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PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed. Although it is important...
This paper develops a nonlinear backstepping design for the control of rotary drilling system, in order to arrive at a robust controller capable of dealing with the torsional oscillations (stick-slip). This work is motivated by the complex problem of the nonlinearity in drillstring, which is rotated at a constant angular velocity by an electric motor, but exhibits superimposed torsional vibrations...
In this paper a controller for flexible joint robots (FJR) in presence of actuator saturation is proposed, its robust stability is analyzed, and it is implemented on a laboratory FJR. This controller consists of a composite structure, with a PD controller on the fast dynamics and a PID controller on slow dynamics. The need of powerful actuator is released through decrease of fast controller bandwidth...
The control logic of a modern jet engine consists of many control loops and the design of control system must account for the uncertainties in the model. In both commercial and military jet engines, the complexity of control system results in a series of single input single output controllers. In this paper, a new approach using interval analysis is proposed for design of a robust compensator for...
Active vibration control is one of the interesting problems for control engineers. The problem is tackled by making a smart, adaptive and self-controlling structure that requires robust controller. The newly invented second order sliding mode controller (SSMC) not only retains the robustness properties of the classical sliding mode controller (SMC) but also eliminates the drawback of the SMC that...
This paper describes the control system and user command interfaces developed for a lightweight, compact, endoscope camera manipulator prototype for robot-assisted minimally invasive surgery. A complete teleoperated minimally invasive surgical system in development is also based on using lightweight, compact manipulators with simple, reliable, and robust controllers. The endoscope manipulator is controlled...
In this paper the optimal nonlinear predictive control structure with integral action is presented, which provides asymptotic tracking of smooth reference trajectories and robustness to parameters uncertainties. The controller is based on a finite horizon continuous time minimization of nonlinear predicted tracking errors. A key feature of the control law is that its implementation does not need to...
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