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Research is devoted to synthesis of positioning systems of electromechanical modules with set time, frequency and robust features. Structures and analytical expressions for parameters of static and astatic regulators and input filters are received. Bessel root distribution is tested in position regulators: static, astatic 1st and 2nd order. Parameters of time response, expressions for calculation...
We study the problem of designing a feedback controller for wave generators in a canal. The goal is to obtain a progressive wave at the surface by acting on plane generators at each side of a rectangular canal. The model of such a system is given by a classical linear model of shallow waters which leads to a damped „hyperbolic” equation. We formulate the problem within the additive uncertainty framework...
In this paper, we proposed a disturbance rejection control method to improve the position keeping accuracy of an underwater robot. Not like a ground robot, the controlling of a floating body is a critical requirement to acquire high quality sensor data from, for examples, a gyro, an underwater optical camera, and an imaging sonar. The proposed controller consists of a model-based robust compensator...
This paper proposes a closed-loop propofol admission strategy for depth of hypnosis control in anesthesia. A population-based, robustly tuned controller brings the patient to a desired level of hypnosis. The novelty lies in individualizing the controller once a stable level of hypnosis is reached. This is based on the identified patient parameters and enhances suppression of output disturbances, representing...
Nonlinear coupling disturbance is an important factor to the precision of three-axis swing turntable. The paper studied platform model and anti-disturbance compensation control algorithm based on robust control idea. A three-axis turntable mathematical model is proposed using theory of DC motor and coupling torque equation. The robust controller is designed according to the adaptive robust compensation...
In this paper, the coupling magnetic field model which the power magnetic bearing generated by interference between the rotation and levitation force is linear inverse system decoupling, and study PID control strategy on decoupling linearization system. According to the performance analysis and simulation of PID control system, it can be concluded that PID control system has quick response, high control...
The positioning systems generally need a good controller to achieve a fast response, high accuracy and robustness. In addition, ease and simplicity of controller design structure are very important for practical applications. For satisfying these requirements, NCTF controller has been proposed as a practical control method for two-mass rotary PTP positioning systems. However, the effect of the actuator...
One of the major problems associated with H-infinity controller design is the challenges of weighting function parameters' tuning. For a given control problem, it is requires to select appropriate weighting function parameters to satisfy both the stability requirement and time domain specifications. The conflicting nature of these objectives has made such design exercise a tedious endeavor. In this...
This paper provides some new developments in the design of robust local unknown input observers for nonlinear systems based on first order Taylor approximation. The necessary and sufficient conditions for the existence of the observer are given. A numerical example is given to illustrate the attractiveness and the simplicity of the new design procedure.
This paper is concerned with the design of linear set - point controllers for a specific nonlinear system: a motor driven pendulum. It is shown that when input constraints and delays are present, the synthesis procedure is non trivial. Even if the design is based on mature theoretical basis, extensive nonlinear simulations are the only practical way to ensure that the linear design offers acceptable...
This article presents the design of Internal Model Controller (IMC) based Fractional Order Two-Degrees-of-Freedom controller with the desired bandwidth specification and the robustness of the designed controller is briefly analyzed. For the conventional IMC based PID controller, One-Degree of Freedom is sufficient to meet the desired bandwidth specification for both Servo and regulatory performances...
Propose a rapid sliding mode synchronization method with non-singular terminal for unmatched uncertainties of chaos systems. Through the design of switching surface of sliding mode and corresponding nonsingular terminal sliding mode control strategy, making the two chaotic systems with unmatched uncertainties can be synchronized in finite time. Simulation results show that the proposed method reduce...
This paper deals with the problems of robust stabilization and robust passive control for uncertain discrete Takagi-Sugeno (T-S) fuzzy time-delay systems. The parametric uncertainty is assumed to be norm bounded. Based on Lyapunov stability theory, a sufficient condition on the existence of delay-dependent robust passive controllers is derived firstly. Then, with the help of linear matrix inequality...
This paper proposes a particular method for position velocity loops to solve the velocity control problem associated with conventional sliding mode control of permanent magnet synchronous motor (PMSM) servo system. The merits of conventional sliding mode control approach and PID control technique were introduced to design this novel controller for the position and velocity loops. The sliding mode...
The single machine infinite bus system excitation control of power system is discussed in this paper. A nonlinear equivalent sliding mode controller and adaptive sliding mode controller are designed based on the theory of sliding mode variable structure control and stability analysis is included. The proposed design approach enables to compensate the inherent nonlinearities of the generator and to...
In this paper we use L1 adaptive controller to augment a baseline for improved command tracking of the unmanned aerial vehicle. The procedure included baseline and adaptive augmentation controllers design. The eigenstructure assignment (EA) controller was designed for the nominal case, and then was augmented with a L1 adaptive controller. The L1 adaptive control methodology offered an adaptive contributor...
The problem of fault-tolerant stability is considered for a class of uncertain continuous large-scale generalized systems with time-delays by using Lyapunov method in this paper. The interconnected matrices can be uncertain and are assumed to be bounded. The time-delays under consideration are multiple and can be arbitrary unknown and varying but bounded. The analysis result of robust H∞ control is...
The multimodel and multicontrol approaches are two powerful techniques which are often useful in literature, to the analyse, the modeling and the control of complex systems. Indeed, the operating range of the process is partitioned into a set of operating regions. For each operation region a local model or/and controller is applied. The effective control applied to the process is a fusion of all these...
In order to improve the robustness of the discrete high gain observer with respect to noise measurements and enhance the convergence dynamics, we propose, in this paper, a fuzzy supervision for the observation of a class of nonlinear systems. Actually, a suitable tuning of the observer's gain is made by a fuzzy supervisor. Simulation results are given in order to show the performances amelioration...
The purpose of this paper is the synthesis of fractional PID controllers ensuring robustness to system gain variations. Robustness is specified by an open loop reference model derived from the CRONE template, where the fractional order allows robustness to gain variations. The tuning of the controller parameters is performed thanks to the method of moments. Numerical examples are proposed to illustrate...
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