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IEEE International Conference on Robotics and Automation

作者： Esfahani, Peyman Mohajerin Karimi-Ghartemani, Masoud Namvar, Mehrzad ETH Dept Informat Technol & Elect Engn Zurich Switzerland Sharif Univ Technol Fac Elect Engn Dept Elect Engn Tehran Iran

ISBN: (纸本)9781424427888

This paper proposes a method to suboptimally tune the control parameters in a conventional Lyapunov-Based method which shares the same concept of control design with sliding mode approach as applied to the robot manipulators. Optimal tuning of such parameters involves handling of non-linearities in system dynamics and cost functions, which makes the problem challenging. We propose a step-by-step numerical algorithm that select suboptimal parameters while ensuring system stability. The controller is, suboptimal due to the facts that (1) it is in the form of a Slotine-type sliding mode control, (2) the numerical recursive algorithm might fall into a local minimum, and (3) the controller coefficients depend on the initial conditions of the system. The method is successfully applied to a two-link robot manipulator and the results are compared in simulation with those of a conventional controller.

关键词： Optimization nonlinear system control Sliding mode

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Design of a Plug-in Frequency Domain Based Repetitive Current controller for Three Phase PWM Boost Rectifier Under Distorted and Unbalanced Supply Voltages

Design of a Plug-in Frequency Domain Based Repetitive Curren...

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39th IEEE Power Electronics Specialists Conference (PESC 08)

作者： Wu, Xinhui Panda, Sanjib K. Xu, Jianxin Natl Univ Singapore Dept Elect & Comp Engn Singapore 117576 Singapore

ISBN: (纸本)9781424416677

This paper presents a dual frame control scheme with a digital plug-in frequency domain based repetitive controller (FDRC) for minimizing the even order harmonics at the output dc link voltage and odd order harmonics in the line currents under the distorted and unbalanced supply voltage conditions. In the proposed control scheme, the algorithm of the reference current calculation is to make sure that the dc link voltage is maintained constant and the supply side power factor is kept close to unity. The plug-in repetitive controller is designed to achieve line side currents with low THD for the three phase PWM boost rectifier. The experimental test results obtained from a 1.6 kVA laboratory based PWM rectifier confirm that the ripples at the dc link voltage can be reduced to 0.5% and the THD of the line side current can be minimized to 3.75% by using the proposed control scheme.

关键词： nonlinear system control Power converters Modelling Frequency domain based repetitive controller

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Dual Frame Cascaded controller Design for Three Phase PWM Boost Rectifier under Generalized Supply Voltage Conditions Using Singular Perturbation Method

Dual Frame Cascaded Controller Design for Three Phase PWM Bo...

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39th IEEE Power Electronics Specialists Conference (PESC 08)

作者： Wu, Xinhui Panda, Sanjib K. Xu, Jianxin Yurkevich, Valery D. Natl Univ Singapore Dept Elect & Comp Engn 4 Engn Dr 3 Singapore 117576 Singapore Novosibirsk State Univ Dept Automat Novosibirsk R-630092 Russia

ISBN: (纸本)9781424416677

This paper proposes the design of a dual frame cascaded PI controller for the three phase PWM boost rectifier under unbalanced supply voltage conditions by using singular perturbation method. By inducing two-time-scale motions, namely fast motion sub-system and slow motion sub-system, the desired output transient performance can be achieved with stability conditions imposed on the fast and slow modes with a sufficiently large mode separation rate. The proposed controller is also insensitive to the non-linearities of the system and the variations in the plant parameters. Experimental test results obtained on a 1.6 WA laboratory based PWM rectifier, validate that the controller can guarantee constant dc link voltage and unity power factor operation under the unbalanced supply voltage operating conditions.

关键词： nonlinear system control Power converters Modelling Singular perturbation method

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A Suboptimal controller Design Methodology for Input-Output Feedback-Linearizable systems

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IFAC Proceedings Volumes 2008年第2期41卷 8785-8790页

作者： Peyman Mohajerin Esfahani Masoud Karimi-Ghartemani Department of Electrical Engineering Sharif University of Technology Tehran Iran (Tel: 21-661-65936 )

This paper addresses suboptimal control of nonlinear systems which can be feedback-linearized from input to output. The case of input-to-state linearizable systems is also covered as a special case. The method is thus applicable to all nonlinear systems which can be partially linearized using the method of output-feedback linearization while having a stable internal (or zero) dynamics. The well-known LQR technique applied to the linearized system does not guarantee the suboptimality of the nonlinear system. This paper uses output feedback linearization technique to partially linearize the system and then designs an output-feedback for the feedback-linearized system in such a way that it ensures suboptimal performance of the original nonlinear system. The proposed method can optimize any arbitrary smooth function of states and input. The proposed controller is, however, suboptimal due to the facts that (1) the form of the controller is a linear static feedback of the linearized state, (2) the search algorithm may fall into a local extremum rather than a global, and (3) the calculated controller depends on the initial conditions. The method is successfully applied to control design of the longitudinal subsystem of a laboratory double-rotor helicopter and the results are discussed and compared with those of the LQR method.

关键词： nonlinear system control Output feedback control Optimal control theory

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Discontinuous Output Regulation of the Pendubot

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IFAC Proceedings Volumes 2008年第2期41卷 6027-6032页

作者： J. Rivera A. Loukianov B. Castillo-Toledo Universidad de Guadalajara Centro Universitario de Ciencias Exactas e Ingenierías Av. Revolución 1500 Col. Olimpica Guadalajara Jalisco C.P. 44430 México (Tel: +52-33-3942-5920 Centro de Investigacin y de Estudios Avanzados del IPN Unidad Guadalajara. A.P. 31-438 44550 Guadalajara Jal. México

In this work we address the problem of nonlinear output regulation of an underactuated system by means of discontinuous control actions, in particular, the sliding mode output regulator problem in the case of error feedback is considered for the Pendubot system. The theory is revisited for nonlinear systems presented in the so-called Regular form. Simulations are carried out to verify the effectiveness of the discontinuous method.

关键词： Regulation nonlinear system control

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Discrete–time Output Feedback Sliding Mode control of a Large Pressurized Heavy Water Reactor

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IFAC Proceedings Volumes 2008年第2期41卷 8648-8653页

作者： G. Datatreya Reddy Y.J. Park B. Bandyopadhyay A.P. Tiwari Systems and Control Engineering Indian Institute of Technology Bombay Powai Mumbai − 400076 India Department of Mechanical Engineering KAIST Deajeon Korea Reactor Control Division Bhabha Atomic Research Centre Trombay Mumbai − 400085 India

In this paper a novel method is presented to design a sliding mode spatial control for a large Pressurized HeavyWater Reactor (PHWR) using a new formulation of Multirate Output Feedback (MROF). In the new formulation of MROF, the outputs of the system should be some of the states of the system or system should be in special form. The non–linear model of PHWR including xenon and iodine dynamics is characterized by 70 state variables and 14 inputs and outputs each. Linear nodal model is obtained by linearizing the non–linear dynamic equations of the reactor about the full power operating point. The 14 outputs of the PHWR are the power levels in 14 zones, also these are the 14 states of the system. The PHWR model is perfectly suitable for the application of this new formulation in which the states of the system can be computed using reduced system matrix inversion. The PHWR is an ill–conditioned system and the computation of the states of the system using existing MROF require the larger matrix inversions which sometimes may not possible. The proposed approach avoids this difficulty and produces the similar result as it is produced by the existing technique. The proposed control method does not require state information of the system for feedback purposes and hence may be easier to implement. From simulation of the non–linear model of the reactor in representative transients, the proposed control scheme is found to be superior to other methods.

关键词： nonlinear system control Output feedback control Robust control Tracking

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MODEL ALGORITHM TRACKING control OF WHEELED MOBILE ROBOTS

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IFAC Proceedings Volumes 2008年第2期41卷 2347-2352页

作者： Zhang Yuanliang Kil To Chong Division of Electronics and Information Engineering Chonbuk National University

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steered wheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is controlled to track two different reference paths. It is shown that the control strategy is feasible.

关键词： nonlinear systems Discrete event systems modeling and control Tracking nonlinear system control Mobile robots

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FEEDBACK STABILIZATION OF THE TORA system VIA INTERCONNECTION AND DAMPING ASSIGNMENT control

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IFAC Proceedings Volumes 2008年第2期41卷 3781-3786页

作者： Atilio Morillo Miguel Ríos-Bolívar Vivian Acosta Centro de Investigación en Matemática Aplicada Facultad de Ingeniería Universidad del Zulia Maracaibo Venezuela Postgrado en Ingeniería de Control y Automatización Facultad de Ingeniería Universidad de los Andes Mérida Venezuela

In this work, we consider the feedback stabilization problem of the so-called Translational Oscillator with a Rotational Actuator (TORA) system by applying the Interconnection and Damping Assignment (IDA) control methodology. To achieve this goal, the mechanical system is firstly transformed into the general port controlled Hamiltonian form and, then, the IDA design procedure is applied to synthesize the stabilizing control law. The Hamiltonian structure of the closed loop system is preserved and asymptotic stability of the mechanical position is achieved, which is verified by digital simulations.

关键词： Design methods nonlinear system control Asymptotic stabilization

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An Approach to Unknown Input Observation for Non-Input-Affine nonlinear MIMO systems

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IFAC Proceedings Volumes 2008年第2期41卷 7618-7623页

作者： Nadine Stegmann Steven Liu Institute of Control Systems University of Kaiserslautern P.O. Box 3049 67653 Kaiserslautern Germany

This paper presents the application of a linear state and input observation approach to a non-input-affine nonlinear MIMO system. To detect and identify disturbances on the system's input, the system is transformed into an input-affine form by dynamic compensation and then linearized. The linearization carried out is not exact due to the unknown disturbance. It is shown that the linearization error can be represented as an equivalent input disturbance to the exact linear system representation and the linear observation approach therefore holds. The usefulness of the proposed method is demonstrated by a practical example. The system under consideration is a car-like mobile platform subject to steering angle errors. A control approach to compensate for the input disturbance based on the observation results is presented.

关键词： observers for linear systems nonlinear system control application of nonlinear analysis and design tracking mobile robots fault detection and diagnosis

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Estimation and control for systems with nonlinearly Parameterized Perturbations

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IFAC Proceedings Volumes 2008年第2期41卷 11178-11183页

作者： Håvard Fjær Grip Tor A. Johansen Lars Imsland NTNU Department of Engineering Cybernetics NO-7491 Trondheim Norway SINTEF ICT Applied Cybernetics NO-7465 Trondheim Norway

A class of systems influenced by nonlinearly parameterized perturbations is considered. An estimation scheme is developed whereby exponentially stable estimates of the unknown parameters can be obtained with an arbitrarily large region of attraction. The method applies to systems where the states are available for measurement, and perturbations with the property that an exponentially stable estimate of the unknown parameters can be obtained if the whole perturbation is known. Compensation for the perturbations in the system equations is considered for a class of systems which have uniformly globally bounded solutions and for which the origin is globally asymptotically stable when no perturbations are present. Examples with simulations are given in order to illustrate the results.

关键词： nonlinear system control Adaptive control nonlinear observer and filter design

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