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In order to deal with the control difficulties of the dredger's dynamic positioning system under large disturbances caused by dredging operation, a disturbances compensating dynamic surface control method is proposed to be used in the dredger's dynamic positioning system. Disturbances can be measured and compensated by the adding forces sensors. The proposed robust controller guarantees the semi-globally...
Tuning of a pH process is a challenging problem due to the strong on-line non-linearity and extreme sensitivity to disturbances of the process. Hence, a nonlinear control strategy based on sliding mode, which is a standard approach to tackle the parametric and modeling uncertainties of a nonlinear system, is chosen for tuning a pH process. Fuzzy Sliding Mode Control (FSMC) as a robust and intelligent...
In this paper a feedback linearization is presented that addresses the coupling effects between two groups of electromagnetic trains. The module, based on some reasonable assumptions of nonlinear mathematical model, is modeled as a double-electromagnet system. The proposed algorithm in tracking has a satisfying performance in presence of unknown changes in the mass. It also shows robustness against...
Inverted Pendulum is a nonlinear, coupling, variable and naturally unsteady system. In order to control the system, the mathematic model through lag range equation was set up and the LQR Controller was designed in this paper. Last, the author analyzes the control results and obtains superior parameters through simulation. The experimental results show that LQR control is more effective and robust.
Over the last decade, numbers of researcher has been increased in the two-wheeled inverted pendulum mobile robots or commonly known as balancing robot. This paper presents the linear modeling of two wheels inverted pendulum mobile robot and the robustness of sliding mode control. Linear modeling plant was obtained from the simplified nonlinear plant that was based on state-space approach. The dynamic...
This paper presents an experimental realization of a current-controlled magnetic levitation system (MLS). MLS are nonlinear systems and are unstable in open loop, which makes the control aspect very challenging. It is therefore essential to design robust controllers to solve the problem. Nonetheless, as far as mathematical model and control design are concerned, current-controlled MLS are less complex...
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