perhaps the
simplest but most important advantage is the reduced volume
of wiring. Powered fieldbuses offer particular notable benefits in
system wiring simplification. Nevertheless, very few papers are
dealing with the potentials and limitations in power distribution
through the bus cable. Only a few of the existent fieldbus standards
consider this possibility but often simply as an option without
enough technical specifications. In fact, nobody talks about it, but
power distribution through the bus and conducted noise disturbances
are strongly related. This paper points out and analyzes
these limitations and proposes a new low-cost fieldbus physical
layer that enlarges power distribution capability of the bus and
improves system robustness. We show an industrial application
on water desalination plants and the very good results obtained
owing to the fieldbus. Finally, we present electromagnetic compatibility
test results that verify improvements against electrical fast
transients on the sensor/actuator connection side as disturbances
usually encountered in harsh-environment industrial applications
Disturbance Observer-based Robust Control and Its Applications: 35th Anniversary Overview
Disturbance Observer has been one of the most widely used robust control
tools since it was proposed in 1983. This paper introduces the origins of
Disturbance Observer and presents a survey of the major results on Disturbance
Observer-based robust control in the last thirty-five years. Furthermore, it
explains the analysis and synthesis techniques of Disturbance Observer-based
robust control for linear and nonlinear systems by using a unified framework.
In the last section, this paper presents concluding remarks on Disturbance
Observer-based robust control and its engineering applications.Comment: 12 pages, 4 figure
Robust motion control SMC point of view
In this paper the robust motion control systems in the sliding mode framework are discussed. Due to the fact that a motion control system with n d.o.f may be mathematically formulated in a unique way as a system composed of n second order systems, design of such a system may be formulated in a unique way as a requirement that the generalized coordinates must satisfy certain algebraic constraint. Such a formulation leads naturally to sliding mode framework to be applied. In this approach constraint manifolds are selected to coincide with desired constraints on the generalized coordinates. It has been shown that the CMC can be interpreted as a realization of the acceleration controller thus possessing all robust properties of the acceleration controller framework. The possibility to treat both unconstrained motion (the motion without contact with environment) and constrained motion in the same way is shown
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