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Tytuł:
On generalization of integral control to a class of nonlinear uncertain systems
Autorzy:
Zwierzewicz, Z.
Powiązania:
https://bibliotekanauki.pl/articles/229834.pdf
Data publikacji:
2010
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
nonlinear control
uncertain systems
adaptive control
integral action
approximator
functional uncertainty
Opis:
The paper concerns a new view on the problem of integral control in the context of nonlinear uncertain systems. It is demonstrated that a standard integral action applied to the linear control system with so-called load disturbances, can be generalized to comprise a class of linearly parameterized nonlinear SISO systems with functional uncertainty. In this case the integral action is turned out to be in fact an adaptation law of unknown parameters. It has been found that the obtained proportional-integral controller's variable gains are the basis functions of the system unknown nonlinearity approximator.
Źródło:
Archives of Control Sciences; 2010, 20, 2; 187-198
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of H∞ proportional-integral thrust controller for ramjet engine
Autorzy:
Zorić, Nemanja Dušan
Radulović, Radoslav Danilo
Jazarević, Vladimir Miloš
Petrović, Trajko Borivoje
Powiązania:
https://bibliotekanauki.pl/articles/1839621.pdf
Data publikacji:
2020
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
ramjetH∞ control
proportional-integral control
gain scheduling
Opis:
This paper presents the design of a thrust controller for a ramjet engine. The mathematical model for controller synthesis is based on a numerical solution of a set of nonlinear equations. Transfer functions of the engine are found for certain operation points defined by the altitude, Mach number and angle of attack. Local controllers are developed by using H∞ control methodology, finally reduced to proportional-integral (PI) controllers. For gain scheduling, linear interpolation of parameters of the local PI controllers is used. Next, simulations are performed in order to show performances of the presented control algorithm.
Źródło:
Journal of Theoretical and Applied Mechanics; 2020, 58, 4; 997-1007
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
The Gram-Schmidt Method in the Identification of a Generalized Control System
Autorzy:
Wysocki, H.
Powiązania:
https://bibliotekanauki.pl/articles/911169.pdf
Data publikacji:
2000
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
rachunek operatorowy
pochodna
system sterowania
operational calculus
derivative
integral
limit condition
control system
identification
orthonormalization method
Opis:
This article discusses the identification of a generalized linear control system described in the Bittner operational calculus by an abstract linear differential equation with constant coefficients. The identification problem leads to that of the best approximation in the vector space l_m^2 and is solved by using the Gram-Schmidt orthonormalization method. The classical Strejc method and the Shinbrot modulating function method are generalized here.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2000, 10, 2; 245-271
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Porównanie jakości pracy regulatorów stanu i PID układzie kaskadowym dwóch zbiorników
Comparison performance between state controllers and PID in a double tank cascade system
Autorzy:
Tomera, M.
Talaśka, M.
Powiązania:
https://bibliotekanauki.pl/articles/268703.pdf
Data publikacji:
2012
Wydawca:
Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
Tematy:
sterowanie całkujące
regulator optymalny LQR
regulator PID
integral control
optimal control LQR
PID control
Opis:
W referacie przedstawiona została analiza porównawcza dokonana pomiędzy dwoma regulatorami stanu i regulatorem PID, opierająca się na ocenie odpowiedzi czasowej sterowania poziomem wody w układzie kaskadowym dwóch zbiorników. Obiekt sterowania jest układem nieliniowym i składa się z pompy, dwóch zbiorników połączonych kaskadowo oraz czujników do pomiaru poziomów wody w zbiornikach. Szczegółowo przedstawione zostały metody projektowania analizowanych regulatorów. Pierwszy regulator stanu jest regulatorem optymalnym LQR dla którego analitycznie wyprowadzone zostały wzory na obliczanie optymalnych wartości wzmocnień, drugi natomiast zaprojektowany został metodami: Ackermana i lokowania biegunów. Parametry regulatora PID również dobrane zostały metodą lokowania biegunów. Badania wstępne przeprowadzone zostały w środowisku obliczeniowym MATLAB/Simulink z użyciem modeli symulacyjnych. Badania docelowe wykonane zostały w układzie rzeczywistym, gdzie algorytmy sterowania wyznaczone metodą emulacji, zaprogramowane zostały w mikrokontrolerze sygnałowym TMS320F28335, wykorzystanym do automatycznego sterowania poziomem wody w dolnym zbiorniku.
The paper presents the comparative analysis made between the two state regulators and PID controller, based on an assessment of response time water level control in a cascade of two tanks. Object control system is nonlinear and consists of a pump, the two tanks connected in cascade, and sensors for measuring the water level in the tanks. Details of which have been analyzed controller design method. The first controller is the state of optimal LQR controller for which analytical formulas are derived to calculate the optimal values of gains, while the next is designed by Ackerman and pole placement method. The PID controller was designed also by pole placement method. Simulation study was carried out using the computational environment MATLAB/Simulink. Target tests were performed in a real time system, where the control algorithms set by the emulation method was programmed in digital signal processor TMS320F28335 deployed to automatically control the water level in the bottom tank.
Źródło:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2012, 31; 139-146
1425-5766
2353-1290
Pojawia się w:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hybrid synchronization and parameter estimation of a complex chaotic network of permanent magnet synchronous motors using adaptive integral sliding mode control
Autorzy:
Siddique, Nazam
Rehman, Fazal U.
Powiązania:
https://bibliotekanauki.pl/articles/2173614.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
chaotic systems
hybrid synchronization
HS
complex chaotic permanent magnet synchronous motor
adaptive integral sliding mode control
ISMC
Lyapunov function
systemy chaotyczne
synchronizacja hybrydowa
złożony chaotyczny silnik synchroniczny z magnesami trwałymi
adaptacyjne zintegrowane sterowanie trybem przesuwu
funkcja Lapunowa
Opis:
The synchronisation of a complex chaotic network of permanent magnet synchronous motor systems has increasing practical importance in the field of electrical engineering. This article presents the control design method for the hybrid synchronization and parameter estimation of ring-connected complex chaotic network of permanent magnet synchronous motor systems. The design of the desired control law is a challenging task for control engineers due to parametric uncertainties and chaotic responses to some specific parameter values. Controllers are designed based on the adaptive integral sliding mode control to ensure hybrid synchronization and estimation of uncertain terms. To apply the adaptive ISMC, firstly the error system is converted to a unique system consisting of a nominal part along with the unknown terms which are computed adaptively. The stabilizing controller incorporating nominal control and compensator control is designed for the error system. The compensator controller, as well as the adopted laws, are designed to get the first derivative of the Lyapunov equation strictly negative. To give an illustration, the proposed technique is applied to 4-coupled motor systems yielding the convergence of error dynamics to zero, estimation of uncertain parameters, and hybrid synchronization of system states. The usefulness of the proposed method has also been tested through computer simulations and found to be valid.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; art. no. e137056
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hybrid synchronization and parameter estimation of a complex chaotic network of permanent magnet synchronous motors using adaptive integral sliding mode control
Autorzy:
Siddique, Nazam
Rehman, Fazal U.
Powiązania:
https://bibliotekanauki.pl/articles/2128164.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
chaotic systems
hybrid synchronization
HS
complex chaotic permanent magnet synchronous motor
adaptive integral sliding mode control
ISMC
Lyapunov function
systemy chaotyczne
synchronizacja hybrydowa
złożony chaotyczny silnik synchroniczny z magnesami trwałymi
adaptacyjne zintegrowane sterowanie trybem przesuwu
funkcja Lapunowa
Opis:
The synchronisation of a complex chaotic network of permanent magnet synchronous motor systems has increasing practical importance in the field of electrical engineering. This article presents the control design method for the hybrid synchronization and parameter estimation of ring-connected complex chaotic network of permanent magnet synchronous motor systems. The design of the desired control law is a challenging task for control engineers due to parametric uncertainties and chaotic responses to some specific parameter values. Controllers are designed based on the adaptive integral sliding mode control to ensure hybrid synchronization and estimation of uncertain terms. To apply the adaptive ISMC, firstly the error system is converted to a unique system consisting of a nominal part along with the unknown terms which are computed adaptively. The stabilizing controller incorporating nominal control and compensator control is designed for the error system. The compensator controller, as well as the adopted laws, are designed to get the first derivative of the Lyapunov equation strictly negative. To give an illustration, the proposed technique is applied to 4-coupled motor systems yielding the convergence of error dynamics to zero, estimation of uncertain parameters, and hybrid synchronization of system states. The usefulness of the proposed method has also been tested through computer simulations and found to be valid.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; e137056, 1--9
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances
Autorzy:
Sánchez-Meza, Victor-Gabriel
Lozano-Hernández, Yair
Gutiérrez-Frías, Octavio
Lozada-Castillo, Norma
Luviano-Juárez, Alberto
Powiązania:
https://bibliotekanauki.pl/articles/24200696.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
flat filtering control
generalized proportional integral control
nonlinear system
tail rotor disturbance
two degrees of freedom helicopter
sterowanie całkujące
układ nieliniowy
zakłócenia wirnika
Opis:
This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2023, 33, 4; 521--535
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Existence in optimal control problems of certain Fredholm integral equations
Autorzy:
Roubicek, T.
Schmidt, W.
Powiązania:
https://bibliotekanauki.pl/articles/206876.pdf
Data publikacji:
2001
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
ciało zorientowane
istnienie
miara Younga
relaksacja
równanie całkowe
sterowanie optymalne
existence
integral equation
optimal control
orientor field
relaxation
Young measures
Opis:
Existence of an optimal control for certain systems governed by nonlinear Fredholm integral equations that are of a Hammerstein type wlith respect to the control is proved under convexity of the orientor field by using a relaxed problem. Then, this convexity assumption is put away by finer analysis of the maximum principle. Illustrative examples are presented.
Źródło:
Control and Cybernetics; 2001, 30, 3; 303-322
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Observer-based leader-following formation control of uncertain multiple agents by integral sliding mode
Autorzy:
Qian, D. W.
Tong, S. W.
Li, C. D.
Powiązania:
https://bibliotekanauki.pl/articles/201511.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
multi-agent system
formation control
integral sliding mode control
uncertainty
nonlinear disturbance observer
stability
system wieloagentowy
kontrola formacji
integralne sterowanie ślizgowe
niepewność
nieliniowy obserwator zakłóceń
stabilność
Opis:
This paper investigates the formation control problem of multiple agents. The formation control is founded on leader-following approaches. The method of integral sliding mode control is adopted to achieve formation maneuvers of the agents based on the concept of graph theory. Since the agents are subject to uncertainties, the uncertainties also challenge the formation-control design. Under a mild assumption that the uncertainties have an unknown bound, the technique of nonlinear disturbance observer is utilized to tackle the issue. According to a given communication topology, formation stability conditions are investigated by the observer-based integral sliding mode formation control. From the perspective of Lyapunov, not only is the formation stability guaranteed, but the desired formation of the agents is also realized. Finally, some simulation results are presented to show the feasibility and validity of the proposed control scheme through a multi-agent platform.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2017, 65, 1; 35-44
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the lower semicontinuity of functionals involving Lebesgue or improper Riemann integrals in infinite horizon optimal control problems
Autorzy:
Pickenhain, S.
Lykina, V.
Wagner, M.
Powiązania:
https://bibliotekanauki.pl/articles/969619.pdf
Data publikacji:
2008
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
optimal control
infinite horizon
weighted Sobolev spaces
lower semicontinuity
Lebesgue integral
improper Riemann integral
Opis:
This paper deals with infinite horizon optimal control problems, which are formulated in weighted Sobolev spaces ... [wzór] and weighted Lp-spaces ... [wzór]. We ask for the consequences of the interpretation of the integral within the objective as a Lebesgue or an improper Riemann integral. In order to justify the use of both types of integrals, various applications of infinite horizon problems are presented. We provide examples showing that lower semicontinuity may fail for objectives involving Lebesgue as well as improper Riemann integrals. Further we prove a lower semicontinuity theorem for an objective with Lebesgue integral under more restrictive growth conditions on the integrand.
Źródło:
Control and Cybernetics; 2008, 37, 2; 451-468
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of decoupled pi controllers for two-input two-output networked control systems with intrinsic and network-induced time delays
Autorzy:
Mohamed-Vall, Ould Mohamed
Powiązania:
https://bibliotekanauki.pl/articles/2106237.pdf
Data publikacji:
2022
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
proportional integral controller
two-input two-output systems
TITO
networked control systems
stability region boundary locus
Wood–Berry distillation column model
time delay
Mikhailov criterion
Opis:
Proportional integral controller design for two-input two-output (TITO) networked control systems (NCSs) with intrinsic and network-induced time delays is studied in this paper. The TITO NCS consists of two delayed sub-systems coupled in a 1-1/2-2 pairing mode. In order to simplify the controller design, a decoupling method is first applied to obtain a decoupled system. Then, the controllers are designed based on the transfer function matrix of the obtained decoupled system and using the boundary locus method for determining the stability region and the well-known Mikhailov criterion for the stability test. A comparative analysis of the designed controllers and other controllers proposed in previous literature works is thereafter carried out. To demonstrate the validity and efficacy of the proposed method and to show that it achieves better results than other methods proposed in earlier literature works, the implementation in simulation of Wood–Berry distillation column model (methanol–water separation), a well-known benchmark for TITO systems, is carried out.
Źródło:
Acta Mechanica et Automatica; 2021, 15, 4; 201--208
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
LMI-based adaptive fuzzy integral sliding mode control of mismatched uncertain systems
Autorzy:
Mnasri, C.
Gasmi, M.
Powiązania:
https://bibliotekanauki.pl/articles/930163.pdf
Data publikacji:
2011
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie rozmyte
sterowanie ślizgowe
liniowa nierówność macierzowa
system niepewny
adaptive fuzzy control
integral sliding mode
LMI
mismatched uncertainties
Opis:
Integral sliding mode design is considered for a class of uncertain systems in the presence of mismatched uncertainties in both state and input matrices, as well as norm-bounded nonlinearities and external disturbances. A sufficient condition for the robust stability of the sliding manifold is derived by means of linear matrix inequalities. The initial existence of the sliding mode is guaranteed by the proposed control law. The improvement of the proposed control scheme performances, such as chattering elimination and estimation of norm bounds of uncertainties, is then considered with the application of an adaptive fuzzy integral sliding mode control law. The validity and efficiency of the proposed approaches are investigated through a sixth order uncertain mechanical system.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 605-615
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Extremal Problems for Infinite Order Parabolic Systems with Boundary Conditions Involving Integral Time Lags
Problemy ekstremalne dla parabolicznych systemów nieskończonego rzędu z warunkami brzegowymi, w których występują całkowe opóźnienia czasowe
Autorzy:
Kowalewski, Adam
Miśkowicz, Marek
Powiązania:
https://bibliotekanauki.pl/articles/2174238.pdf
Data publikacji:
2022
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
boundary control
infinite order parabolic systems
integral time lags
sterowanie brzegowe
systemy paraboliczne nieskończonego rzędu
całkowe opóźnienia czasowe
Opis:
Extremal problems for integral time lag infinite order parabolic systems are studied in the paper. An optimal boundary control problem for distributed infinite order parabolic systems in which integral time lags appear in the Neumann boundary conditions is solved. Such equations constitute in a linear approximation a universal mathematical model for many diffusion processes (e.g., modeling and control of heat transfer processes). The time horizon is fixed. Using the Dubovicki-Milutin framework, the necessary and sufficient conditions of optimality for the Neumann problem with the quadratic performance indexes and constrained control are derived.
Zaprezentowano ekstremalne problemy dla systemów parabolicznych nieskończonego rzędu z całkowymi opóźnieniami czasowymi. Rozwiązano problem optymalnego sterowania brzegowego dla systemów parabolicznych nieskończonego rzędu, w których całkowe opóźnienia czasowe występują w warunkach brzegowych Neumanna. Tego rodzaju równania stanowią w liniowym przybliżeniu uniwersalny model matematyczny dla procesów dyfuzyjnych. Korzystając z metody Dubowickiego-Milutina wyprowadzono warunki konieczne i wystarczające optymalności dla problemu liniowo-kwadratowego.
Źródło:
Pomiary Automatyka Robotyka; 2022, 26, 4; 37--42
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design of three control algorithms for an averaging tank with variable filling
Autorzy:
Kolankowski, Michał
Piotrowski, Robert
Powiązania:
https://bibliotekanauki.pl/articles/2105996.pdf
Data publikacji:
2022
Wydawca:
Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:
control system
fuzzy control system
integral control system
LQR
mathematical model
PID control system
state feedback controller
tank with variable filling
Opis:
An averaging tank with variable filling is a nonlinear multidimensional system and can thus be considered a complex control system. General control objectives of such object include ensuring stability, zero steady-state error, and achieving simultaneously shortest possible settling time and minimal overshoot. The main purpose of this research work was the modeling and synthesis of three control systems for an averaging tank. In order to achieve the intended purpose, in the first step, a mathematical model of the control system was derived. The model was adapted to the form required to design two out of three planned control systems by linearization and reduction of its dimensions, resulting in two system variants. A multivariable proportional-integral-derivative (PID) control system for the averaging tank was developed using optimization for tuning PID controllers. State feedback and output feedback with an integral action control system for the considered control system was designed using a linear-quadratic regulator (LQR) and optimization of weights. A fuzzy control system was designed using the Mamdani inference system. The developed control systems were tested using theMATLAB environment. Finally, the simulation results for each control algorithm (and their variants) were compared and their performance was assessed, as well as the effects of optimization in the case of PID and integral control (IC) systems.
Źródło:
Acta Mechanica et Automatica; 2022, 16, 2; 136--150
1898-4088
2300-5319
Pojawia się w:
Acta Mechanica et Automatica
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On the robustness of the integrable trajectories of the control systems with limited control resources
Autorzy:
Huseyin, Nesir
Huseyin, Anar
Guseinov, Khalik G.
Powiązania:
https://bibliotekanauki.pl/articles/27321481.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
nonlinear control system
integral equation
integral constraint
integrable trajectory
robustness
Opis:
The control system described by Urysohn type integral equation is considered where the system is nonlinear with respect to the phase vector and is affine with respect to the control vector. The control functions are chosen from the closed ball of the space Lq(Ω; ℝm), q > 1, with radius r and centered at the origin. The trajectory of the system is defined as p-integrable multivariable function from the space Lp(Ω; ℝn), (1/q) + (1/p) = 1, satisfying the system’s equation almost everywhere. It is shown that the system’s trajectories are robust with respect to the fast consumption of the remaining control resource. Applying this result it is proved that every trajectory can be approximated by the trajectory obtained by full consumption of the total control resource.
Źródło:
Archives of Control Sciences; 2023, 33, 3; 527--537
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
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