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The problem of active vibration control of weakly damped mechanical structures is potentially unstable modes of vibrations due to the positive feedback for some vibration modes. The paper will discuss the change of positive feedback on the negative one using all-pass discrete-time filters which are arranged in a cascade. The piezoelectric actuator as a source of force is used to damp vibration. It...
Widely varying operating mode dynamics, uncertain parameters and nonlinear behaviour are inherrent characteristics of vehicle suspensions. Mechatronic vehicle suspensions seek to produce improved ride and handling performance by providing active control action that addresses these problems. Inappropriately designed controllers may lead to poor performance or even possible instability. In this work,...
This paper considers pointwise stabilization of an Euler-Bernoulli beam equation where two kinds of feedback are jointed with each other for the arbitrary internal point in the boundary conditions. The asymptotic expressions of the eigenvalues are obtained for all sufficient large positive integers. And then the asymptotical stability and exponential stability have been analyzed by the characteristic...
Basic PD type iterative learning control algorithm has been applied to repeat control of trajectory tracking of manipulator. However, existing iterative learning control algorithm doesn't consider the effet of time delay between controller and actuator and between sensor and controller. Because of the existence of time delay, the system using PD type iterative learning control algorithm cann't keep...
As a mathematical model of chattering in the small neighbourhood of the switching surface in sliding mode systems we examine singularly perturbed relay control systems (SPRCS). The sufficient conditions for existence of fast periodic solutions in such systems are found. Their stability is investigated. It is proved that the slow motions in such SPRCS are approximately described by equations obtained...
The paper studies the control of networked control systems (NCS) with sensor-to-controller and controller-to-actuator time delays. The delays are bigger than one sample and random. By using of buffers, the original problem can be transformed into linear system with constant delay. The optimal size of the buffer is an open problem. Increase of the buffer length deteriorates the quality because of longer...
Usually, the nonlinearities existing in the system is eliminated by using linearization method. However, backstepping method allows additional nonlinearities to be created and introduced to the control process so that the undesirable nonlinearities can be cancelled out from the system. In this work, position tracking of electrohydraulic actuator system is taken as a numerical example since it is highly...
In this study, propose a new approach to mooring control problem of the marine vessels by actuators. The actuators are installed in the vessel to be positioned in the specified area. There are many types of actuator system in the real applications. The useful and widely applicable systems are thruster and mooring winch system. If we consider this problem in point of usefulness including cost, we can...
A kind of MIMO networked control system, in which each state signal of object controlled is obtained by an independent sensor and then sent to a single controller through a network, and also each output signal of the controller is sent to an independent actuator through the network, is studied in this paper. The figure of its structure is given, and its mathematic model is set up. Based on the Lyapunov...
A disturbance rejection based control approach, active disturbance rejection control (ADRC), is proposed for hysteretic systems with unknown characteristics. It is an appealing alternative to hysteresis compensation because it does not require a detailed model of hysteresis, by treating the nonlinear hysteresis as a common disturbance and actively rejecting it. The stability characteristic of the...
It is well known that control of PDEs with input delay is just opening up for research. This paper presents boundary control design and stabilization for a reaction-diffusion PDE with diffusion coefficients depending on space variable and input time delay. The control design involves an interesting structure of two interconnected PDEs to transfer the input time delay into a space extension. And the...
The piezo-actuated stage is composed of a piezo electric actuator (PEA) and a positioning mechanism (PM). Due to the existence of hysteretic nonlinearity in the PEA and the friction in the PM, the high precision control of the piezo-actuated stage is a challenging task. This paper discusses the high precision adaptive control for the piezo-actuated stage, where the hysteresis is described by Prandtl-Ishlinskii...
Internal Model Control (IMC) has been extended recently to a fault-tolerant IMC scheme (FTIMC), which ensures that the main IMC properties like stability, robustness and setpoint tracking are retained if faults occur. This paper proposes a new type of IMC controller for input-affine systems with input-saturation, which is based on a systematic analysis of the demands on the IMC filter, the construction...
A complete vehicle combination controller for enhancing the lateral stability of long heavy vehicle combinations by active steering of the towed units is presented. As a case study, the controller is developed for a truck-dolly-semitrailer combination and is evaluated in a sine with dwell maneuver, using a nonlinear model of this combination. The simulation results show a significant decrease in yaw...
In this paper, we advance a nonlinear control design concept based on backstepping, adjusted so that it might be used for a wider class of dynamical systems than the so-called strict-feedback form. Possible applications concern magnetic levitation systems, one of which will be used, in this paper, to design the proposed controller. Theoretical aspects regarding feasibility, stability and optimality...
The paper presents an example of a linear, parameter varying (LPV) controller synthesis for a generic nonlinear missile. It is based on obtaining a parameter dependent Ljapunov function, in order to ensure stability of the system. The LPV model of the missile is constructed by means of Jacobian linearization at fixed parameter values. Performance requirements of the control system are specified in...
Tracking the status of an event-driven, large control system is a difficult problem. Those systems often encounter unexpected events in an uncertain environment. Using a fuzzy automaton offers an effective approximation method to model continuous and discrete signals in a single theoretical framework. A Max-Min automaton can successfully model a cluster of relevant states when a decision is to be...
This paper addresses a practical networked based control application. A Profibus DP is considered in order to coordinate a triangular maglev platform. The control of this magnetic levitation process is a complicated system from an control engineering point of view due to its unstable, non-minimum phase and non-linear nature; the difficulty is growing up because the bandwidth limitation and some other...
This work presents a framework for control of spatially distributed systems modeled by nonlinear highly-dissipative partial differential equations (PDEs) over communication networks. The framework aims to enforce closed-loop stability with minimal sensor-controller information transfer over the network. To this end, an approximate finite-dimensional model that captures the PDE's slow dynamics is used...
A so called sliding-backstepping controller for attitude maneuver in some large flexible satellite is put forward. Further, combined with theory of Extended State Observer (ESO), the controller has been improved to estimate and compensate the uncertainties. After the stability analysis, simulation was carried out in particular using Single Gimbal Control Moment Gyros (SGCMGs) as the momentum actuator...
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