Nonlinear adaptive output feedback control of stepper motors is considered in this paper. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet (PM) and variable reluctance (VR...
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Nonlinear adaptive output feedback control of stepper motors is considered in this paper. Utilizing the phase currents as inputs, an adaptive controller is derived for permanent magnet (PM) and variable reluctance (VR) stepper motors that achieves robustness to parametric and dynamic uncertainties such as friction, load torque or cogging torque in the motor dynamics. The controller utilizes only the rotor position for feedback and achieves global uniform boundedness of the tracking error. The design methodology is based on our earlier work on robust adaptive control of nonlinear systems. The stability of the system is proved through Lyapunov techniques. Simulation results are depicted to illustrate the performance of the controller.
In this paper a control relevant nonlinear dynamic model of grate sintering is presented. The model is designed for control purposes for use in future model predictive control (MPC) strategies. A multi-model approach ...
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In this paper a control relevant nonlinear dynamic model of grate sintering is presented. The model is designed for control purposes for use in future model predictive control (MPC) strategies. A multi-model approach is utilized where the model is presented as a convex combination of locally affine models. The model performance is compared to global models listed in the literature by simulations and by comparison to industrial plant data.
Tracking a target from a dynamic platform (i.e. aircraft, ground vehicle) requires a servo architecture that includes an outer track loop and an inner rate loop that stabilizes the line of sight (LOS). This paper focu...
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Tracking a target from a dynamic platform (i.e. aircraft, ground vehicle) requires a servo architecture that includes an outer track loop and an inner rate loop that stabilizes the line of sight (LOS). This paper focuses on the rate loop design and the effects of friction and cable restraint on it's performance. Adaptive friction and feedback compensators are designed to improve tracking performance. The adaptive feedback compensator is tuned so that the gimbal response follows that of a reference model.
This paper studies automatic operation of vehicles aiming at making the position and the attitude angle of four-wheeled vehicles follow target trajectories. A control theory which enables tracking of various routes is...
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This paper studies automatic operation of vehicles aiming at making the position and the attitude angle of four-wheeled vehicles follow target trajectories. A control theory which enables tracking of various routes is described by using a model which allows variable velocity. In this case the model is expressed as a nonlinear system. Since analytical evaluation of the performance is difficult for a nonlinear system, the control performance is evaluated through numerical simulations. This research focuses on two points: examination of the model with variable velocity, and evaluation of the control theory to follow a target trajectory controlling velocity of a vehicle.
In this paper we study the output feedback control problem using a decentralized dynamic feedback control scheme. We propose a numerical procedure which consists in the evaluation of the decentralized feedback gains s...
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In this paper we study the output feedback control problem using a decentralized dynamic feedback control scheme. We propose a numerical procedure which consists in the evaluation of the decentralized feedback gains such that the closed-loop behaviour of the decentralized system approaches, in the least squares sense, the evolution of a target centralized closed-loop plant. In this way, the synthesis problem reduces to the identification of a set of unknown parameters in a linear system of ordinary differential equations. Since also the time derivatives of the target states can be computed, the solution can be determined by solving a linear least squares problem, where no difficulty due to local minima and good initial estimate occur.
Numerous simulation studies have recently revealed the potential benefits of a neural network-based approach to direct adaptive control in the design of flight controlsystems. Foremost among the potential benefits is...
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Numerous simulation studies have recently revealed the potential benefits of a neural network-based approach to direct adaptive control in the design of flight controlsystems. Foremost among the potential benefits is greatly reduced dependence on high-fidelity modeling of system dynamics. However, the methodology has only recently been proven practical by demonstration in an actual flight system. This paper begins with an overview of the design of a nonlinear adaptive controlsystem for flight test on an unmanned helicopter test bed. Next, the design of an outer loop trajectory tracking controller as well as simulation results are presented. The paper concludes with the presentation of preliminary flight test results of the rate command system that document the actual performance of the controlsystem in flight.
Verifying the integrity of controlcomputers in adverse operating environments is a key issue in the development, validation, certification, and operation of critical controlsystems. Future commercial aircraft will n...
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Verifying the integrity of controlcomputers in adverse operating environments is a key issue in the development, validation, certification, and operation of critical controlsystems. Future commercial aircraft will necessitate flight-critical systems with high reliability requirements for stability augmentation, flutter suppression, and guidance and control. Operational integrity of such systems in adverse environments must be validated. This paper considers the problem of applying dynamic detection techniques to monitoring the integrity of fault tolerant controlcomputers in critical applications. Specifically, this paper considers the detection of malfunctions in an aircraft flight controlcomputer (FCC) that is subjected to electromagnetic environment (EME) disturbances during laboratory testing. A dynamic monitoring strategy is presented and demonstrated for the FCC from glideslope engaged until flare under clear air turbulence conditions using a detailed simulation of the B737 Autoland. The performance of the monitoring system is analyzed.
In this paper, a tuning formula is derived for PID control of a second-order plus dead time plant with under-damped response. For deriving the tuning rule, we first apply the dominant pole assignment method to a varie...
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In this paper, a tuning formula is derived for PID control of a second-order plus dead time plant with under-damped response. For deriving the tuning rule, we first apply the dominant pole assignment method to a variety of plants. Then we try to correlate the controller parameters obtained with the parameters that characterize the plant dynamics and obtain the tuning formulas. Several simulation examples are given to show the effectiveness of this formula.
The classical ship roll control PID design method is based on a single performance criterion. This paper extends this method to a non-linear constrained optimization, which includes all the controller performance and ...
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The classical ship roll control PID design method is based on a single performance criterion. This paper extends this method to a non-linear constrained optimization, which includes all the controller performance and stability design criteria. The classic PID design method is first introduced before going on to discuss the set of controller design specifications. It is then shown how these specifications are incorporated into the optimized design. The optimal method is then applied to the design of controllers for three separate ships, which present particular problems for the classical design method. Conclusions are then drawn from the results obtained.
This paper presents backing up control for a vehicle with triple trailers. In particular, we consider constraints on input and output and disturbance rejection that are incorporated in the LMI conditions. In applicati...
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This paper presents backing up control for a vehicle with triple trailers. In particular, we consider constraints on input and output and disturbance rejection that are incorporated in the LMI conditions. In application to the truck with triple trailers setup, we utilize these LMI conditions to explicitly avoid the saturation of the steering angle and the jack-knife phenomenon in the controldesign. The simulation and experimental results demonstrate that the controller effectively achieves the backing up control of the vehicle with triple trailers while avoiding the saturation of the actuator and `jack-knife' phenomenon. Moreover, the feedback controller guarantees the stability and performance even for disturbance.
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