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Throwing Motion Control of the Springed Pendubot

IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2013年第3期21卷 950-957页

作者： Shoji, Takuya Katsumata, Shunsuke Nakaura, Shigeki Sampei, Mitsuji Toyota Motor Co Ltd Chassis Dev Div Brake Syst Dev Dept Toyota Aichi 4718572 Japan Sony Corp Business Dev Div Business Incubat Unit Minato Ku Tokyo 1080075 Japan Sasebo Natl Coll Technol Dept Mech Engn Nagasaki 8571193 Japan Tokyo Inst Technol Dept Mech & Control Engn Tokyo 1528550 Japan

This brief describes a control strategy for the throwing motion of an underactuated two-link planar robot called the Pendubot. The springed Pendubot is built based on the concept of unstable zero dynamics, and our investigation uses it as a dynamic model of superior limbs to imitate human throwing motion. In the proposed control strategy, the zero dynamics is intentionally destabilized when a ball held by the end-effector is constrained on a geometric path in a vertical plane, using output zeroing control for the deviation between the ball and geometric path. The unstable zero dynamics drives the ball along the geometric path to achieve fast and accurate throw in a desired direction. The unstable zero dynamics is analytically derived to guarantee the dynamic acceleration of the ball along the geometric path. Numerical simulations and experimental results confirm the effectiveness of the proposed control strategy.

关键词： input-output linearization nonlinear feedback control output zeroing control pendubot throwing motion underactuated mechanical system zero dynamics

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Nonlinear reference tracking control of a gas turbine with load torque estimation

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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 2008年第8期22卷 757-773页

作者： Pongraz, B. Ailer, P. Hangos, K. M. Szederkenyi, G. Hungarian Acad Sci Proc Control Res Grp Syst & Control Lab Comp & Automat Res Inst H-1518 Budapest Hungary Pannon Univ Dept Comp Sci H-8200 Veszprem Hungary Knorr Bremse Res & Dev Ltd H-1119 Budapest Hungary

input-output linearization-based adaptive reference tracking control of a low-power gas turbine model is presented in this paper. The gas turbine is described by a third-order nonlinear input-affine state-space model, where the manipulable input is the fuel mass flowrate and the controlled output is the rotational speed. The stability of the one-dimensional zero dynamics of the controlled plant is investigated via phase diagrams. The input-output linearizing feedback is extended with a load torque estimator algorithm resulting in an adaptive feedback scheme. The tuning of controller parameters is performed considering three main design goals: appropriate settling time, robustness against environmental disturbances and model parameter Uncertainties, and avoiding the saturation of the actuator. Simulations show that the closed-loop system is robust with respect to the Variations in uncertain model and environmental parameters and its performance satisfies the defined requirements. Copyright (C) 2007 John Wiley & Sons. Ltd.

关键词： input-output linearization adaptive control reference tracking gas turbine

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Nonlinear control of input-constrained systems

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COMPUTERS & CHEMICAL ENGINEERING 2005年第1期30卷 158-181页

作者： Soroush, M Valluri, S Mehranbod, N Drexel Univ Dept Chem Engn Philadelphia PA 19104 USA Shiraz Univ Dept Chem Engn Shiraz Iran

This paper presents an optimization-based method for deriving model-based controllers that are applicable to input-constrained, multi-input multi-output, nonlinear processes described by a discrete-time mathematical model. By this method, nonlinear model-based control laws that inherently include optimal directionality and windup compensators are derived. The control laws can minimize the mismatch between constrained and unconstrained process responses, are input-output linearizing in the absence of input constraints, and allow one to adjust the rate of decay of the mismatch between constrained and unconstrained process responses when the constraints are no longer active. The connections between (a) the derived control laws and (b) model state feedback control and modified internal model control are established. The application and performance of the derived control laws are demonstrated by three examples. (c) 2005 Elsevier Ltd. All right reserved.

关键词： nonlinear control model predictive control saturating actuators input-output linearization internal model control windup compensation directionality compensation model state feedback

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Two equivalent control structures for an electrohydraulic actuator

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING 2010年第I5期224卷 599-609页

作者： Ayalew, B. Clemson Univ Int Ctr Automot Res Greenville SC 29607 USA

Two non-linear control structures are considered for position control of an electrohydraulic actuator. The first control structure is derived from a direct near input-output (IO) linearization of the actuator model with position as output. The second control structure is a cascade of a near IO linearizing pressure force controller as an inner loop to a feedback plus feedforward outer-loop position controller. In the present paper, it is shown that the two control structures are theoretically equivalent. Then, it is highlighted that the equivalence can be exploited to extract a simple and intuitive tuning procedure for selecting the gains of one control structure from the gains of the other structure. This result is particularly useful for tuning the near IO linearizing position controller as the interpretation of its gains is obscured by the non-linear state transformation of the feedback linearization. Some numerical simulation and experimental results are included to demonstrate the identified tuning procedure.

关键词： electrohydraulic actuator position control force control cascade control input-output linearization

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Shortest-prediction-horizon non-linear model-predictive control

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CHEMICAL ENGINEERING SCIENCE 1998年第2期53卷 273-292页

作者： Valluri, S Soroush, M Nikravesh, M Drexel Univ Dept Chem Engn Philadelphia PA 19104 USA Univ Calif Berkeley Lawrence Berkeley Lab Div Earth Sci Berkeley CA 94720 USA

This article concerns non-linear control of single-input-single-output processes with input constraints and deadtimes. The problem of input-output linearization in continuous time is formulated as a model-predictive control problem, for processes with full-state measurements and for processes with incomplete state measurements and deadtimes. This model-predictive control formulation allows one (i) to establish the connections between model-predictive and input-output linearizing control methods;and (ii) to solve directly the problems of constraint handling and windup in input-output linearizing control. The derived model-predictive control laws have the shortest possible prediction horizon and explicit analytical form, and thus their implementation does not require on-line optimization. Necessary conditions for stability of the closed-loop system under the constrained dynamic control laws are given. The connections between (a) the developed control laws and (b) the model state feedback control;and the modified internal model control-are established. The application and performance of the derived controllers are demonstrated by numerical simulations of chemical and biochemical reactor examples. (C) 1997 Elsevier Science Ltd.

关键词： non-linear control model-predictive control constrained control input-output linearization model-based control windup compensation

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Complex state-space modeling and nonlinear control of active front-end converters

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2005年第2期52卷 363-377页

作者： Burgos, RP Wiechmann, EP Holtz, J Virginia Polytech Inst & State Univ Ctr Power Elect Syst Blacksburg VA 24060 USA Univ Concepcion Dept Elect Engn Concepcion Chile Wuppertal Univ D-42097 Wuppertal Germany

This paper presents the modeling and control of active front-end (AFE) converters using complex state-space representation, a technique developed and thus far mostly employed for the analysis of ac machines. Particularly, three-phase PWM voltage-source and current-source rectifiers are thoroughly studied using the graphical capabilities of this approach, namely, complex signal flow graphs. These are used to directly and intuitively derive high-performance nonlinear control laws based on input-output feedback linearization. Specifically, a cascaded and a paralleled control scheme are investigated for the voltage-source rectifier, whereas a cascaded scheme is considered for the current-source rectifier. Under these strategies both converters exhibit linear and decoupled d-q axes dynamics, while also attaining 4 reactive power compensation capacity. Moreover, linearization of their respective dc-link voltage and current loops utterly enforces and ensures their operating stability. All this is achieved without the elaborate mathematical complexity of input-output linearization, effectively shunned out by the proposed complex state-space approach. Finally, experimental results from 5-kVA digital-signal-processor-based laboratory prototypes verify the analysis and downright performance evinced by these AFE converters.

关键词： active front-end (AFE) converter complex state-space input-output linearization pulsewidth-modulated (PWM) current-source rectifier pulsewidth-modulated (PWM) voltage-source rectifier

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Lie algebra application to mobile robot control: a tutorial

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ROBOTICA 2003年第5期21卷 483-493页

作者： Coelho, P Nunes, U Univ Coimbra Dept Elect & Comp Engn ISR P-3030290 Coimbra Portugal

Lie algebra is an area of mathematics that is largely used by electrical engineer students, mainly at post-graduation level in the control area. The purpose of this paper is to illustrate the use of Lie algebra to control nonlinear systems, essentially in the framework of mobile robot control. The study of path following control of a mobile robot using an input-output feedback linearization controller is performed. The effectiveness of the nonlinear controller is illustrated with simulation examples.

关键词： Lie algebra input-output linearization nonlinear systems mobile robots

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Identification, Control And Robustness Analysis Of A Robotic System Using Fractional Control

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IEEE LATIN AMERICA TRANSACTIONS 2015年第5期13卷 1294-1302页

作者： Viola, J. Angel, L. Univ Pontificia Bolivariana Bucaramanga Colombia

This paper presents the identification, control and robustness analysis for a robotic system of 1 degree of freedom using fractional and integer PID controllers. Initially, an ADAMS-MATLAB co-simulation model is built to simulate the dynamic model of robotic system. The identification of the dynamic model parameters of the system employs the recursive least-squares method. The controller design uses a linearized model of the robotic system obtained by the method of input-output linearization, and then, the fractional PID and integer PID controllers are designed based on it. The robustness of the PID controllers is analyzed in the frequency and the time domain. The robustness analysis in the frequency domain uses The Gang of Four (sensibility, complementary sensibility, sensibility of the plant and sensibility of the controller effort). The time domain analysis uses the ADAMS-MATLAB co-simulation model, considering external disturbances, noise in the feedback loop, parametric uncertainty and set-point variation, using as performance criteria ISE, average value and standard deviation of the control action. The tests are performed for positioning and tracking tasks. The obtained results show that the fractional PID controller has a better behavior in presence of external disturbances and lower energy consumption.

关键词： co-simulation FOPID IOPID robotics identification robustness analysis input-output linearization

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Nonlinear model-based track guidance of user-defined points at the vehicle front

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CONTROL ENGINEERING PRACTICE 2015年 41卷 98-112页

作者： Hahn, Stefan Zindler, Klaus Jumar, Ulrich Univ Appl Sci Aschaffenburg D-63743 Aschaffenburg Germany Ifak Inst Automat & Commun D-39106 Magdeburg Germany

Preventive pedestrian protection systems are validated by means of fully automated driving tests reproducing safety-critical traffic situations on a proving ground. In order to assess these preventive safety systems, a precise and reproducible collision of a pedestrian dummy with a specific point at the vehicle front, e.g., the left corner of the vehicle, must be ensured. Hence, a track guidance of this specific point is required. Beyond the state of the art a new nonlinear model describing the lateral deviation of any point at the vehicle front to a predefined path is proposed in this paper. Based on this model the method of input-output linearization is used to design a flexible lateral guidance system for an easy application in different vehicles. Furthermore, the closed-loop stability is proven and experimental results are presented. (C) 2015 Elsevier Ltd. All rights reserved.

关键词： Nonlinear lateral vehicle control Track guidance Feedback linearization input-output linearization Reproducible driving test Automated testing

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Trajectory Tracking Control for a Differential Drive Wheeled Mobile Robot Considering the Dynamics Related to the Actuators and Power Stage

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IEEE LATIN AMERICA TRANSACTIONS 2016年第2期14卷 657-664页

作者： Ortigoza, R. S. Sanchez, J. R. G. Guzman, V. M. H. Sanchez, C. M. Aranda, M. M. Inst Politecn Nacl CIDETEC Area Mecatron Mexico City 07700 DF Mexico Univ Autonoma Queretaro Fac Ingn Queretaro 76150 Qro Mexico Inst Politecn Nacl UPIICSA SEPI Mexico City 08400 DF Mexico

In this work a three-level controller that carries out the trajectory tracking task for a differential drive wheeled mobile robot (WMR) is presented. Such a controller considers, for the first time in literature, the dynamics associated with the three subsystems that compose a WMR, i.e., mechanical structure, actuators, and power stage. The high level corresponds to an input-output linearization control for the mechanical structure;the medium level is based on two sensorless controls designed via differential flatness for the actuators;and the low level is related to two cascade controls based on sliding modes and PI control for the power stage. The performance and robustness of the controller is verified and shown via realistic simulations when parametric uncertainties associated with the subsystems that compose the WMR are considered.

关键词： Trajectory tracking wheeled mobile robot DC motor DC/DC Buck power converter input-output linearization flat system cascade control sliding mode control PI control

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