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Observer-based input/output (I/O) linearizing control for an EDC vaporizer system

JOURNAL OF THE TAIWAN INSTITUTE OF CHEMICAL ENGINEERS 2015年 50卷 69-75页

作者： Rungrueng, Kochnapoom Panjapornpon, Chanin Kasetsart Univ Dept Chem Engn Ctr Excellence Petrochem & Mat Technol Fac Engn Bangkok 10900 Thailand

This paper presents a new observer-based input/output (I/O) system for handling the level and temperature of a vaporizer system with heat integration in petrochemical industries. The vaporizer is usually sensitive to disturbances and has a small stable operating regime, leading to a problem of system stabilization. The I/O linearizing controller is designed to force the outputs to track desired trajectories while the nonlinear observer with linearizable error dynamics predicts compensated states. The performance of the control method is investigated through a case study of the ethylene dichloride (EDC) vaporizer system under the setpoint tracking with unmeasured disturbances and process uncertainties. The simulation results showed that the proposed method is effective to compensate disturbances for the vaporizer system. (C) 2015 Taiwan Institute of Chemical Engineers. Published by Elsevier B.V. All rights reserved.

关键词： Model-based control Observer-based controller input-output linearization Near-unstable system EDC vaporizer Gas-liquid process

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Control and Disturbances Compensation for Doubly Fed Induction Generators Using the Derivative-Free Nonlinear Kalman Filter

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2015年第10期30卷 5532-5547页

作者： Rigatos, Gerasimos Siano, Pierluigi Zervos, Nikolaos Cecati, Carlo Ind Syst Inst Unit Ind Automat Rion 26504 Greece Univ Salerno Dept Ind Engn I-84084 Fisciano Italy Univ Aquila Dept Informat I-67100 Laquila Italy

The paper studies differential flatness properties and an input-output linearization procedure for doubly fed induction generators (DFIGs). By defining flat outputs which are associated with the rotor's turn angle and the magnetic flux of the stator, an equivalent DFIG description in the Brunovksy (canonical) form is obtained. For the linearized canonical model of the generator, a feedback controller is designed. Moreover, a comparison of the differential flatness theory-based controlmethod against Lie algebra-based control is provided. At the second stage, a novel Kalman Filtering method (Derivative-free nonlinear Kalman Filtering) is introduced. The proposed Kalman Filter is redesigned as disturbance observer for estimating additive input disturbances to the DFIG model. These estimated disturbance terms are finally used by a feedback controller that enables the generator's state variables to track desirable setpoints. The efficiency of the proposed state estimation-based control scheme is tested through simulation experiments.

关键词： Derivative-free nonlinear Kalman filtering differential flatness theory disturbance estimator doubly fed induction generator (DFIG) input-output linearization nonlinear control

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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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input-output Linearizing Control of the Underactuated Hovercraft Using the Derivative-Free Nonlinear Kalman Filter

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UNMANNED SYSTEMS 2015年第2期3卷 127-142页

作者： Rigatos, Gerasimos G. Raffo, Guilherme V. Ind Syst Inst Unit Ind Automat Rion 26504 Greece Univ Fed Minas Gerais Dept Elect Engn BR-31270901 Belo Horizonte MG Brazil

The paper proposes a nonlinear control approach for the underactuated hovercraft model based on differential flatness theory and uses a new nonlinear state vector and disturbances estimation method under the name of derivative-free nonlinear Kalman filter. It is proven that the nonlinear model of the hovercraft is a differentially flat one. It is shown that this model cannot be subjected to static feedback linearization, however it admits dynamic feedback linearization which means that the system's state vector is extended by including as additional state variables the control inputs and their derivatives. Next, using the differential flatness properties it is also proven that this model can be subjected to input-output linearization and can be transformed to an equivalent canonical (Brunovsky) form. Based on this latter description the design of a state feedback controller is carried out enabling accurate maneuvering and trajectory tracking. Additional problems that are solved in the design of this feedback control scheme are the estimation of the nonmeasurable state variables in the hovercraft's model and the compensation of modeling uncertainties and external perturbations affecting the vessel. To this end, the application of the derivative-free nonlinear Kalman filter is proposed. This nonlinear filter consists of the Kalman Filter's recursion on the linearized equivalent model of the vessel and of an inverse nonlinear transformation based on the differential flatness features of the system which enables to compute estimates for the state variables of the initial nonlinear model. The redesign of the filter as a disturbance observer makes possible the estimation and compensation of additive perturbation terms affecting the hovercraft's model. The efficiency of the proposed nonlinear control and state estimation scheme is confirmed through simulation experiments.

关键词： Underactuated hovercraft dynamic model nonlinear feedback control differential flatness theory input-output linearization derivative-free nonlinear Kalman filter disturbances estimation trajectory tracking

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Nonlinear Control of Permanent Magnet Synchronous Machine using Feedback linearization and Sliding Mode Control 4

Nonlinear Control of Permanent Magnet Synchronous Machine us...

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2015 4th International Conference on Electrical Engineering (ICEE)

作者： Mazari, M. B. Kendouci, K. Mazari, B. Univ Sci & Technol Mohamed Boudiaf dOran Dept Electrotech LDEE Bir El Djir Algeria

ISBN: (纸本)9781467366731

This paper presents a synthesis of control laws based on the theory of Lyapunov for speed control of permanent magnet synchronous machine, a first approach by variable structure and the second by input-output linearization. The results obtained are carried out under the same operating conditions in Matlab/Simulink environment. A comparative study was made showing the performance of the two control laws in terms of tracking imposed trajectories.

关键词： input-output linearization sliding mode PMSM

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Attitude Control Simulation of Deep-Sea Submerged Buoy Using Four Thrusters

Attitude Control Simulation of Deep-Sea Submerged Buoy Using...

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International Conference on Computer Science and Mechanical Automation (CSMA 2015)

作者： Ge, Dehong Zhu, Hai Navy Submarine Acad Dept Nav & Commun Qingdao Peoples R China Unit 92267 Qingdao Peoples R China

ISBN: (纸本)9781467391665

The sea surveying instruments ask the deep-sea submerged buoy for the ability of adjusting its attitude. The paper deals with the attitude control issue of the deep-sea submerged buoy under the sea current. Firstly, the six degree of freedom motion equation of the submerged buoy is predigested to two vertical section models. Secondly, based on the input-output linearization technique, a state feedback control law is presented for submerged buoy's attitude control system. The controller is implemented by four thrusters. Finally, numerical simulations are presented to validate the proposed controller. It is shown that the proposed controller exhibits relatively high effectiveness.

关键词： attitude control four thrusters input-output linearization simulation

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Improving the performance of UDE-based controller using a new filter design

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NONLINEAR DYNAMICS 2014年第3期77卷 753-768页

作者： Chandar, T. S. Talole, S. E. PES Inst Technol Dept Elect & Commun Engn Bangalore 560085 Karnataka India Def Inst Adv Technol Dept Aerosp Engn Pune 411025 Maharashtra India

Robust control of uncertain systems has been a field of active research and the technique of uncertainty and disturbance estimator (UDE) has proved itself as a viable tool in the design of a robust control strategy for systems having uncertainties and acted upon by disturbances. Though the technique is quite efficient for ensuring robustness under slow-varying disturbances, the presence of steady-state tracking and estimation errors cannot be ruled out for fast-varying or sinusoidal disturbances. To address this issue, a new form of filter in UDE-based controller is proposed in this work and it is shown that the errors can be kept within acceptable limits by means of appropriate choice of the design parameter . Closed-loop stability and simulation results for wing-rock motion control problem employing an UDE-based controller using the new filter are carried out to demonstrate its efficacy against fast-varying uncertainties and disturbances.

关键词： Uncertainty and disturbance estimation input-output linearization Nonlinear control Robust control Controller-observer structure Wing-rock motion control

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Model based control of a small-scale biomass boiler

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CONTROL ENGINEERING PRACTICE 2014年第1期22卷 94-102页

作者： Goelles, Markus Reiter, Stefan Brunner, Thomas Dourdoumas, Nicolaos Obernberger, Ingwald BIOENERGY 2020 GmbH A-8010 Graz Austria Graz Univ Technol Inst Automat & Control A-8010 Graz Austria Graz Univ Technol Inst Proc & Particle Engn A-8010 Graz Austria BIOS BIOENERGIESYST GmbH A-8010 Graz Austria

Because of increased efforts to reduce CO2 emissions a significant step in the development of small-scale (residential) biomass boilers for space heating has been achieved in recent years. Currently, the full potential for low-emission operation at high efficiencies, which is in principle possible due to optimized furnace geometries as well as combustion air staging strategies, cannot be exploited since there is still the need to enhance the controllers applied. For this reason, a model based control strategy for small-scale biomass boilers was developed and successfully implemented in a commercially available system. Thereby, appropriate mathematical models were developed for all relevant parts of the furnace and connected to an overall model subsequently used for the control unit design. The resulting controller is based on the input-output linearization and the state variables are estimated by an extended Kalman filter. Finally, the new control was implemented at a commercially available small-scale biomass boiler and the experimental verification showed a significant improvement of the operating behaviour in comparison to the conventional control. (C) 2013 Elsevier Ltd. All rights reserved.

关键词： Biomass Combustion Small-scale boiler Residential heating input-output linearization Kalman filter

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Nonlinear Control of Permanent Magnet Synchronous Machine using Feedback linearization and Sliding Mode Control

Nonlinear Control of Permanent Magnet Synchronous Machine us...

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International Conference on Electrical Engineering

作者： M. B. Mazari K. Kendouci B. Mazari Laboratoire de Developpement des Entrainement Electrique (LDEE) Departement Electrotechnique Universite des Sciences et de la Technologie Mohamed Boudiafd'Oran

ISBN: (纸本)9781467366748

This paper presents a synthesis of control laws based on the theory of Lyapunov for speed control of permanent magnet synchronous machine, afirst approach by variable structure and the second by input-output linearization. The results obtained are carried out under the same operating conditions in Matlab/Simulink environment. A comparative study was made showing the performance of the two control laws in terms of tracking imposed trajectories.

关键词： input-output linearization Sliding mode PMSM

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