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two-loop controller design and implementations for an inverted pendulum system with optimal self-adaptive fuzzy-proportional-integral-derivative control

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TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND control 2022年第2期44卷 468-483页

作者： Abut, Tayfun Soyguder, Servet Mus Alparslan Univ Dept Mech Engn TR-49100 Mus Turkey Firat Univ Dept Mech Engn Elazig Turkey Ankara Yildirim Beyazit Univ Dept Ind Engn Ankara Turkey

Since inverted pendulum systems (IPSs) are under-actuated systems, controlling these systems has become an important problem. Because of their irregular movements and being structurally unstable, the balancing of these systems poses a major problem. In this study, the dynamic model of a linear IPS has been obtained by using the Newton-Euler method and also conventional proportional-integral-derivative (PID), fuzzy logic (FLC), and self-adaptive fuzzy-proportional-integral-derivative (SAF-PID) control algorithms have been designed for the control of the system. The purpose of these designed controllers is to keep the arms of the IPS on the moving cart in a vertical position and bring the cart to the specified equilibrium position. In conventional control methods, unwanted oscillations have occurred during the movement of the cart. By using two-loop control methods, it is aimed to reduce these oscillations and to design a robust system. The results have been obtained using the conventional PID, FLC, and SAF-PID controllers. To increase the performance of the SAF-PID control type, the optimum value of the coefficients of the points where the legs of the membership functions touch were calculated using the firefly optimization algorithm. To conclude, the designed controllers were performed on computer simulation. The results are given graphically and numerically. Mean absolute error (MAE), mean squared error, integral absolute error IAE, and integral squared error have been compared and examined with each other and with the studies in the literature using performance criteria. As a result, the proposed control method was at least 26.31% more successful in the angular control of the pendulum and at least 9.26% better in the position control of the cart than the studies in the literature.

关键词： Optimal self-adaptive fuzzy-proportional-integral-derivative control firefly optimization algorithm inverted pendulum system under-actuated system two-loop control

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Adaptive control of electrically-driven nonholonomic wheeled mobile robots: Taylor series-based approach with guaranteed asymptotic stability

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INTERNATIONAL JOURNAL OF ADAPTIVE control AND SIGNAL PROCESSING 2020年第5期34卷 638-661页

作者： Haqshenas, M. AmirReza Fateh, Mohammad Mehdi Ahmadi, Seyed Mohammad Shahrood Univ Technol Dept Elect & Robot Engn Shahrood *** Iran

Taking advantage of an adaptive Taylor series approximator, this research seeks to address a two-loop robust controller for electrically-driven differential drive wheeled mobile robots. A fictitious current signal is designed in the outer loop such that the good tracking performance as well as the asymptotic stability of system will be achieved. Also, the error of currents will be minimized by an actual control input in the inner loop. For both inner/outer loops, uncertain nonlinear functions can be approximated by adaptive Taylor series systems. To validate the proposed control algorithm, numerous simulations have been carried out with two different desired trajectories and multiple initial conditions. Also, the proposed controller is compared with a recent well-designed robust adaptive fuzzy controller. In addition, to simplify the procedure of mathematical modelling of a wheeled mobile robot, the "Simscape Multibody" environment of "MATLAB" is used for 3D simulations.

关键词： adaptive Taylor series asymptotic stability Simscape multibody two-loop control wheeled mobile robot

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A Robust Approach to Stabilization of 2-DOF Underactuated Mechanical Systems

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ROBOTICA 2020年第12期38卷 2221-2238页

作者： Aminsafaee, Maryam Shafiei, Mohammad Hossein Shiraz Univ Technol Dept Elect & Elect Engn Shiraz Iran

This paper studies the stabilization problem for a class of underactuated systems in the presence of unknown disturbances. Due to less number of control inputs with respect to the degrees of freedom of the system, closed-loop asymptotic stability is a challenging issue in this field. In this paper, anti-swing controllers are designed for nominal and disturbed systems. In the case of the nominal system, the proposed two-loop controller is a combination of collocated partial feedback linearization and hierarchical sliding mode control (HSMC) theories. Then, due to the importance of robustness in control of physical systems, the proposed controller is developed for underactuated mechanical systems in the presence of additive disturbances. One of the main advantages of the proposed design method is that it does not need any switching algorithm. Finally, to illustrate the performance of the proposed controllers, they are applied to two underactuated mechanical systems: a pendubot and a Furuta pendulum. In addition, the practicality of the proposed approach is also verified experimentally using a quadrotor stand.

关键词： Underactuated mechanical system Hierarchical sliding mode control two-loop control Collocated partial feedback linearization

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two-loop control of Redundant Manipulators: Analysis and Experiments on a 3-DOF Planar Arm

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INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 2013年第1期10卷

作者： Soto, Israel Campa, Ricardo Inst Tecnol la Laguna Posgrad & Res Div Torreon Mexico

A redundant robot has more degrees of freedom (DOF) than those required to accomplish a given motion task. This fact allows the possibility of achieving an additional task, such as avoidance of joint limits or singularities, besides the primary one. Different criteria have been proposed in the literature for the selection of such a secondary task. This paper first recalls some of those criteria and then proposes a two-loop scheme for the motion control of redundant robots. In order to validate the proposed scheme, some experiments are carried out in a direct-drive redundant planar arm which has been designed and built in our laboratory.

关键词： Redundant Manipulators two-loop control Modelling Experimental Evaluation

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Comparative Analysis of two loop Integer and Fractional Order PID controller for Inverted Pendulum

Comparative Analysis of Two Loop Integer and Fractional Orde...

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IEEE International conference on Smart Electric Drives and Power System (ICSEDPS)

作者： Lanjewar, Abhijeet Khubalkar, Swapnil W. Junghare, Anjali S. Visvesvaraya Natl Inst Tech Dept Elect Engn Nagpur Maharashtra India GH Raisoni Coll Engn Dept Elect Engn Nagpur Maharashtra India

ISBN: (纸本)9781538657935

Inverted pendulum is highly non-linear and unstable system, hence it's a challenging plant to control. So, the aim is to effectively control the inverted pendulum. This paper focuses on control of inverted pendulum by using proportional integral derivative (PID) and fractional order PID (FOPID) controllers. The system is controlled by using two loop PID controller. Further improvement in control is obtained by using two loop FOPID controller. The comparison of both the techniques is shown. controllers are analyzed based on peak overshoot, control efforts, and performance indices. Simulation results demonstrate that the two loop FOPID controller gives improved response as compared to the two loop PID controller.

关键词： Comparison Fractional-order PID controller (FOPID) Inverted pendulum two-loop control

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two-loop Adaptive and Nonlinear control of the DC-DC Boost Converter in Discontinuous Conduction Mode

Two-Loop Adaptive and Nonlinear Control of the DC-DC Boost C...

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4th Annual International Power Electronics, Drive Systems and Technologies Conference (PEDSTC)

作者： Salimi, Mahdi Soltani, Jafar Zakipour, Adel Hajbani, Vadood Islamic Azad Univ Dept Engn Ardabil Branch Ardebil Iran

ISBN: (纸本)9781467344845;9781467344814

In this paper, an adaptive nonlinear controller is designed for DC-DC boost converter in Discontinuous Conduction Mode. The proposed controller is developed based on input-output linearization using an adaptive backstepping approach. All of the converter parameters, input voltage, load resistance and other parasitic elements are estimated using a suitable Lyapunov function. Because of non-minimum phase nature of boost converter, double-loop control structure is used. In this method, output voltage of the converter is indirectly controlled by tracking the inductor current. The inductor reference current is generated by a variable structure-PI controller which regulates the converter output voltage. The proposed controller is capable of operating in a wide range of reference voltage, load resistance and input voltage ripple. Using MATLAB/Simulink toolbox, some simulation is presented to verify the capability and effectiveness of the proposed control approach.

关键词： nonminimum phase nature adaptive backstepping variable structure controller two-loop control DCM operation uncertain parameters estimation and indirec control

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Sliding Mode control of the DC-DC Flyback Converter with Zero Steady-State Error

Sliding Mode Control of the DC-DC Flyback Converter with Zer...

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4th Annual Internatiional Power Electronics, Drive Systems and Technologies Conference (PEDSTC)

作者： Salimi, Mahdi Soltani, Jafar Zakipour, Adel Hajbani, Vadood Islamic Azad Univ Dept Engn Ardabil Branch Ardebil Iran

ISBN: (纸本)9781467344845

In this paper a novel approach for controlling the output voltage of the isolated fly back converter is presented using sliding mode controller. Due to non-minimum-phase nature of the converter and presence of a right-half-plan-zero in voltage transfer function, indirect regulation of the output voltage is applied. In the designed controller, simultaneous use of output voltage and transformer current feedbacks improves dynamic response of the controller. The sliding mode controller is developed so that in the final control law, integral of the output voltage error is present and consequently the output voltage error will be zero in the steady-state. Also, in order to measure transformer magnetizing current, simple and efficient method is proposed. Finally, in order to evaluate response of the controller, flyback converter is a simulated using MATLAB / Simulink.

关键词： Sliding mode controller steady-state voltage error two-loop control magnetizing inductance current measuring non-minimum phase nature

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The Research of control Strategy for Three-Phase Photovoltaic Grid-connected VSI Using Space Vector pulse width modulation and p-q Theory

The Research of Control Strategy for Three-Phase Photovoltai...

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2nd International Conference on Energy, Environment and Sustainable Development (EESD 2012)

作者： Cheng Qiming Hu Xiaoqing Wu Kai Bai Yuanfei Zhao Jinbin Shanghai Univ Elect Power Coll Elect Power & Automat Shanghai Peoples R China

ISBN: (纸本)9783037855492

This paper investigates the operation of a PV unit which is connected via a three-phase voltage-source inverter to the grid. The PV grid-connected control system is mainly related to a few key issues that are characteristics of photovoltaic cells, maximum power point tracking and grid-connected control of three-phase inverter. The control strategy of the three-phase PV grid-connected system is analyzed and studied by simulative experiment in this paper. A mathematical model of solar cells is established. Then the algorithms based on perturb & observe to track maximum power point is used. The structure of three-phase PV grid-connected system is introduced, and the current control method with Space Vector pulse width modulation (SVPWM) is examined and compared to other current control methods. The p-q theory is used to achieve uninterrupted compensation of the reactive power of the system. Simulative results on Matlab/Simulink software illustrate the reliability and superiority of this control strategy.

关键词： Solar cell model Maximum power point tracking(MPPT) Perturb & observe method two-loop control Space vector pulse width modulation(SVPWM)

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two-loop Sensor less control of Flyback Converter Using Unscented Kalman Filter

Two-Loop Sensor less Control of Flyback Converter Using Unsc...

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4th International Congress on Ultra Modern Telecommunications and control Systems (ICUMT)

作者： Zakipour, Adel Salimi, Mandi Islamic Azad Univ Dept Elect Eng Sarab Branch Sarab Iran Islamic Azad Univ Dept Elect Eng Ardebil Branch Ardebil Iran

ISBN: (纸本)9781467320153;9781467320160

In this paper, a two-loop controller for flyback DC-DC converter is developed in Continuous Conduction Mode (CCM) using Unscented Kalman Filter (UKF). In the proposed method, magnetizing inductor current and load resistance are estimated and as a result from practical viewpoint, current sensor can be eliminated. Due to non-minimum phase nature of the converter, both inductor current and output voltage feedback loops are used to stabilize the system in wide operating range. Response of the designed controller to load and output voltage reference changes are evaluated. Simulation results are obtained using Matlab/Simulink software.

关键词： Kalman Filter two-loop control non-minimum phase nature magnetizing inductor current estimation load and reference changes in wide range

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Research on Design and control of A Grid-connected Photovoltaic Inverter

Research on Design and Control of A Grid-connected Photovolt...

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International Conference on Sustainable Power Generation and Supply

作者： Yun Chen Fei Liu Wuhan Univ Sch Elect Engn Wuhan 430072 Peoples R China

ISBN: (纸本)9781424449347

The grid-connected issue is one of the most importance problem in the photovoltaic generation field. The filter used to connect the grid can be L, CL, LC or LCL four forms according to the different conditions. LCL filter, which can reduce the required filtered inductance and save the cost, is adopted to connect the grid in this paper. This paper firstly introduces a whole scheme of LCL filter design, then analyzes a two-loop control method in detail which uses the capacitor current and grid current as the inner and outer control variable respectively. Detailed discussion about the role of the loops and the influence on the system caused by every parameter of the controller are given out. Finally experimental results verify the correctness of the analysis and availability of the control strategy.

关键词： control strategies control variable design grid-connected LCL filter parameter photovoltaic generation traditional resource two-loop control voltage source inverter

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