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    Wyświetlanie 1-15 z 15
    Tytuł:
    Design of robust multi-loop PI controller for improved disturbance rejection with constraint on minimum singular value
    Autorzy:
    Arun, Pathiran
    Muniraj, Rathinam
    Boselin Prabhu, S.R.
    Jarin, T.
    Willjuice Iruthayarajan, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/27324013.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    multi-loop PI controller
    multivariable system
    decentralized control
    disturbance rejection
    robust stability
    Opis:
    Disturbance rejection performance optimization with constraints on robustness for a multivariable process is commonly encountered in industrial control applications. This paper presents the tuning of a multi-loop Proportional Integral (PI) controller method to enhance the performance of load disturbance rejection using evolutionary optimization. The proposed design methodology is formulated to minimize the load disturbance rejection response and the input control energy under the constraints of robust stability. The minimum singular value of multiplicative uncertainty is considered a multi-loop system robust stability indicator. Optimization is performed to achieve the same, or higher level than the most-explored Direct Synthesis (DS) based multi-loop PI controller, which is derived from a conventional criterion. Simulation analysis clearly proved that the proposed multi-loop PI controller tuning method gives better disturbance rejection, and either, the same or a higher level of robust stability when compared to the DS-based multi-loop PI controller.
    Źródło:
    Archives of Control Sciences; 2023, 33, 4; 839--859
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Novel solutions on model-based and model-free robotic-assisted ankle rehabilitation
    Autorzy:
    Arceo, Juan Carlos
    Alvarez, Jorge
    Armenta, Carlos
    Lauber, Jimmy
    Cremoux, Sylvian
    Simoneau-Buessinger, Emilie
    Bernal, Miguel
    Powiązania:
    https://bibliotekanauki.pl/articles/1409032.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    active disturbance rejection
    computed torque control
    differential algebraic equations
    parallel rehabilitation robot
    real-time implementation
    system identification
    Opis:
    In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.
    Źródło:
    Archives of Control Sciences; 2021, 31, 1; 5-27
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust trajectory tracking control for autonomous vehicle subject to velocity-varying and uncertain lateral disturbance
    Autorzy:
    Wang, Yuqiong
    Gao, Song
    Wang, Yuhai
    Wang, Pengwei
    Zhou, Yingchao
    Xu, Yi
    Powiązania:
    https://bibliotekanauki.pl/articles/1833621.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    autonomous vehicle
    path tracking
    velocity tracking
    active disturbance rejection control
    robustness
    Opis:
    Autonomous vehicles are the most advanced intelligent vehicles and will play an important role in reducing traffic accidents, saving energy and reducing emission. Motion control for trajectory tracking is one of the core issues in the field of autonomous vehicle research. According to the characteristics of strong nonlinearity, uncertainty and changing longitudinal velocity for autonomous vehicles at high speed steering condition, the robust trajectory tracking control is studied. Firstly, the vehicle system models are established and the novel target longitudinal velocity planning is carried out. This velocity planning method can not only ensure that the autonomous vehicle operates in a strong nonlinear coupling state in bend, but also easy to be constructed. Then, taking the lateral location deviation minimizing to zero as the lateral control objective, a robust active disturbance rejection control path tracking controller is designed along with an extended state observer which can deal with the varying velocity and uncertain lateral disturbance effectively. Additionally, the feed for ward-feedback control method is adopted to control the total tire torque, which is distributed according to the steering characteristics of the vehicle for additional yaw moment to enhance vehicle handing stability. Finally, the robustness of the proposed controller is evaluated under velocity-varying condition and sudden lateral disturbance. The single-lane change maneuver and double-lane change maneuver under vary longitudinal velocity and different road adhesions are both simulated. The simulation results based on Matlab/Simulink show that the proposed controller can accurately observe the external disturbances and have good performance in trajectory tracking and handing stability. The maximum lateral error reduces by 0.18 meters compared with a vehicle that controlled by a feedback-feedforward path tracking controller in the single-lane change maneuver. The lateral deviation is still very small even in the double lane change case of abrupt curvature. It should be noted that our proposed control algorithm is simple and robust, thus provide great potential for engineering application.
    Źródło:
    Archives of Transport; 2021, 57, 1; 7-23
    0866-9546
    2300-8830
    Pojawia się w:
    Archives of Transport
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Reliability analysis of a multi-eso based control strategy for level adjustment control system of quadruped robot under disturbances and failures
    Analiza niezawodności strategii sterowania w oparciu o kilka obserwatorów stanu rozszerzonego ESO i jej zastosowanie w systemie kontroli regulacji poziomu czworonożnego robota w warunkach zakłóceń i uszkodzeń
    Autorzy:
    Cui, Jingjing
    Ren, Yi
    Xu, Binghui
    Yang, Dezhen
    Zeng, Shengkui
    Powiązania:
    https://bibliotekanauki.pl/articles/300872.pdf
    Data publikacji:
    2020
    Wydawca:
    Polska Akademia Nauk. Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne PAN
    Tematy:
    reliability analysis
    fault tolerance
    active disturbance rejection control (ADRC)
    quadruped robot
    analiza niezawodności
    tolerancja uszkodzeń
    aktywne tłumienie uszkodzeń (ADRC)
    robot czworonożny
    Opis:
    The complexity of control algorithms and their vulnerability to disturbances and failures are the main problems that restrict the operations of multi-legged mobile robots in more complex environments. In this paper, a multiple extended state observer (ESO) based control strategy is proposed to achieve stable tilt angle control for quadruped robots under the influence of disturbances and actuator failures. By treating the multiple legs as parallel control objects, more ESOs were added to improve the disturbance rejection ability of the linear active disturbance rejection control (LADRC). Correlation of interactive information about the legs is realized by the synthesis of multiple ESO information. Based on LADRC, this method has the advantages of easy parameter tuning, good robustness, and strong ability to cope with interference and fault conditions. A control system reliability evaluation method was proposed. The reliability and control performance of the multi-ESO based control system under leg stuck failure conditions were systematically analyzed. Simulation and experimental results for the level adjustment control system of a quadruped robot are provided to verify the disturbance rejection ability, feasibility and practicability of the proposed multi-ESO based control method.
    Złożoność algorytmów sterowania oraz ich brak odporności na zakłócenia i uszkodzenia to główne czynniki ograniczające pracę wielonożnych robotów mobilnych w bardziej złożonych środowiskach. W przedstawionym artykule zaproponowano strategię sterowania wykorzystującą kilka obserwatorów stanu rozszerzonego (ESO), która pozwala na uzyskanie stabilnego kąta pochylenia robota czworonożnego w warunkach zakłóceń i uszkodzeń siłowników. Traktując każdą z nóg jako równorzędny obiekt sterowania, dodano dodatkowe ESO, co pozwoliło na poprawienie zdolności algorytmu liniowego aktywnego tłumienia zakłóceń (LADRC) do kompensacji (tłumienia) tych ostatnich. Interaktywne informacje dotyczące poszczególnych nóg korelowano poprzez syntezę danych z ESO. Zaletami omawianej metody opartej na LADRC są: łatwość dostrajania parametrów, wysoka niezawodność oraz bardzo dobra zdolność do radzenia sobie z zakłóceniami i uszkodzeniami. Zaproponowano także metodę oceny niezawodności systemu sterowania. Analizowano niezawodność i wydajność systemu opartego na kilku ESO w warunkach awarii wywołanej zablokowaniem nóg robota. Przedstawiono wyniki badań symulacyjnych i eksperymentalnych systemu sterowania regulacją poziomu robota czworonożnego, które pozwalają zweryfikować zdolność proponowanej metody do tłumienia zakłóceń, a także możliwość jej praktycznego zastosowania.
    Źródło:
    Eksploatacja i Niezawodność; 2020, 22, 1; 42-51
    1507-2711
    Pojawia się w:
    Eksploatacja i Niezawodność
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Tracking control for a cascade perturbed control system using the active disturbance rejection paradigm
    Autorzy:
    Patelski, Radosław
    Pazderski, Dariusz
    Powiązania:
    https://bibliotekanauki.pl/articles/229198.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    active disturbance rejection
    cascade control systems
    stability of perturbed systems
    high-precision tracking control
    control of astronomical mounts
    Opis:
    In this paper the stability of a closed-loop cascade control system in the trajectory tracking task is addressed. The considered plant consists of underlying second-order fully actuated perturbed dynamics and the first order system which describes dynamics of the input. The main theoretical result establishes the conditions for Lyapunov stability formulated for the perturbed cascade control structure taking advantage of the active rejection disturbance approach. In particular, limitations imposed on a feasible set of an observer bandwidth are discussed. In order to illustrate characteristics of the closed-loop control system simulation results are presented. Furthermore, the particular implementation of the cascade control algorithm is verified experimentally using a two-axis telescope mount. The obtained results confirm that the considered control strategy can be efficiently applied for a class of mechanical systems when a high position tracking precision is required.
    Źródło:
    Archives of Control Sciences; 2019, 29, 2; 378-408
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Flexible function block for industrial applications of active disturbance rejection controller
    Autorzy:
    Nowak, P.
    Stebel, K.
    Klopot, T.
    Czeczot, J.
    Fratczak, M.
    Laszczyk, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/229587.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    industrial control systems
    active disturbance rejection control
    ADRC
    practical
    tuning
    practical implementation
    programmable logic controller
    PLC
    Opis:
    In this paper, the PLC-based (Programmable Logic Controller) industrial implementation in the form of the general-purpose function block for ADRC (Active Disturbance Rejection Controller) is presented. The details of practical aspects are discussed because their reliable implementation is not trivial for higher order ADRC. Additional important novelties discussed in the paper are the impact of the derivative backoff and the method that significantly simplifies tuning of higher order ADRC by avoiding the usual trial and error procedure. The results of the practical validation of the suggested concepts complete the paper and show the potential industrial applicability of ADRC.
    Źródło:
    Archives of Control Sciences; 2018, 28, 3; 379-400
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Repetitive neurocontroller with disturbance feedforward path active in the pass-to-pass direction for a VSI inverter with an output LC filter
    Autorzy:
    Ufnalski, B.
    Grzesiak, L. M.
    Powiązania:
    https://bibliotekanauki.pl/articles/200017.pdf
    Data publikacji:
    2016
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    repetitive control
    feedforward neural network
    dynamic optimization problem
    repetitive disturbance rejection
    voltage source inverter
    disturbance dual feedforward path
    sterowanie powtarzalne
    sieci neuronowe
    problem optymalizacji dynamicznej
    przetwornica napięcia
    odrzucanie zakłóceń
    Opis:
    An enhancement to the previously developed repetitive neurocontroller (RNC) is discussed and investigated in the paper. Originally, the time-base generator (TBG) has been used to produce the only input signal for the neural approximator. The resulting search space makes the dynamic optimization problem (DOP) of shaping the control signal solvable with the help of a function approximator such as the feed-forward neural network (FFNN). The plant under consideration, i.e. a constant-amplitude constant-frequency voltage-source inverter (CACF VSI) with an output LC filter, is assumed to be equipped with the disturbance load current sensor to enable implementation of the disturbance feed-forward (pDFF) path as a part of the non-repetitive subsystem acting in the along the pass p-direction. An investigation has been undertaken to explore potential benefits of using this signal also as an additional input for the RNC to augment the approximation space and potentially enhance the convergence rate of the real-time search process. It is numerically demonstrated in the paper that the disturbance feed-forward path active in the pass-to-pass k-direction (kDFF) improves the dynamics of the repetitive part as well indeed.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 115-125
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Plug-in direct particle swarm repetitive controller with a reduced dimensionality of a fitness landscape – a multi-swarm approach
    Autorzy:
    Ufnalski, B.
    Grzesiak, L. M.
    Powiązania:
    https://bibliotekanauki.pl/articles/202046.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    repetitive process control
    dynamic optimization problem
    particle swarm optimizer
    repetitive disturbance rejection
    noninteracting subswarms
    dimension-reduced fitness functional
    powtarzalne sterowanie procesem
    problem optymalizacji dynamicznej
    optymalizator rojem cząstek
    odrzucanie zakłóceń
    sprawność funkcjonalna
    Opis:
    The paper describes a modification to the recently developed plug-in direct particle swarm repetitive controller (PDPSRC) for the sine-wave constant-amplitude constant-frequency (CACF) voltage-source inverter (VSI). The original PDPSRC algorithm assumes that the particle swarm optimizer (PSO) takes into account a performance index defined over the whole reference signal period. Each particle stores all the samples of the control signal, e.g. α = 200 samples for a controller working at 10 kHz and the reference frequency equal to 50 Hz. Therefore, the fitness landscape (i.e. the performance index) is -dimensional ( D), which makes optimization challenging. That solution can be categorized as the single-swarm one. It has been previously shown that the swarm controller does not suffer from long-term stability issues encountered in the classic iterative learning controllers (ILC). However, the convergence of the swarm has to be kept at a relatively low rate to enable successful exploitation in the D search space, which in turn results in slow responsiveness of the PDPSRC. Here a multi-swarm approach is proposed in which we divide a dynamic optimization problem (DOP) among less dimensional swarms. The reference signal period is segmented into shorter intervals and the control signal is optimized in each interval independently by separate swarms. The effectiveness of the proposed approach is illustrated with the help of numerical experiments on the CACF VSI with an output LC filter operating under nonlinear loads.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 4; 857-866
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A Performance Study on Synchronous and Asynchronous Update Rules for A Plug-In Direct Particle Swarm Repetitive Controller
    Autorzy:
    Ufnalski, B.
    Grzesiak, L. M.
    Powiązania:
    https://bibliotekanauki.pl/articles/141272.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    repetitive process control
    particle swarm optimization (PSO)
    synchronous and asynchronous update rules
    dynamic optimization problem
    repetitive disturbance rejection
    optimal control
    Opis:
    In this paper two different update schemes for the recently developed plug-in direct particle swarm repetitive controller (PDPSRC) are investigated and compared. The proposed approach employs the particle swarm optimizer (PSO) to solve in on-line mode a dynamic optimization problem (DOP) related to the control task in the constant-amplitude constant-frequency voltage-source inverter (CACF VSI) with an LC output filter. The effectiveness of synchronous and asynchronous update rules, both commonly used in static optimization problems (SOPs), is assessed and compared in the case of PDPSRC. The performance of the controller, when synthesized using each of the update schemes, is studied numerically.
    Źródło:
    Archives of Electrical Engineering; 2014, 63, 4; 635-646
    1427-4221
    2300-2506
    Pojawia się w:
    Archives of Electrical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Disturbance modeling and state estimation for offset-free predictive control with state-space process models
    Autorzy:
    Tatjewski, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/330146.pdf
    Data publikacji:
    2014
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    model predictive control
    state space model
    disturbance rejection
    state observer
    Kalman filter
    sterowanie predykcyjne
    model przestrzeni stanów
    eliminacja zakłóceń
    obserwator stanu
    filtr Kalmana
    Opis:
    Disturbance modeling and design of state estimators for offset-free Model Predictive Control (MPC) with linear state-space process models is considered in the paper for deterministic constant-type external and internal disturbances (modeling errors). The application and importance of constant state disturbance prediction in the state-space MPC controller design is presented. In the case with a measured state, this leads to the control structure without disturbance state observers. In the case with an unmeasured state, a new, simpler MPC controller-observer structure is proposed, with observation of a pure process state only. The structure is not only simpler, but also with less restrictive applicability conditions than the conventional approach with extended process-and-disturbances state estimation. Theoretical analysis of the proposed structure is provided. The design approach is also applied to the case with an augmented state-space model in complete velocity form. The results are illustrated on a 2 x 2 example process problem.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2014, 24, 2; 313-323
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust L2 consensus of high-order swarm systems with time-varying delays
    Autorzy:
    Xi, J
    Yao, Z
    Liu, G.
    Zhong, Y.
    Powiązania:
    https://bibliotekanauki.pl/articles/205770.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    consensus
    swarm system
    uncertainty
    time delay
    disturbance rejection
    Opis:
    Consensus problems for high-order continuous-time swarm systems in directed networks with time delays, uncertainties and external disturbances are investigated. Firstly, the state space of a swarm system is decomposed into a consensus subspace (CS) and a complement consensus space (CCS). A necessary and sufficient condition for the system with time delays and uncertainties to achieve consensus is presented based on the state projection on CCS, and an explicit expression of the consensus function is shown on the basis of the state projection on CS. Then, a sufficient condition for the system to achieve consensus with a desired L2 performance is given. Finally, numerical simulations are shown to demonstrate theoretical results.
    Źródło:
    Control and Cybernetics; 2014, 43, 1; 59-77
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Active Disturbance Rejection Control of a 2DOF manipulator with significant modeling uncertainty
    Autorzy:
    Przybyła, M.
    Kordasz, M.
    Madoński, R.
    Herman, P.
    Sauer, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/201605.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    active disturbance rejection control (ADRC)
    2DOF manipulator
    modeling uncertainty
    Opis:
    This paper presents a practical verification of an Active Disturbance Rejection Control (ADRC) method in governing a multidimensional system. The experiments were conducted on a two degrees of a freedom planar manipulator with only partial knowledge about the mathematical model of the plant. This multi input multi output system was controlled with a set of two, independent, single input single output ADRC controllers, each regulating one of the manipulator degree of freedom. Modeling uncertainty (nonlinearities, cross-coupling effects, etc.) and external disturbances were assumed to be a part of the disturbance, to be estimated with an observer and cancelled on-line in the control loop. The ADRC robustness was experimentally compared with the results obtained from using two decentralized, classic PID controllers. Both control methods were tested under various conditions, e.g. changing the inertial parameters of the plant. Significantly better results, in terms of parametric robustness, have been reported for the ADRC approach.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 509-520
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Gain-scheduled state-feedback control for active cancellation of multisine disturbances with time-varying frequencies
    Dyskretny regulator LTV do eliminacji składowych harmonicznych zakłóceń ze zmienną w czasie częstotliwością
    Autorzy:
    Heins, W.
    Ballesteros, P.
    Bohn, C.
    Powiązania:
    https://bibliotekanauki.pl/articles/368951.pdf
    Data publikacji:
    2011
    Wydawca:
    Akademia Górniczo-Hutnicza im. Stanisława Staszica w Krakowie. Wydawnictwo AGH
    Tematy:
    aktywne sterowanie hałasem
    redukcja zakłóceń
    układ liniowy niestacjonarny
    obserwator
    sprzężenie od stanu
    active noise control
    disturbance rejection
    gain scheduling
    linear parameter-varying systems
    observers
    state feedback
    Opis:
    The paper presents a discrete-time LTV controller for the rejection of harmonic disturbances with time-verying based on a state-augmented observer-based state-feedback controller with a time-verying internal model and a scheduled state-feed back gain. The control design method is based on quadratic stability for LPV systems. The design is carried out in discrete time and the controller can easily be implemented on real-time hardware.
    W pracy przedstawiono dyskretny regulator LTV do eliminacji składowych harmonicznych zakłóceń. Wprowadzony regulator bazuje na sprzężeniu od zmiennych stanu z zależnym od czasu wewnętrznym modelem. Konstrukcja regulatora wykorzystuje własności stabilności układów LPV. Regulator został opisany równaniami dyskretnymi i może być łatwo zaimplementowany w układach czasu rzeczywistego.
    Źródło:
    Mechanics and Control; 2011, 30, 3; 127-137
    2083-6759
    2300-7079
    Pojawia się w:
    Mechanics and Control
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Nonlinear controller design of a ship autopilot
    Autorzy:
    Tomera, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/907758.pdf
    Data publikacji:
    2010
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie ślizgowe
    sterowanie nieliniowe
    eliminacja zakłóceń
    sterowanie statkiem
    sliding-mode control
    nonlinear control
    disturbance rejection
    ship control
    Opis:
    The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2010, 20, 2; 271-280
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Tracking and disturbance rejection in a nonlinear control system with time delay
    Autorzy:
    Chien, T.-L.
    Chen, C.-C.
    Wu, C.-J.
    Huang, Y.-C.
    Chen, C.-Y.
    Powiązania:
    https://bibliotekanauki.pl/articles/969741.pdf
    Data publikacji:
    2007
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    disturbance rejection
    automobile idle-speed control system
    differential geometry approach
    composite Lyapunov approach
    Opis:
    We consider the problem of designing a feedback control law in order to reject the unknown bounded disturbance and achieve tracking of reference inputs in control systems described by a class of nonlinear time-delay differential-algebraic equations. Based on the input-output feedback linearization technique and Lya-pimov method for nonlinear state feedback synthesis, a robust globally asymptotical output tracking controller design methodology for nonlinear time-delay control systems with delays on the states and the input is developed. The underlying theoretical approaches are the differential geometry approach and the composite Lyapunov approach. For the view of practical application, the proposed control methodology has been successfully applied to the famous nonlinear automobile idle-speed control system problem.
    Źródło:
    Control and Cybernetics; 2007, 36, 1; 59-74
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-15 z 15

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