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On Some Nonlinear Current Controllers for Three-Phase Boost Rectifiers

IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 2009年第2期56卷 360-370页

作者： Gensior, Albrecht Sira-Ramirez, Hebertt Rudolph, Joachim Gueldner, Henry Tech Univ Dresden Elektrotech Inst D-01062 Dresden Germany Inst Politecn Nacl Ctr Invest & Estudios Avanzados Dept Ingn Elect Secc Mecatron Mexico City 07300 DF Mexico Tech Univ Dresden Inst Regelungs & Steuerungstheorie D-01062 Dresden Germany

Several flatness-based current controllers for three-phase three-wire boost rectifiers are compared. For this purpose, the flatness of a rectifier model is shown, and a trajectory planning algorithm that nominally achieves voltage regulation in finite time is given. The main focus lies on the inner loop current controllers. On one hand, linearization-based controllers using exact feedback linearization, exact feedforward linearization, and input-output linearization are discussed. On the other hand, two passivity-based approaches are compared. The first one is the energy shaping and damping injection method, and the other one uses exact tracking error dynamics passive output feedback. Furthermore, a reduced-order load observer is given, and a method that allows the prevention of invalid switching patterns is presented. The presented control algorithms are tested by simulations on a switched model.

关键词： Exact feedforward linearization flatness-based control input-output linearization observers passivity-base control

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Nonlinear control of high purity distillation column under input saturation and parametric uncertainty

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JOURNAL OF PROCESS CONTROL 2009年第1期19卷 75-84页

作者： Biswas, Pinak Pani Ray, Subhabrata Samanta, Amar Nath Indian Inst Technol Dept Chem Engn Kharagpur 721302 W Bengal India

This paper presents a systematic methodology for designing adaptive feedback linearization controller for high purity binary distillation column having uncertain parameters and input saturation. Main goal of the controller is to control the top and bottom compositions of a binary distillation column in presence of both structured and unstructured uncertainty. An adaptive control strategy is used for the estimating uncertain parameters in the system model. Process input saturation always causes an added nonlinearity to the process, leading the process to become uncontrollable. A cascade reduced order nonlinear adaptive controller is designed and implemented to handle both forms of structured and unstructured uncertainty and input saturation problem. (C) 2008 Elsevier Ltd. All rights reserved.

关键词： input-output linearization Adaptive control High purity distillation column Parametric uncertainty input saturation

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Global Terminal Sliding Mode Robust Control for Trajectory Tracking and Vibration Suppression of Two-Link Flexible Space Manipulator

Global Terminal Sliding Mode Robust Control for Trajectory T...

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IEEE International Conference on Intelligent Computing and Intelligent Systems

作者： Chu Ming Jia Qing-xuan Sun Han-xu Beijing Univ Posts & Telecommun Sch Automat Beijing 100088 Peoples R China

ISBN: (纸本)9781424447541

In this study, based on differential geometry input-output linearization method, a new robust control approach using global terminal sliding mode (GTSM) was developed for trajectory tracking and vibraton suppression of two-link flexible space manipulator, and the nonminimum phase control problem was solved Firstly, the system outputs including joint angle and flexible-link vibration were redefined and therefore, the manipulator system was decomposed into input-output subsystem and zero-dynamics subsystem by input-output linearization Secondly, in order to make the tracking error of input-output subsystem fast convergence to zero in finite time, a GTSM control strategy was designed, which was able to eliminate significantly the chattering inherent in conventional sliding mode control Moreover, by analyzing the relationship between the eigenvalues of zero-dynamics and the parameters of controller, the zero-dynamics can be quickly and asymptotically stable at equilibrium point by choosing proper parameters Consequently, the whole original manipulator system was guaranteed to be asymptotically stable Finally, the presented numerical simulation results demonstrated the effectiveness and feasibility of the proposed control program

关键词： flexible space manipulator nonminimum phase control input-output linearization global terminal sliding mode control

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input-output Linearizing and Decoupling Control of a Nonholonomic Power Wheelchair

Input-Output Linearizing and Decoupling Control of a Nonholo...

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9th IEEE AFRICON Conference

作者： Nyabundi, S. A. Qi, G. Hamam, Y. Munda, J. Tshwane Univ Technol ZA-0001 Pretoria South Africa

ISBN: (纸本)9781424439188

While nonholonomic-powered wheelchairs (NPWs) have made advances over the past three decades, the control algorithms remain virtually unchanged since 1980's. The simple proportional-integral (PI) controller is antiquated, and does not perform well in the presence of disturbances, sensors uncertainties, nonlinearities and load variations. The practical interest is driven by the fact that today's wheelchairs need to be operated under tighter performance specifications. At the same time more and more constraints, stemming for example from environmental and safety considerations, need to be satisfied. Often these demands can only be met when nonlinearities and constraints are explicitly considered in the controller. A new approach to trajectory tracking control for wheelchair systems containing uncertain, nonsmooth nonlinearities is proposed. The method is based on decoupling theory and system input-output feedback linearization technique by which the system stability and convergence of velocity tracking errors to zero are rigorously examined. The effectiveness and efficiency of the proposed controller is demonstrated through simulation studies. The study would result in better driving performance, smoother feel, and fewer accidents or inadvertent collisions.

关键词： input-output linearization trajectory tracking decoupling nonholonomic wheelchair

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A Modified Nonlinear Damping of Zero-Dynamics via Feedback Control for a STATCOM

A Modified Nonlinear Damping of Zero-Dynamics via Feedback C...

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Bucharest PowerTech Conference

作者： Han, Youngseong Lee, Young O. Chung, Chung C. Hanyang Univ Dept Elect & Biomed Engn Seoul 133791 South Korea Hanyang Univ Dept Elect Engn Seoul 133791 South Korea Hyosung Co Power & Ind Syst R&D Ctr Gyeonggi Do 431080 South Korea

ISBN: (纸本)9781424422340

Recently linearization via feedback control law for a STATCOM to minimize the internal dynamics oscillations was proposed. The ripples of the internal dynamics correspond to the oscillation of the current ripple on the DC side capacitor so that it affects the lifecycle of the capacitor. In this paper, a modified nonlinear damping of zero dynamics via feedback control for a STATCOM is proposed. The proposed nonlinear feedback controller improves the stability of the internal dynamics. The controller gives the damping on zero-dynamics via the nonlinear feedback controller optimized at each operating point. It guarantees internal stability in all operation regions by moving the poles of the internal dynamics away from the imaginary axis. This effect is validated through the root locus analysis. Simulation results show that the oscillation of the internal dynamics is effectively reduced using the averaged and the topological model.

关键词： input-output linearization internal (zero) dynamics nonlinear damping STATCOM

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New DTC Scheme Based-on SVM with Sliding-Mode Observer for Induction Motors

New DTC Scheme Based-on SVM with Sliding-Mode Observer for I...

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IEEE International Conference on Automation and Logistics

作者： Cao, Xianqing Fan, Liping Shenyang Inst Chem Technol Coll Informat Engn Shenyang Liaoning Prov Peoples R China

ISBN: (纸本)9781424447947

Direct torque control based on space vector modulation (SVM-DTC) preserve DTC transient merits, furthermore, produce better quality steady-state performance in a wide speed range. The SVM-DTC system based on input-output linearization technique for induction machine drives is developed in this paper. A sliding-mode observer for estimating flux is introduced. The observer is inherently sensorless because they do not employ the rotor speed adaptation, and thus they are insensitive to speed estimation errors. Moreover, the observer is extremely robust. The simulations of conventional DTC and the proposed control topologies are given and discussed. It is concluded that the proposed control topology outperforms the conventional DTC in reducing torque ripple and parameter robust.

关键词： Direct torque control Sliding-Mode observer input-output linearization

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Global Terminal Sliding Mode Robust Control for Trajectory Tracking and Vibration Suppression of Two-Link Flexible Space Manipulator

Global Terminal Sliding Mode Robust Control for Trajectory T...

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2009 IEEE International Conference on Intelligent Computing and Intelligent Systems(ICIS2009)

作者： Chu Ming Jia Qing-xuan Sun Han-xu School of Automation Beijing University of Posts and Telecommunications Beijing China

In this study,based on differential geometry inputoutput linearization method,a new robust control approach using global terminal sliding mode（GTSM） was developed for trajectory tracking and vibraton suppression of two-link flexible space manipulator,and the nonminimum phase control problem was ***,the system outputs including joint angle and flexible-link vibration were redefined and therefore,the manipulator system was decomposed into input-output subsystem and zero-dynamics subsystem by input-output ***,in order to make the tracking error of input-output subsystem fast convergence to zero in finite time,a GTSM control strategy was designed,which was able to eliminate significantly the chattering inherent in conventional sliding mode ***,by analyzing the relationship between the eigenvalues of zero-dynamics and the parameters of controller,the zerodynamics can be quickly and asymptotically stable at equilibrium point by choosing proper ***,the whole original manipulator system was guaranteed to be asymptotically ***,the presented numerical simulation results demonstrated the effectiveness and feasibility of the proposed control program.

关键词： flexible space manipulator nonminimum phase control input-output linearization global terminal sliding mode control

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A new Lyapunov-krasovskii methodology for coupled delay differential and difference equations

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INTERNATIONAL JOURNAL OF CONTROL 2008年第1期81卷 107-115页

作者： Pepe, P. Jiang, Z. -P. Fridman, E. Univ Aquila Dipartimento Ingn Elettr I-67040 Laquila Italy Polytech Univ Six Metrotech Ctr Dept Elect & Comp Engn Brooklyn NY 11201 USA Tel Aviv Univ Dept Elect Engn Syst IL-69978 Tel Aviv Israel

In this paper a new Lyapunov-Krasovskii methodology for both the (local) asymptotic stability and the global asymptotic stability of non-linear coupled delay differential and difference equations is proposed. This methodology is based on the concept of input-to-state stability applied to the difference equation, for which a sufficient Lyapunov criterion is given, and on previous methodologies developed in the literature for linear delay descriptor systems.

关键词： input-output linearization SYSTEMS STABILITY

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Differential-geometric model-based control (DGMBC): A software package for controller design

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COMPUTERS & CHEMICAL ENGINEERING 2008年第7期32卷 1569-1588页

作者： Panjapornpon, Chanin Soroush, Masoud Seider, Warren D. Drexel Univ Dept Chem & Biol Engn Philadelphia PA 19104 USA Univ Penn Dept Chem & Biomol Engn Philadelphia PA 19104 USA

This paper presents a new software package, called differential-geometric model-based control (DGMBC), which carries out symbolic manipulations to automatically generate differential-geometric, model-based controllers and subsequently tests the designed controller. This prototype software was developed to simplify the industrial implementation and testing of differential-geometric, model-based controllers on lumped-parameter processes. DGMBC has a user-friendly interface that allows a user to enter process model equations and parameters easily. The user interface was developed using Visual Basic and linked to MATHEMATICA using MathLink. The user enters the process model (set of ordinary differential equations), and the software generates an analytical model-based controller, if an analytical solution exists. The resulting analytical model-based controller (set of ordinary differential and algebraic equations) can be in FORTRAN, C, or MATLAB format. DGMBC can also simulate the closed-loop process responses. The application and implementation of DGMBC 1.0 are shown using three chemical and biochemical process examples with varying levels of complexity. An analytical model-based controller is designed for each of the processes, and simulation results showing the closed-loop process responses are presented. (C) 2007 Elsevier Ltd. All rights reserved.

关键词： controller design software model-based control input-output linearization feedback linearization numerical simulation computer-aided design software

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State-constrained stabilization of beam-balance systems

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2008年第3期18卷 333-350页

作者： Mahindrakar, Arun D. Sankaranarayanan, V. Indian Inst Technol Dept Elect Engn Madras 600036 Tamil Nadu India Istanbul Tech Univ Automat Control & Mechatron Res Ctr Dept Mech Engn TR-80626 Istanbul Turkey

We present nonlinear control techniques to stabilize a beam-balance system with state constraints. We consider two different actuator configurations: the first one is actuated by a cart moving on the beam, while in the second case, the actuation is by a single electromagnet. In the first case, the constrained stabilization problem is solved via an output feedback controller designed using feedback linearization, Luenberger-like observer and linear matrix inequality based optimization. In the second case, a Lyapunov-based controller is proposed that takes care of both the input and state constraints. Copyright (c) 2007 John Wiley & Sons, Ltd.

关键词： state constraints input-output linearization observer invariant set LMI

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