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Super Twisting control For Thermo's Catalyst-5 Robotic Arm

Super Twisting Control For Thermo's Catalyst-5 Robotic Arm

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Lopez Cruz, Giovanni Alazki, Hussain Garcia Hernandez, Ramon Univ Autonoma Carmen Fac Ingn Ciudad Del Carmen Campeche Mexico Inst Tecnol Laguna Div Estudios Posgrad & Invest Torreon Coahuila Mexico

The control of industrial robotics systems is important due to the wide range of their applications. These machines are complex electromechanical systems that have multiples input/outputs, are non-linear and uncertainty. For this purpose, it is essential that the robot programmers can test the behavior of the robots in different circumstances and with varying parameters under a control methodology. In this work, it is designed a controller base on Super Twisting Algorithm (robust nonlinear controller) to reduce the chattering problem of sliding mode control with the robustness of robotic manipulator, and the stability proof in the case of nonlinear systems. Simulation results are shown and compare with the Proportional-Derivative controller using the 5-DOF (Degrees of Freedom) robotic manipulator CRS Catalyst-5 by Thermo Electron Corporation to illustrate the efficient of the proposed method. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Super Twisting control Robust control Robotic Manipulators

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Bistable behavior via switching dissipative systems with unstable dynamics and its electronic design

Bistable behavior via switching dissipative systems with uns...

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Gilardi-Velazquez, H. E. Escalante-Gonzalez, R. J. Campos-Canton, E. Inst Potosino Invest Cient & Tecnol AC Div Matemat Aplicadas Camino Presa San Jose 2055Col Lomas 4a Secc San Luis Potosi 78216 Slp Mexico

\In this work we present a design of a bistable system and its electronic circuit which is generated by a switching system. The switching system is comprised by dissipative subsystems with unstable dynamics based on the jerk equation. For this system with unstable dynamics, it is necessary to use a switching control law in order to change the equilibrium point of the linear part and get bounded trajectories. Also the dynamics of the piecewise linear (PWL) system is illustrated by numerical simulations to depict the bistable states. We present an easy electronic design of the proposed system by employing resistors, capacitors and comparators, to exhibit the capability to generate bistable behavior. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Multistability piecewise linear systems chaos switching functions switching control

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LMI-Based controller design for Time-Delay Nonlinear Descriptor systems with Guaranteed Exponential Estimates

LMI-Based Controller Design for Time-Delay Nonlinear Descrip...

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Arceo, Juan Carlos Villafuerte, Raul Estrada-Manzo, Victor Bernal, Miguel Univ Valenciennes & Hainaut Cambresis LAMIH UMR CNRS 8201 Valenciennes 9 France Hidalgo State Univ Res Ctr Informat Technol & Syst Carretera Pachuca Tulancingo Km 4-5 Mineral De La Reforma 42184 Hidalgo Mexico Sonora Inst Technol Dept Elect & Elect Engn 5 Febrero 818 Sur Obregon 85000 Mexico

This report is concerned with stability and stabilization of time-delay nonlinear nonsigular descriptor systems. Based-on a Lyapunov-Krasovskii functional and an exact convex representation of the system, conditions in the form of linear matrix inequalities are found that guarantee exponential estimates. The effectiveness of the proposed solutions is illustrated by means of numerical examples. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Convex model exponential stabilization time-delay descriptor system linear matrix inequality

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Trajectory Tracking for a Commercial Quadrotor via Time-Varying Backstepping

Trajectory Tracking for a Commercial Quadrotor via Time-Vary...

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Rosaldo-Serrano, M. A. Aranda-Bricaire, E. CINVESTAV Elect Engn Dept Mechatron Sect AP 14-740 Mexico City 07000 DF Mexico

In this paper we propose a non-linear control law to achieve trajectory tracking in the 3D space for a commercial *** 2.0 quadrotor. The proposed control law is based on a non-linear time varying version of the Backstepping technique that takes into account the dynamics of the internal orientation controller of the ***. The stability of the control law is ensured by the design of recursive Lyapunov functions and its performance is tested by numeric simulations on MATLAb Simulink environment. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Quadrotors Trajectory tracking Backstepping non-linear control

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System Parameters' Identification and Optimal Tracking control for Nonlinear systems

System Parameters' Identification and Optimal Tracking Contr...

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Cortes Vega, David Ramos Paz, Serafin Ornelas-Tellez, Fernando Jesus Rico-Melgoza, J. Univ Michoacana Sch Elect Engn Morelia 58030 Michoacan Mexico

This paper proposes a parameters identification methodology via the continuous-time least-squares algorithm for those nonlinear systems which are linear with respect to their parameters. The parameter identification method can be used for easily determining all the parameters in real plants from only input-output data measurements, such that a posteriori, a model-based control strategy can be synthesized. It is worth mentioning that when a control engineer wants to design a modern and sophisticated controller, usually the system model is used for such purposes, which depends on its parameters, however, in general the system parameters are not easy to determine. Also, this paper uses the parameters identification methodology for the design of an optimal tracking controller for state-dependent coefficient factorized (SDCF) nonlinear systems. Both, the parameters identification scheme and the optimal control strategy are applied via simulations for the control of a Permanent Magnet Synchronous Motor (PMSM), a three-phase nonlinear machine. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Parameter identification optimal nonlinear control PMSM

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Full and Partial State Discontinuous Integral control

Full and Partial State Discontinuous Integral Control

引用

2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Mercado-Uribe, Angel Moreno, Jaime A. Univ Nacl Autonoma Mexico Inst Ingn Mexico City 04510 DF Mexico

Homogeneous Discontinuous Integral controllers are very effective to track or regulate a reference signal and to reject perturbation signals, which are Lipschitz continuous. This is in contrast to Continuous Integral controllers, which are able to track and reject only constant signals. In this paper we extend some recent results, attained for systems with relative degree two, to relative degree three. We develop a Lyapunov based analysis and design method, that is able to be extended to an arbitrary relative degree, and that allows a differentiate design for Integral controllers depending on the full or a partial state. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Lyapunov functions Discontinuous integral control Higher Order Sliding modes Output Tracking

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Backstepping design for Output Feedback Stabilization for a Class of Uncertain systems using Dynamic Extension

Backstepping Design for Output Feedback Stabilization for a ...

引用

2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Mazenc, Frederic Burlion, Laurent Malisoff, Michael Cent Supelec INRIA CNRS L2S 3 Rue Joliot Curie F-91192 Gif Sur Yvette France Off Natl Etud & Rech Aerosp French Aerosp Lab F-31055 Toulouse France Louisiana State Univ Dept Math Baton Rouge LA 70803 USA

We revisit the backstepping approach. We show how bounded globally asymptotically stabilizing output feedbacks can be constructed for a family of nonlinear systems. The approach relies on the introduction of a dynamic extension and a converging-input-converging-state assumption. The technique presents several advantages. It provides control laws whose expressions are simple. It makes it possible to stabilize systems in the presence of certain types of uncertain terms which prevent the use of the classical backstepping technique. It applies in notable cases where only part of the state variable is measured. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： backstepping nonlinear output feedback stabilization

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Vibration Suppression of Hamiltonian systems with Velocity and Force Disturbances using IDA-PBC

Vibration Suppression of Hamiltonian Systems with Velocity a...

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2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Hao, Sheng Yamashita, Yuh Kobayashi, Koichi Hokkaido Univ Sapporo Hokkaido 0600814 Japan

This paper proposes a vibration-suppression control method for 2DOF Hamiltonian systems using only the relative displacements and velocities. The controller can suppress the vibration of the main body in the world coordinate, where a velocity disturbance and a force disturbance affect to the system simultaneously. The main idea of the feedback law is to convert a nonlinear 2DOF system into a desired system with virtual skyhook dampers by using the IDA-PBC technique. A parameter selection procedure is derived by combining the constraints of nonlinear IDA-PBC and the evaluation of the control performance of the linearly approximated system. The effectiveness of the proposed method is confirmed by simulations for an example. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： IDA-PBC Hamiltonian system vibration suppression nonlinear tuned mass damper

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Elastic Compliance Versus Joint Actuation in an Articulated Swimming Robot

Elastic Compliance Versus Joint Actuation in an Articulated ...

引用

2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Abrajan-Guerrero, Rodrigo Kelly, Scott David Univ North Carolina Charlotte Charlotte NC 28223 USA

A planar swimming device comprising three rigid links with one actuated joint and one elastically compliant joint can achieve bi-directional translation as well as rotation solely through sinusoidal deformations of the actuated joint. In the context of an idealized model in which the surrounding fluid is assumed to be inviscid, the system's locomotion may be understood in terms of geometric phases associated with limit cycles in joint-angle space. In comparison to a system with actuators at both joints executing the same swimming motion, a singly actuated compliant swimmer exhibits superior energy efficiency in laboratory experiments. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： robotic locomotion biomimetics differential geometric methods nonlinear systems fluid mechanics

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Sufficient Conditions and Sensor Placement for Structural Fault Diagnosis in a class of Timed Continuous Petri Nets

Sufficient Conditions and Sensor Placement for Structural Fa...

引用

2nd ifac conference on Modelling, Identification and control of Nonlinear systems (MICNON)

作者： Casas-Carrillo, R. Begovich, O. Ruiz-Leon, J. Ramirez-Trevino, A. CINVESTAV Guadalajara Zapopan Jalisco Mexico

This work addresses the characterization of the fault diagnosability property in Timed Continuous Petri Nets (TCPN) under infinite server semantics. In the approach herein presented, the potential faults are included in the model, however, their occurrence time, magnitude and location are unknown. Two novel results are presented. In the first one, sufficient conditions that guarantee the diagnosability in TCPN substructures are provided. These conditions are based on the net structure, avoiding the analysis of all linear systems describing the net dynamics. The second result is a methodology to place a reduced number of sensors in such a way that a class of TCPN becomes diagnosable. In order to show the applicability of the reported results, an illustrative example is presented. (C) 2018, ifac (International Federation of Automatic control) Hosting by Elsevier Ltd. All rights reserved.

关键词： Fault Diagnosis Sensor Placement Structural Analysis Timed Continuous Petri Nets Switched Linear systems

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