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Enhanced-coupling-based Tracking Control of Double Pendulum Gantry Cranes
Huaitao Shi,Fuxing Yao,Zhe Yuan,Yunjian Hu,Ke Zhang,Ling Fu 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.7
Gantry cranes are mostly regarded as single pendulum models to research. However, gantry cranes will produce a double pendulum effect during the actual operation when the hook mass or cable length between the load and hook cannot be ignored. Aiming at the problems of working inefficiency, poor positioning accuracy and violent hook/load swing during the lifting process of gantry cranes, an enhanced-coupling-based tracking control method is proposed. By referring to a smooth tracking trajectory, the proposed method ensures that the trolley runs steadily. And by combining with the passivity analysis of the gantry crane system, a coupling signal, which enhances the relationship between system variables, is constructed. The system stability is proved strictly by Barbarat theorem and Lyapunov method. Experiments and simulations are performed to demonstrate the feasibility of the proposed method. The final results reflect that the proposed method, which can not only ensure the precise positioning of the trolley, but also restrain and eliminate the system swings promptly, has excellent control performance. When the system parameters are changed or external disturbances are added, the proposed method can also obtain outstanding control performance and has excellent robustness. Not only does the proposed method provide an antiswing strategy for double pendulum underactuated gantry cranes, but also it provides a possibility for the research and development of the automatic driving of gantry cranes, which has great practical significance and application prospects.
Lyapunov-based Feedback Design and Experimental Verification of IC Engine Speed Control
Jiangyan Zhang,Tielong Shen,Junichi Kako,Shozo Yoshida 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.4
In this paper, the speed control problem of internal combustion engines is investigated based on mean-value engine models. The dynamics of internal combustion engines is a complicated nonlinear system, and usually, it is difficult to know the exact values of the physical parameters. First, a Lyapunov-based design method is shown without requiring the full information of the physical pa-rameters. Then, to improve transient performance, the design method is extended to several cases un-der different operation conditions. Numerical simulation results are presented for comparing the pro-posed design methods. Finally, experiments are conducted on an engine test bench and the results demonstrate the validity of the proposed design methods.
Orienting Head-Truck in the Design of Truck-Trailer Path Following Control
Augie Widyotriatmo 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10
A method for determining the control algorithm for a truck-trailer system following a certain path is proposed. The control design for path following control of a truck-trailer system is divided into three steps, which are orienting the head-truck, backstepping the steering angle, and position control of steering angle. In the orienting head-truck, the headtruck serves as the steering direction of a truck-trailer system. By designing the orienting head-truck algorithm that, the truck-trailer body is driven to be aligned with the tangent of path-curve. From the orienting head-truck algorithm, a backstepping method is utilized to implement the steering angle control. Then, the position control to set the steering angle to the desired one which is calculated by the steering control. By using this method, the stability of the origin of the distance and orientation error is proven by the Lyapunov method. Simulation results of truck trailer following a rectangular path is performed, showing the effectiveness of the proposed method.
Lyapunov Redesign 기법을 이용한 태양광 발전 시스템의 안정한 적응형 컨버터 제어기법
조현철(Hyun-Cheol Cho),박지호(Ji-Ho Park),김동완(Dong-Wan Kim) 대한전기학회 2012 전기학회논문지 P Vol.61 No.4
Energy conversion systems such as power inverters and converters are basically significant in establishing photovoltaic power systems to enhance power effectiveness. This paper proposes a new converter control method by using the Lyapunov redesign approach. We construct the proposed control mechanism linearly composed of nominal control and auxiliary control laws. The former is generally designed through a well-known power electronic technology and the latter is implemented to compensate real-time control error due to uncertain natures of converter systems in practice. For realizing adaptive control capability in the proposed control mechanism, a control parameter vector is estimated by utilizing a steepest descent based optimization method. We carry out numerical simulation with Matlabⓒ software to demonstrate reliability of the proposed converter control system and conduct a comparative study to prove its superiority by comparing with a generic converter control methodology.
Lyapunov Conditions for Finite-time Stability of Stochastic Functional Systems
Jian Ge,Liping Xie,Shixiong Fang,Kanjian Zhang 제어·로봇·시스템학회 2024 International Journal of Control, Automation, and Vol.22 No.1
In this study, we consider the finite time stability (FTS) and finite time contractive stability (FTCS) of the stochastic functional systems. For the framework of Lyapunov-Ruzumikhin method, the sufficient conditions of FTS and FTCS are given first. Then the theory is applied to FTS and FTCS of linear time-varying stochastic functional systems. Finally, experiments on the numerical examples have demonstrated the superiority of the proposed method.
Air Pollution Reduction Based on Intelligent Nonlinear Control Methodology
Yaser Barmayeh,Mehran Afshar,Mohammad Sadegh Dahideh,Mohammad Najafi,Ali Reza Zarei 보안공학연구지원센터 2015 International Journal of Hybrid Information Techno Vol.8 No.1
This paper expands a Multi Input Multi Output (MIMO) fuzzy baseline control (FBC) which controller coefficient is off-line tuned by gradient descent algorithm. The main goal is to adjust the optimal value for fuel ratio (FR) in motor engine. The fuzzy inference system in proposed methodology is works based on Mamdani-Lyapunov fuzzy inference system (FIS). To reduce dependence on the gain updating factor coefficients of the fuzzy methodology, PID baseline method is introduced. This new method provides an optimal setting for other factors which created by PID baseline method. The gradient descent methodology is off-line tune all coefficients of baseline fuzzy based on mathematical optimization methodology. Simulation results signify good performance of fuel ratio in presence of different torque load and external disturbance.
Estimating the Region of Attraction via collocation for autonomous nonlinear systems
M. Rezaiee-Pajand,B. Moghaddasie 국제구조공학회 2012 Structural Engineering and Mechanics, An Int'l Jou Vol.41 No.2
This paper aims to propose a computational technique for estimating the region of attraction (RoA) for autonomous nonlinear systems. To achieve this, the collocation method is applied to approximate the Lyapunov function by satisfying the modified Zubov’s partial differential equation around asymptotically stable equilibrium points. This method is formulated for n-scalar differential equations with two classes of basis functions. In order to show the efficiency of the suggested approach, some numerical examples are solved. Moreover, the estimated regions of attraction are compared with two similar methods. In most cases, the proposed scheme can estimate the region of attraction more efficient than the other techniques.
김한솔,박진배,주영훈 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.1
In this paper, a novel intelligent digital redesign (IDR) method for a Takagi-Sugeno fuzzy system is proposed based on the guaranteed cost method. The objective of the IDR is to determine a sample-data data gain that achieves the same performance as a given continuous-time controller. Unlike previous works, we use the state-matching error cost function and develop an IDR technique without the use of any discretization methods. To this end, a sufficient condition guaranteeing both the asymptotic stabilization of the error dynamics model and the minimization of the upper bound of the error cost function is formulated in terms of linear matrix inequalities based on the input-delay approach. Finally, a simulation example validates the superiority of the proposed method.
Estimating the Region of Attraction via collocation for autonomous nonlinear systems
Rezaiee-Pajand, M.,Moghaddasie, B. Techno-Press 2012 Structural Engineering and Mechanics, An Int'l Jou Vol.41 No.2
This paper aims to propose a computational technique for estimating the region of attraction (RoA) for autonomous nonlinear systems. To achieve this, the collocation method is applied to approximate the Lyapunov function by satisfying the modified Zubov's partial differential equation around asymptotically stable equilibrium points. This method is formulated for n-scalar differential equations with two classes of basis functions. In order to show the efficiency of the suggested approach, some numerical examples are solved. Moreover, the estimated regions of attraction are compared with two similar methods. In most cases, the proposed scheme can estimate the region of attraction more efficient than the other techniques.
주영훈,김형진,이동환 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.3
In this paper, we propose an iterative linear matrix inequality (LMI) approach to design static outputfeedback (SOF) controllers for continuous-time linear time-invariant (LTI) systems. The method suggested inthis paper can be viewed as a version of some previous iterative LMI methods. Although the proposed methodcannot always provide improved results in comparison with the previous one, it can be used as a less conservativealternative in some cases. In addition, it can be combined with the previous algorithm to improve the results. Finally,an example is gSiven to demonstrate the validity of the proposed methods.