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27th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： van Rossum, Felix Haus, Benedikt Mercorelli, Paolo Aschemann, Harald Leuphana Univ Luneburg Inst Prod Technol & Syst IPTS Univ Allee 1 D-21335 Luneburg Germany Univ Rostock Chair Mech D-18051 Rostock Germany

ISBN: (纸本)9798350311075

This paper deals with an input-output linearization for a nonlinear ice clamping system based on Peltier cells used in an innovative manufacturing system. For this model-based design, a third-order state-space model based on physical principles is derived. Unknown states as well as disturbances are estimated by a dual extended Kalman filter. Based on the estimated states and disturbances, an input-output linearization of the nonlinear system can be performed, with an asymptotically stable internal dynamics. Accordingly, an accurate tracking control is designed to follow a desired cold-side temperature even in the presence of disturbances. Meaningful simulation results are shown that point out the effectiveness of the proposed control approach.

关键词： Thermal systems input-output linearization dual extended Kalman filter manufacturing systems

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Antiwindup input-output linearization Strategy for the Control of a Multistage Continuous Fermenter With input Constraints

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IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY 2020年第3期28卷 766-775页

作者： Casenave, Celine Perez, Marc Dochain, Denis Harmand, Jerome Rapaport, Alain Sablayrolles, Jean-Marie Univ Montpellier French Natl Inst Agr Res INRA Montpellier SupAgro Res Unit Math Informat & STat Environm & Agron MI F-34060 Montpellier France Univ Montpellier French Natl Inst Agr Res INRA Montpellier SupAgro Res Unit Sci Oenol SPO F-34060 Montpellier France UCL Inst Informat & Commun Technol Elect & Appl Math B-1348 Ottignies Belgium Univ Montpellier French Natl Inst Agr Res INRA LBE F-11100 Narbonne France

This paper deals with the control of a multistage continuous fermenter (MSCF) used for the study of wine fermentation. The control design is facing three main difficulties: 1) system nonlinearity;2) lack of online measurement of the controlled variable (sugar concentration);and 3) positive constraints on the control inputs (inlet flow rates of each tank) coming from the cascade structure of the system. A control strategy has been proposed, which accounts for these specificities. It is based on an input-output linearization control law coupled with an antiwindup technique and a state observer (the Kalman filter). The strategy has been tested and validated first on numerical simulations and then applied to the real process. The experiments gave satisfactory results that open up new perspectives on the use of the MSCF.

关键词： Inductors Process control Sugar Control design Analytical models Numerical models Antiwindup cascade of reactors control design input-output linearization varying input constraints wine fermentation

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An input-output linearization algorithm-based control for optimization of DFIG

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IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING 2016年第Sup2期11卷 S22-S27页

作者： Liu, Zifa He, Zhenyou Liao, Kai Luo, Ya North China Elect Power Univ Sch Elect & Elect Engn Beijing Peoples R China

This paper proposes an input-output linearization-based active power control strategy to maximize the energy production of a doubly fed induction generator (DFIG)-based wind energy conversion system (WECS). The DFIG-based wind turbine is a nonlinear system, and the nonlinear behavior will result in tracking errors. The proposed control strategy utilizing state feedback successfully deals with the nonlinear behavior existing in the WECS. Such a control will linearize the system input and output first. Then, the control loop and parameters can be designed by the linear system control algorithm. The simulations carried in MATLAB/Simulink demonstrate that the proposed control strategy is effective and promising. (c) 2016 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

关键词： DFIG input-output linearization inter-area oscillation damping control state feedback

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A Unified Approach to input-output linearization and Concurrent Control of Underactuated Open-chain Multi-body Systems with Holonomic and Nonholonomic Constraints

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JOURNAL OF DYNAMICAL AND CONTROL SYSTEMS 2016年第1期22卷 129-168页

作者： Chhabra, Robin Emami, M. Reza MacDonald Dettwiler & Associates Ltd Brampton ON Canada Univ Toronto Inst Aerosp Studies Toronto ON Canada Lulea Univ Technol Space Technol Div Dept Comp Sci Elect & Space Engn Kiruna Sweden

This paper presents a unified geometric framework to input-output linearization of open-chain multi-body systems with symmetry in their reduced phase space. This leads us to an output tracking controller for a class of underactuated open-chain multi-body systems with holonomic and nonholonomic constraints. We consider the systems with multi-degree-of-freedom joints and possibly with non-zero constant total momentum (in the holonomic case). The examples of these systems are free-base space manipulators and mobile manipulators. We first formalize the control problem, and rigorously state an output tracking problem for such systems. Then, we introduce a geometrical definition of the end-effector pose and velocity error. The main contribution of this paper is reported in Section 5, where we solve for the input-output linearization of the highly nonlinear problem of coupled manipulator and base dynamics subject to holonomic and nonholonomic constraints. This enables us to design a coordinate-independent controller, similar to a proportional-derivative with feed-forward, for concurrently controlling a free-base, multi-body system. Finally, by defining a Lyapunov function, we prove in Theorem 3 that the closed-loop system is exponentially stable. A detailed case study concludes this paper.

关键词： Open-chain multi-body system Dynamical reduction Nonholonomic constraints input-output linearization Nonlinear control

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Adaptive input-output linearization of a pH neutralization process

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INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING 1997年第3期11卷 171-200页

作者： Henson, MA Seborg, DE UNIV CALIF SANTA BARBARA DEPT CHEM ENGN SANTA BARBARA CA 93106 USA

Adaptive non-linear control strategies for a pH neutralization process are developed and evaluated via simulation. A non-adaptive non-linear controller is designed using a modified input-output linearization technique which accounts for the implicit output equation in the reaction invariant model. For simplicity the reaction invariants are assumed to be available for feedback. Because the model exhibits significant time-varying behaviour, the input-output linearizing controller is combined with non-linear parameter estimators which account for unmeasured buffering changes. Simulation results demonstrate that a novel indirect adaptive strategy is most suitable for experimental implementation where the reaction invariants must be estimated and sampling is required. (C) 1997 by John Wiley & Sons, Ltd.

关键词： non-linear systems pH neutralization processes input-output linearization adaptive control

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An input-output linearization-based control strategy for wind energy conversion system to enhance stability

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WIND ENERGY 2018年第3期21卷 151-162页

作者： Liao, Kai Wang, Yao He, Zhengyou Nanyang Technol Univ 50 Nanyang Ave Singapore Singapore Southwest Minzu Univ Chengdu Sichuan Peoples R China Southwest Jiaotong Univ Chengdu Sichuan Peoples R China

This paper proposes a novel control strategy for doubly fed induction generator (DFIG)-based wind energy conversion system to investigate the potential of enhancing the stability of wind energy transmission system, a synchronous generator weakly integrated to a power system with a DFIG-based wind farm. The proposed approach uses state feedback to exactly linearize the nonlinear wind energy transmission system from control actions (active power and reactive power control order of DFIG) to selected outputs (power angle and voltage behind transient resistance of synchronous generator) at first. Then, on account of the linearized subsystem, the stability enhancement controller is designed based on linear quadratic regulator algorithm to contribute adequate damping characteristics to oscillations of the synchronous generator system under various operation points. The proposed control strategy successfully deals with the nonlinear behaviors exist from the inputs to outputs and improve the robustness with respect to the variation of system operation points. Furthermore, not only the rotor angle stability but also the voltage stability is enhanced by using the proposed control strategy. The simulation results carried on the studied system verify the effectiveness of the proposed control strategy of wind energy conversion system for system stability enhancement and the robustness against various system operation points.

关键词： doubly fed induction generator (DFIG) input-output linearization stability enhancement state feedback control wind energy conversion system

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Speed and efficiency control of an induction motor with input-output linearization

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IEEE TRANSACTIONS ON ENERGY CONVERSION 1999年第3期14卷 373-378页

作者： Wang, WJ Wang, CC Natl Taiwan Univ Sci & Technol Dept Elect Engn Taipei 106 Taiwan

A combination of a composite adaptive speed controller and an explicit efficiency control algorithm is proposed to control the speed and power efficiency of the induction motor in this paper. First, the input-output linearization method is used to dynamically decouple the motor speed and rotor flux. Then, a composite adaptive control algorithm is designed to control the speed of the induction motor. At steady-state light-load condition, the magnetizing current command is adjusted on the basis of the product of magnetizing current command and torque current command such that the steady-state power loss is minimum. A PC-based experimental drive system has been implemented, and some experimental results are provided to demonstrate the effectiveness of the presented approach.

关键词： induction motor speed control efficiency control input-output linearization

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An input-output linearization algorithm-based inter-area damping control strategy for DFIG

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IEEJ TRANSACTIONS ON ELECTRICAL AND ELECTRONIC ENGINEERING 2018年第1期13卷 32-37页

作者： Liao, Kai He, Zhengyou Wang, Yao Yang, Jianwei Southwest Jiaotong Univ Coll Elect Engn Chengdu 610031 Sichuan Peoples R China Southwest Univ Nationalities Coll Elect & Informat Engn Chengdu Sichuan Peoples R China

A novel input-output linearization algorithm-based inter-area oscillation damping control strategy for the doubly fed induction generator (DFIG) is proposed in this paper. The dynamic model of the study system, a classical two-area power system for inter-area oscillation study integrated with a DFIG-based wind farm, is modeled first. Then, the suitable input and output variables are chosen according to the control objective, which are the variables need to be linearized. The feedback control law, which can linearize the selected system input to system output, is obtained via the Lie derivative of the output function and state function according to the input-output linearization algorithm. Therefore, the control parameters can be designed to utilize the linear system control algorithm to improve the system dynamic response. The proposed control strategy can deal with the nonlinearity existing in the damping control loop, and thus the performance of the damping control can be improved. The simulation carried on the MATLAB/Simulink platform was employed to investigate the performance of the proposed damping control strategy for DFIG. Simulation results are compared with those of a system with no additional damping controller and with a conditional damping controller. It shows that proposed method can improve the system damping obviously. Compared to the conventional power system stabilizer (PSS) control, the proposed damping controller can damp the swing in power more quickly. (c) 2017 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

关键词： DFIG input-output linearization inter-area oscillation damping control state feedback

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Composite adaptive speed controller for induction motor with input-output linearization

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JOURNAL OF THE CHINESE INSTITUTE OF ENGINEERS 1997年第6期20卷 669-679页

作者： Wang, CC Wang, WJ NATL TAIWAN UNIV TECHNOL & SCI DEPT ELECT ENGN TAIPEI 106 TAIWAN

A composite adaptive speed controller for an induction motor with input-output linearization is proposed in this paper. The rotor flux is estimated with the simplified rotor flux observer on the rotor reference frame and the input-output linearization theory is used to decouple the motor speed and the rotor flux. Subsequeatly, the composite adaptive algorithm is used as the speed controller of the induction motor with input-output linearization. Some experimental results are provided to demonstrate the effectiveness of the proposed adaptive controller. Good speed tracking and load regulating responses can be obtained by the proposed composite adaptive controller. Moreover, the system can be operated in a wide range of speed and robust to the parameter variations.

关键词： input-output linearization composite adaptive control speed control induction motor

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Robust adaptive fuzzy semi-decentralized control for a class of large-scale nonlinear systems using input-output linearization concept

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL 2010年第1期20卷 27-40页

作者： Yousef, H. Hamdy, M. El-Madbouly, E. Menoufia Univ Dept Ind Elect & Control Engn Fac Elect Engn Menoufia Egypt Univ Alexandria Fac Engn Dept Elect Engn Alexandria Egypt

Stable direct and indirect adaptive fuzzy controllers based oil input-output linearization concept are presented for a class of interconnected nonlinear systems with unknown nonlinear Subsystems and interconnections. The interconnected nonlinear systems are represented not only in the canonical form,, as in Yousef et al. (Int. J. Robust Nonlinear Control 2006;16: 687-708) but also in the general forms. Hybrid adaptive fuzzy robust tracking control schemes that are based on it combination of all H-infinity tracking theory and fuzzy control design are developed. In the proposed control schemes, all the states and signals are bounded and an H-infinity tracking control performance is guaranteed without imposing any constraints or assumptions about the interconnections. Extensive simulation oil the tracking of a two-link rigid robot manipulator and a numerical example verify the effectiveness of the proposed algorithms. Copyright (C) 2009 John Wiley & Sons, Ltd.

关键词： adaptive fuzzy control input-output linearization large-scale system stability

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