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For the DC chassis dynamometer, a nonlinear mathematical model was established based on the analysis of the transmission system of the DC dynamometer, and an adaptive controller based on RBF NN (radial basis function neural network) was proposed to control a dynamometer to load resistance intelligently to achieve stepless simulation of inertia. By using the Lyapunov synthesis approach, it was proved...
A new nonlinear trajectory tracking controller is proposed for a mobile robot based on the stability theory of cascaded system. To relax the persistency exciting assumption on the reference angular velocity, the whole tracking errors are divided into the cross track error and orientation error subsystem and the forward track error subsystem, not as in the former research. The back-stepping technique...
Heating, ventilating and air-conditioning (HVAC) system is a multi-variable, strongly coupled, nonlinear, time variant, large time delay and large-scale system composed of several subsystems. In order to save energy, all the subsystems should work coordinately in different working points to meet the people's comfortable requirement. In HVAC control systems, system optimal control inputs or optimal...
This paper concerned the theoretical design and the experimental test of a simple nonlinear proportional controller. The controller is based on a gain scheduling approach, in which a model-based procedure is used to define the switching policy. The design procedure has been applied to a position control loop based on an AC electrical motor. Results from the experimental tests show that nonlinear controller...
This paper presents a robust nonlinear generalized predictive control (RNGPC) strategy applied to a permanent magnet synchronous motor (PMSM) for speed trajectory tracking and disturbance rejection. The nonlinear predictive control law is derived by using a newly defined design cost function. The Taylor series expansion is used to carry out the prediction in a finite horizon. No information about...
Utilizing the notion of Filippov solution, a sliding mode control law is derived for generic second order nonlinear mechanical system with friction. The control law is designed with some tunable parameters and optional functions. The asymptotically stability of the closed-loop system is proved by the concept of the solution, nonsmooth analysis and nonsmooth Lyapunov stability theory. By some numerical...
This paper investigates the estimate of domain of attraction for a class of nonlinear Port-Controlled Hamiltonian (PCH) systems subject to both actuator saturation and disturbances. Firstly, two conditions are established to determine whether an ellipsoid is contractively invariant for the systems only with actuator saturation, with which the biggest ellipsoid contained in the domain of attraction...
This paper presents a novel mobile vehicle navigation algorithm based on the stability analysis of the model predictive control approach. The energy-shaping technique is performed with the navigation function to obtain a new virtual vehicle model that generates candidate feasible trajectories for the motion planner. Stability of the nonlinear model predictive control system is obtained by the passivity...
As a stage toward a complete upper-arm motion assisted exoskeleton robot (i.e., 7DOF) this paper focused on the development of a 2DOF exoskeleton robot to rehabilitate and to ease wrist joint movements. To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and proper functioning of the upper-limb is essential. We therefore have been developing an exoskeleton...
A novel nonlinear friction model with elasto-plasticity is proposed. Being in accordance with state-of-the-art friction properties the model provides a compact set of concentrated parameters and offers a complexity reduction when describing the hysteretic and the transient response of dynamic friction. Considering the first-order dynamic system with friction, both the pre-sliding and the gross sliding...
Odometry calibration is an essential step for successful navigation of any moving system because most of the control algorithms work based on odometry information. Odometry errors can be categorized as systematic and non-systematic errors. In this paper, a terminal iterative learning control (TILC) based odometry calibration method is proposed to calibrate the systematic errors. First, a TILC algorithm...
To perform essential daily activities the movement of shoulder, elbow, and wrist play a vital role and therefore proper functioning of upper-limb is very much essential. We therefore have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. Toward to make a complete (i.e., 7DOF) upper-arm motion assisted robotic exoskeleton this paper focused on the development...
This paper presents a comparative assessment of feed-forward schemes in hybrid control schemes for anti-swaying and trajectory tracking of a double-pendulum-type overhead crane (DPTOC) system. A nonlinear DPTOC system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially nominal characteristics following...
Fuel optimization of fixed time hard rendezvous problem is studied. Optimal fuel is calculated by indirect and direct approaches respectively. The indirect approach is based on primer vector theory, and primer vector of transfer orbit is calculated and improved. A nonlinear optimization model is formulated for the problem of multiple-impulse rendezvous optimizing by direct approach, and the optimal...
This paper reports a surge control strategy for centrifugal compressor using nonlinear model predictive control based on Lease-Squared Support Vector Machine(LS-SVM) in order to increase efficiency of centrifugal compressor. The MISO nonlinear predictive models of compressor's discharge pressure and mass flow are developed by LS-SVM. In order to avoid surge, the conditions of anti-surge are chosen...
Ball and plate system is a high-order, uncertainty, nonlinear systems. Aiming at this system, a cascade control strategy with low-order active disturbance rejection controller (ADRC) is proposed in this paper. After the nonlinear system is converted into cascade system of several low-order nonlinear subsystems, the controller can be designed. This strategy solves the difficulties of structure design...
This paper proposes a new nonsmooth nonregular feedback control to stabilize nonholonomic chained systems. Firstly, a discontinuous nonlinear coordinate transformation and a discontinuous input transformation are constructed to change nonholonomic chained systems into controllable linear systems. Secondly, an invariant set and a switching logic are explicitly constructed to process with the singular...
A new nonlinear optimal tracking control method is proposed and analyzed which stabilizes a class of unstable periodic orbits near collinear libration points. Since such libration point orbits are, in general, unstable, spacecraft moving on these orbits must use some form of trajectory control to remain close to their nominal paths. In this study, the control law based on optimal control theory gives...
This paper presents the design and simulation of a Bank-to-Turn (BTT) autopilot for a hypersonic gliding vehicle. Based on the two-time scale assumption, the flight control system is divided in to two loops: the dynamics of fast state (inner loop) and slow state (outer loop). Autopilot is designed for each loop. The method used to design the autopilot relies on trajectory linearization and is realized...
This paper deals with the tracking control of robot manipulators with uncertain payload. Proposed is a set of novel SM-NPID-like tracking controllers consisting of a linear combination of the linear sliding mode control, proportional control mode, derivative control mode, nonlinear control mode shaped by a nonlinear function of position errors, and two nonlinear integral control modes driven by a...
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