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A simplified dynamic model and control for a multiple launch rocket system

JOURNAL OF VIBRATION AND CONTROL 2022年第17-18期28卷 2288-2300页

作者： Li, Bo Rui, Xiaoting Wang, Guoping Nanjing Univ Aeronaut & Astronaut Coll Mech & Elect Engn 29 Yudao St Nanjing 210016 Peoples R China Nanjing Univ Sci & Technol Inst Launch Dynam Nanjing Peoples R China

Multiple launch rocket system, a type of launching platform used to launch kinetic load to hit the target, is an extremely complicated mechanical system with strong vibration because of the jet force. In this study, a nonlinear dynamic model and vibration control of a multiple launch rocket system are presented to reduce vibration and improve position accuracy. A simplified dynamic model of the multiple launch rocket system is derived using the Newton-Euler method, which facilitates the controller design considering the strong complexity of the multiple launch rocket system. On this basis, the feedback linearization technique is introduced to design a nonlinear controller based on the deduced dynamic model. The simulated and experimental results show that the simplified dynamic model-based control effectively can reduce vibration level of the launching system and make the azimuth and elevation angles reach the desired values with smaller error despite of each rocket's jet force.

关键词： feedback linearization technique dynamic modeling nonlinear control multiple launch rocket system simplified dynamic model

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Control of a DC motor using feedback linearization and gray wolf optimization algorithm

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ADVANCES IN MECHANICAL ENGINEERING 2022年第3期14卷

作者： Vesovic, Mitra Jovanovic, Radisa Trisovic, Natasa Univ Belgrade Fac Mech Engn Dept Control Engn Belgrade Serbia Univ Belgrade Fac Mech Engn Dept Mech Kraljice Marije 16 Belgrade 11120 Serbia

The aim of this study is to investigate nonlinear DC motor behavior and to control velocity as output variable. The linear model is designed, but as it is experimentally verified that it does not describe the system well enough it is replaced by the nonlinear one. System's model has been obtained taking into account Coulomb and viscous friction in the firmly nonlinear environment. In the frame of the paper the dynamical analysis of the nonlinear feedback linearizing control is carried out. Furthermore, a metaheuristic optimization algorithm is set up for finding the coefficient of the proportional-integral feedback linearizing controller. For this purpose Gray wolf optimization technique is used. Moreover, after the introduction of the control law, analysis of the pole placement and stability of the system is establish. Optimized nonlinear control signal has been applied to the real object with simulated white noise and step signal as disturbances. Finally, for several desired output signals, responses with and without disruption are compared to illustrate the approach proposed in the paper. Experimental results obtained on the given system are provided and they verify nonlinear control robustness.

关键词： feedback linearization technique gray wolf optimization nonlinear friction modeling nonlinear systems and control stochastic disturbance robustness

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feedback linearization-Based Control Strategy for Interlinking Inverters of Hybrid AC/DC Microgrids with Seamless Operation Mode Transition

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ENERGIES 2021年第18期14卷

作者： Thanh Hai Nguyen Tan Luong Van Nawaz, Asif Natsheh, Ammar Higher Coll Technol Fac Engn Technol & Sci POB 16062 Dubai U Arab Emirates Ho Chi Minh City Univ Food Ind Dept Elect & Elect Engn 140 Le Trong Tan Ho Chi Minh City 760310 Vietnam

This study proposes an advanced control scheme for the interlinking inverters of the hybrid AC/DC microgrids, which facilitates a seamless transition between grid-connected and stand-alone/islanding modes for the microgrid. Due to a nonlinear relationship between the terminal voltages of the voltage-source inverter (VSI) interfacing through inductor-capacitor (LC) filters with the grid voltages and currents, a feedback linearization technique (FLT) is employed to control the interlinking VSI under both grid-connected and islanding operations. The FLT-based current controllers are applied in the grid-connected mode, in which they adjust the power exchange between the DC and AC subgrids and mitigate the distortion of the grid currents produced by nonlinear loads. Under the stand-alone operation, the AC bus voltages are directly regulated by the FLT-voltage controllers of the interlinking VSI. In order to reduce the inrush currents and voltage overshot at the instant of mode switching, the FLT-based controllers are performed all the time regardless of the operating modes, where the voltage references for the VSI are not changed abruptly. The control performance of the VSI is highly satisfactory with low-transient overshoot values of the voltages and currents and low total harmonic distortion (THD) values of the grid currents and AC bus voltages are about 3.5% and 2.7%, respectively, under the nonlinear load condition. The validity of the new control strategy is verified by the simulation work, which investigates the operation of a hybrid AC/DC microgrid.

关键词： current controller feedback linearization technique hybrid AC DC microgrid seamless mode transition voltage controller

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Glucose Control In Diabetic Patients Considering Daily Real Life Factors 6

Glucose Control In Diabetic Patients Considering Daily Real ...

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6th International Conference on Control, Instrumentation and Automation (ICCIA)

作者： Rahmanian, Farnoosh Dehghani, Maryam Karimaghaee, Paknoosh Mohammadi, Mohsen Shiraz Univ Sch Elect & Comp Engn Shiraz Iran Shiraz Univ Sch Mech Engn Shiraz Iran

ISBN: (纸本)9781728158150

Diabetes Mellitus (DM), is recognized as one of the most critical health challenges of the 21st century. It can affect almost every part of the body and leads to health problems and complications such as heart, kidney, eye, dental, and nerve disease. Therefore, it is needed to manage blood glucose levels by insulin injection that can be done either by syringe injection or insulin pump. The insulin pump is the most recent method of insulin injection, which transfers certain amounts of insulin to the body in regular and certain time distances. In this paper, the goal is to control one of the most complete models of glucose-insulin metabolism in Type 1 Diabetes Mellitus (T1DM) patients. This nonlinear and time-varying model considers the T1D patients body in real daily life. Important factors such as meals, snacks, physical activity and exercise, fatigue, stress, and insulin sensitivity (SI) drift are modeled. While most articles treat meals and exercise as disturbances, in this paper, these factors are included in the considered mathematical model. The feedback linearization technique is exploited to design a suitable nonlinear controller by considering the uncertainties and time-varying functions. The performance of the proposed controller is verified through simulation tests. It is clear from the simulation results that the controller is successful in keeping the blood sugar level at the desired level.

关键词： Exercise effect feedback linearization technique Food intake model Stress and fatigue model Type 1 diabetic patients

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An improved control strategy of 3P4W DVR systems under unbalanced and distorted voltage conditions

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INTERNATIONAL JOURNAL OF ELECTRICAL POWER & ENERGY SYSTEMS 2018年 98卷 233-242页

作者： Al Hosani, Khalifa Thanh Hai Nguyen Al Sayari, Naji Khalifa Univ Sci & Technol Petr Inst Dept Elect Engn POB 2533 Abu Dhabi U Arab Emirates

This paper proposes an enhanced nonlinear control technique based on a combination of feedback linearization (FBL) and resonant regulators as tracking controllers for three-phase four-wire (3P4W) dynamic voltage restorers (DVR) under unbalanced and distorted source voltages. A nonlinear model of the DVR system with a PWM voltage-source inverter (VSI) and output LC filters in the distribution system containing nonlinear loads is firstly linearized, which then the proportional integral plus resonant (PI + R) regulators are utilized for tracking controllers. In this control scheme, the voltage references of the controlled variables expressed in the d-q-O synchronous reference frame (SRF) for the DVR system are generated based on an in-phase compensation strategy, which results in the appearance of the second and multiple-sixth order components in the DVR voltage references under the unbalanced and distorted voltages conditions. With the combination of FBL technique and the tracking controllers based on resonant regulators, the DVR system provides an excellent control performance in the transient and steady states for compensating the load voltages with almost zero steady-state errors. The proposed method is validated by the simulation and experimental results, which show that the DVR with the suggested control scheme restores the load voltages at a low THD (total harmonic distortion) value of about 2.3% compared to 7.7%, 6.2%, and 5.4% by the typical PI, PR controllers, and conventional FBL technique, respectively.

关键词： DVR feedback linearization technique Resonant regulators Three-phase four-wire inverter Voltage distortion Voltage unbalance

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Leader-Follower Control Strategy with Rigid Body Behavior

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IFAC-PapersOnLine 2018年第22期51卷 184-189页

作者： González-Sierra, J. Hernández-Martínez, E.G. Ferreira-Vazquez, Enrique D. Flores-Godoy, J.J. Fernandez-Anaya, G. Paniagua-Contro, P. CONACYT-TECNM/Instituto Tecnológico de la Laguna Blvd. Revolución y Cuautémoc S/N C.P. 27000 TorreónCoahuila Mexico Engineering Department Universidad Iberoamericana Mexico City01219 Mexico Electrical Engineering Department Universidad Católica del Uruguay Montevideo11600 Uruguay Math Department Universidad Católica del Uruguay Montevideo11600 Uruguay Physics and Mathematics Department Universidad Iberoamericana Mexico City01219 Mexico

This work presents a control strategy for a leader-follower formation distance-based model of two single order kinematic model of robots. It uses feedback linearization techniques to derive the control action on the follower robot to maintain a desired distance and orientation with respect to the leader robot. Besides, it is shown that a suitable selection of the desired parameters make the formation behave as a rigid body. The control strategy is applied in a laboratory environment with two omnidirectional robots to show its performance. © 2018

关键词： feedback linearization Kinematics Multipurpose robots Rigid structures Distance based formations Distance based models feedback linearization technique Laboratory environment Leader follower controls Leader follower formations Multi robot systems Omnidirectional robots

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Real time Autopilot based on Immersion & Invariance for Autonomous Aerial Vehicle

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IFAC-PapersOnLine 2016年第17期49卷 176-181页

作者： Bouzid, Y. Siguerdidjane, H. Bestaoui, Y. IBISC Université d'Evry-Val-d'Essonne Université Paris-Saclay Evry France L2S CentraleSupélec Université Paris-Saclay Gif-sur-yvette France

UAV's will play a significant role in some future ground operations. Therefore, the exploration of the applicability level of advanced control laws or new developments and the resulting performance is of a great interest. Thus, this paper deals with the application of Immersion and Invariance (I&I) based approach to control a Quad-Rotor. This control manages the longitudinal and lateral motions. The main objective is in the one hand to maintain the vehicle stable throughout the whole generated trajectory that may be composed of different type line segments or arcs, with and without disturbances and in the other hand, to ensure an adequate behavior of the vehicle when passing through defined way-points. The system is modeled via Euler-Newton formalism and the control architecture is arranged in two levels. The first one executes a control law for altitude and yaw motions derived by using a feedback linearization technique. The second level concerns the movement in the XY-plan using I&I approach. A series of experimental tests are performed on a vehicle available in our laboratory for which one demonstrates the effectiveness of the proposed control strategy. © 2016

关键词： Altitude control Antennas Control theory feedback linearization Ground operations Vehicles Autonomous systems Control architecture Control strategies feedback linearization technique Generated trajectories Immersion and invariances Non linear control Trajectory tracking

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Fault tolerant attitude controller for a class of additive faults via High-Order Sliding Modes

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IFAC-PapersOnLine 2016年第5期49卷 254-259页

作者： Dávila, J. Cieslak, J. Henry, D. Instituto Politècnico National IPN Section of Graduate Studies and Research ESIME-UPT Av. Ticoman 600 Col. San Jose Ticoman Gustavo A. MaderoMexico D.F. United States University of Bordeaux IMS-Lab Automatic Control Group 351 cours de la liberation Talence33405 France

In this paper, an autopilot for attitude tracking is designed using disturbance compensation techniques. The proposed controller uses backstepping design procedure and combines the feedback linearization technique with high-order sliding-modes based identification for fault tolerant control. System faults and external disturbances are compensated by a differentiable term generated by means of the robust exact high-order sliding-modes differentiator. The control signal generated for the controller does not require filtration. Simulations illustrate the performance of the proposed controller in the rigid body model of an F-16 aircraft. © 2016

关键词： Controllers Attitude control Fault tolerance feedback linearization Sliding mode control Supersonic aircraft Attitude controller Attitude tracking Backstepping design Disturbance compensation External disturbances Fault tolerant control feedback linearization technique High order sliding mode

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Series Resonant Converter-based Unified Power Quality Conditioner Using Fuzzy Controller

Series Resonant Converter-based Unified Power Quality Condit...

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International Conference on Artificial Intelligence and Evolutionary Algorithms in Engineering Systems (ICAEES)

作者： Anand, R. Mary, P. Melba Natl Coll Engn Dept Elect & Elect Engn Tirunelveli Tamil Nadu India VV Coll Engn Tisaiyanvilai Tamil Nadu India

ISBN: (纸本)9788132221357;9788132221340

The improvisation of power quality at grid is widely done by one of the custom power device, i.e., unified power quality conditioner (UPQC). This paper presents a three-phase unified power quality conditioner based on fuzzy controlled resonant converters, which has the capability to obtain a good transient current response and voltage response. The fuzzy logic controller is used to control the resonant converter. The simulation results based on MATLAB/Simulink are given to illustrate the effectiveness of the proposed UPQC based on resonant converter. The obtained result has been compared to other topologies which were proposed earlier.

关键词： Unified power quality conditioner Fuzzy logic controller feedback linearization technique Transform decomposition algorithm Total harmonic distortion

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Influence of Information Flow Topology on Closed-loop Stability of Vehicle Platoon with Rigid Formation

Influence of Information Flow Topology on Closed-loop Stabil...

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IEEE International Conference on Intelligent Transportation Systems

作者： Yang Zheng Shengbo Eben Li Jianqiang Wang Le Yi Wang Keqiang Li State Key Lab. of Automotive Safety & Energy Tsinghua Univ. Beijing China

ISBN: (纸本)9781479960798

Besides automated controllers, the information flow among vehicles can significantly affect the dynamics of a platoon. This paper studies the influence of information flow topology on the closed-loop stability of homogeneous vehicular platoon moving in a rigid formation. A linearized vehicle longitudinal dynamic model is derived using the exact feedback linearization technique, which accommodates the inertial delay of powertrain dynamics. Directed graphs are adopted to describe different types of allowable information flow interconnecting vehicles, including both radar-based sensors and V2V communications. Under linear feedback controllers, a unified closed-loop stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion. The theorem explicitly establishes the stabilization threshold of linear controller gains for platoons with a large class of different information flow topologies. Numerical simulations are used to illustrate the results.

关键词： algebra closed loop systems delays feedback graph theory power transmission (mechanical) road vehicles stability Routh-Hurwitz stability criterion V2V communications algebraic graph theory automated controllers closed-loop stability feedback linearization technique homogeneous vehicular platoon inertial delay information flow topology linear feedback controllers linearized vehicle longitudinal dynamic model powertrain dynamics radar-based sensors rigid formation vehicle platoon Eigenvalues and eigenfunctions Numerical stability Stability criteria Topology Vehicle dynamics Vehicles

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