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To achieve steering angle tracking performance of a novel steering-by-wire (SbW) system, a sliding mode-based learning control (SMLC) is developed. It features that the bounds information of disturbances isn't required in advance and the chattering phenomenon will be reduced. Simulation results show that the proposed SMLC has excellent steering angle tracking performance, robust performance and energy...
Many challenges of modeling and control exist in the tail-sitter aircraft, including parameter uncertainty, highly coupling, nonlinearity, and external disturbance. In this paper, the model of a tail-sitter aircraft is simplified at the nominal condition to obtain the nominal linear invariant model. Then a robust controller based on the H∞ control theory is proposed to deal with the attitude tracking...
Fixed-wing unmanned aerial vehicle (UAV) should be under control in the presence of model uncertainty and external disturbance, which is considered as torque perturbation in this paper. Such a challenge imposes tight requirements to the enhanced robustness and accuracy of the vehicle autopilot. The key of this paper is to introduce the model of attitude dynamics and propose a novel finite-time observer-based...
Simulation of a permanent magnet synchronous motor (PMSM) servo system which was based on active disturbance rejection controller (ADRC) was presented in this paper. A new Monte-Carlo method for parameter tuning was invented, which was based on different parameter values and their corresponding dynamic performance. What's more, according to the simulation results of the servo system, the ADRC controller...
For the low precision and response rate of permanent magnetic synchronous motor (PMSM) speed control system in the presence of load disturbance. A backstepping control method based on terminal sliding mode load observer was proposed. Firstly, the non-singular terminal sliding mode load observer which can make the observation error converge in finite time and compensating the controller with estimation...
In recent years, quadrotor unmanned aerial vehicles have played an important role in many aspects. Therefore, people put higher demands on the robustness of the quadrotor UAV's control. In this paper, a control algorithm based on signal compensation is proposed. Compared with the PID algorithm, this algorithm has better robustness to external disturbance and modeling uncertainty. Moreover, the controller...
Comparing with the indirect drive gimbal servo system of single gimbal control moment gyroscope (SGCMG), direct drive gimbal servo system based on permanent magnet synchronous motor (PMSM) can achieve higher precision and faster response. However, the difficulty of PMSM controller design increases, because PMSM has to endure larger multi-source and multi-band disturbances due to the lack of a decelerator...
This paper proposes an adaptive robust tracking control strategy for a quadrotor helicopter with parametric uncertainties and external disturbances based on sliding mode control. The inner loop of the control strategy is concerned about the attitude and altitude control of the quadrotor helicopter, while the outer loop is employed to track the desired horizontal positions. By assuming knowledge of...
An external disturbances rejection algorithm for flat multi-link manipulator is proposed. Tracking problem is considered as it is generalization of stabilization and regulation problems. Joint coordinates state space is used to simplify mathematical calculations. Electric drives are chosen as joint actuators and their equations are involved into model of the plant. External disturbances and their...
Recently, the complexity of control systems for autonomous Aerial Manipulators (AMs), i.e. Unmanned Aerial Vehicle (UAV) + Robot Manipulator (RM), is growing faster as per our demand of being able to perform more and more complex tasks. In the present work, we go a step forward adding an optimiser to the actual (nonlinear) control strategy, in order to comply with high-level control demands related...
In this work, we present the study and the modeling of a variable speed wind energy system based on the permanent magnet synchronous generator. The proposed system produces through a rectifier and an inverter controlled by PI regulators in the objective to obtain optimum energy efficiency by improving a robust, perform and effective the active and reactive power control of the system. The simulation...
The induction machine has proved to be an appropriate solution for most industrial applications; Moreover, it presents the future of sustainable automotive industry due to the strategies of control and command of which it can be equipped. This paper presents a study of advanced methods applied to the control of induction machine in order to obtain a system satisfying the criterion of robustness. This...
In mass production, manufacturing tolerances are unavoidably generated in the rotor between the core and the permanent magnet. Because back electromotive force (EMF) and cogging torque are influenced by manufacturing tolerances, it is necessary to improve the tolerances by changing specific factors. In this paper, a Taguchi robust design is conducted on an air blower motor that is used to circulate...
In order to improve the torque tracking performance of a friction based electrohydraulic load simulator (FEHLS), first, the linear mathematical control model of the FEHLS is established according to its working principle. As an electrohydraulic servo system (EHSS), the FEHLS always has parameter uncertainties, measurement noise, external shock, etc. Besides, in practical applications, most of the...
Efficient utilization of the power supply in Electrical Drive Systems (EDS) is a subject of interest and vast research. Nonetheless, the design of EDS aims to be robust to rough operating conditions and provide high performance. The Externally Excited Synchronous Machine (EESM) has become a cheaper alternative solution over the permanent magnet synchronous machine especially in Hybrid and Electric...
This paper presents that the joint torque control capability can be enhanced by adding physical damper to a series elastic actuator (SEA). Joint torque tracking of standard SEA has known limitations that the torque dynamics has an relative order of two, and, as a consequence, the torque controller often requires acceleration feedback when the desired torque is defined by a function of velocity (for...
This paper investigates a nonlinear control design for the vertical downhole drilling process. The drilling system dynamics are first built incorporating both the axial and the torsional dynamics together with a velocity independent drill bit-rock interaction model. Given the underactuated, nonlinear and non-smooth feature of the drilling dynamics, we propose a new control design method to prevent...
In this paper, the robust quadrotor attitude regulation based on fault tolerant control schema is investigated. The hover stability is heavily dependent on the thrust forces generated by the four rotors of the quadrotor. Once the rotors are in fault and loss the efficiency, the quadrotor will be unstable, even out of control. To the end, this paper presents a robust fault tolerant control schema for...
This paper proposes a super twisting sliding mode control technique for linear induction motors (LIMs) with unknown load torque, taking into consideration the dynamic end effects. First, LIM's dynamic end effects are presented by Ducan's T-model, then following this model is controlled by a designed super twisting controller (STC) for flux tracking and speed tracking purpose. Simultaneously, an open...
This paper mainly focuses on the optimal tracking and robust intelligent controller for a wind turbine systems. In order to guarantee the wind power capture optimization without any chattering problems, this study propose to combine the sliding mode control (SMC), proportional integral (PI) control and particle swarm optimization (PSO) algorithm. In order to provide an optimal PI and SMC gains, particle...
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