In this book new results on controller design techniques for the tracking of generic reference inputs are presented. They allow the design of a controller for an uncertain process, either continuous or discrete-time, ...In this book new results on controller design techniques for the tracking of generic reference inputs are presented. They allow the design of a controller for an uncertain process, either continuous or discrete-time, without zeros, and with measurable state. The controller guarantees that the control system is Type 1 and has the desired constant gain and poles or that the control system tracks, with a specified maximum error and with a specified maximum time constant, a generic reference with bounded derivative (variation in the discrete-time case), also in the presence of a generic disturbance with bounded derivative (variation). In addition, it is considered the case in which the reference is known a priori. The utility and the efficiency of the proposed methods are illustrated with attractive and significant examples of motion control and temperature control. This book is useful for the design of control systems, especially for manufacturing systems, that are versatile, fast, precise and robust.展开更多
SMC （sliding mode control） has been widely employed to compensate for the system uncertainty and disturbance. However, the chattering problem, caused by the discontinuous characteristic of switching function used in...SMC （sliding mode control） has been widely employed to compensate for the system uncertainty and disturbance. However, the chattering problem, caused by the discontinuous characteristic of switching function used in traditional SMC, greatly deteriorates the performance of SMC and has become the main limitation for its applications. Also, implementing the SMC in digital systems could make it even worse due to the limited sampling time. Moreover, as a state tracking control scheme, traditional SMC cannot be employed in the applications where the system states are not available. To alleviate these problems, the paper presents the development of a novel control method, so called ＂the output tracking integrated discrete PID （proportional-integral-derivative）-based SMC＂ for the S1SO （single-input-single-output） system, along with the controller design approaches （i.e., the traditional SMC design approach and the model reference approach）. Without the need of system states, this novel method allows for eliminating chattering problem and the steady state error that may exists in such control methods as the continuous PID-based SMC. In order to demonstrate the effectiveness of the developed method, experiments were carried out on a commercially available piezoelectric actuator with varying sampling times, as compared to the continuous P1D-based SMC. The results illustrate that the tracking performance with the proposed method is much better than the continuous PID-based SMC.展开更多
An adaptive sliding mode controller with a disturbance observer(ASMC-DO)is proposed for the control of a single-input and single-output(SISO)servo system which has uncertain parameters,nonlinear friction,disturbance a...An adaptive sliding mode controller with a disturbance observer(ASMC-DO)is proposed for the control of a single-input and single-output(SISO)servo system which has uncertain parameters,nonlinear friction,disturbance and input saturation.It is difficult to choose the suitable value of the parameters.The newly designed adaptive method is used to reduce the effects of system time-varying parameters,such as the moment of inertia and the damp coefficient.The robustness of object is improved.A DO is selected to approximate the compound disturbance and to render the estimate error convergent in finite time.The stability and the convergence of the closed-loop system are proved by using the Lyapunov theory.Experimental results show that the proposed ASMC-DO can better satisfy the influence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers.The effectiveness of the proposed controller is showed.The control input stability and robust performances of is reduced.the input saturation system are enhanced and the chattering is reduced.展开更多
This paper presents an observer based dynamic fuzzy logic system （DFLS） scheme for a class of unknown single-input single-output （SISO） nonlinear dynamic systems with external disturbances. The proposed approach d...This paper presents an observer based dynamic fuzzy logic system （DFLS） scheme for a class of unknown single-input single-output （SISO） nonlinear dynamic systems with external disturbances. The proposed approach does not need the availability of the state variables. Within this scheme, the DFLS is employed to identify the unknown nonlinear dynamic system. The control law and parameter adaptation laws of the DFLS are derived based on Lyapunov synthesis approach. The control law is robustfied in H∞ sense to attenuate external disturbance, model uncertainties, and fuzzy approximation errors. It is shown that under appropriate assumptions, it guarantees the boundedness of all the signals in the closed-loop system and the asymptotic convergence to zero of tracking errors. The proposed method is applied to an inverted pendulum system to verify the effectiveness of the proposed algorithms.展开更多
Research work for some time now has shown that fading wireless channels present enormous advantages if properly exploited through a Multiple-Input Multiple-Output (MIMO) communication model. In this paper, we demonstr...Research work for some time now has shown that fading wireless channels present enormous advantages if properly exploited through a Multiple-Input Multiple-Output (MIMO) communication model. In this paper, we demonstrate the advantages of implementing the MIMO communication model by investigating three communication techniques, namely, Single-Input Single-Output (SISO), Multiple-Input Single-Output (MISO) and MIMO for WiMAX communication systems. The performances of these communication techniques are analyzed and compared for three scenarios - rural environment, TGV (high-speed train) environment and urban environment by using the models to investigate several communication parameters.展开更多
文摘In this book new results on controller design techniques for the tracking of generic reference inputs are presented. They allow the design of a controller for an uncertain process, either continuous or discrete-time, without zeros, and with measurable state. The controller guarantees that the control system is Type 1 and has the desired constant gain and poles or that the control system tracks, with a specified maximum error and with a specified maximum time constant, a generic reference with bounded derivative (variation in the discrete-time case), also in the presence of a generic disturbance with bounded derivative (variation). In addition, it is considered the case in which the reference is known a priori. The utility and the efficiency of the proposed methods are illustrated with attractive and significant examples of motion control and temperature control. This book is useful for the design of control systems, especially for manufacturing systems, that are versatile, fast, precise and robust.
文摘SMC （sliding mode control） has been widely employed to compensate for the system uncertainty and disturbance. However, the chattering problem, caused by the discontinuous characteristic of switching function used in traditional SMC, greatly deteriorates the performance of SMC and has become the main limitation for its applications. Also, implementing the SMC in digital systems could make it even worse due to the limited sampling time. Moreover, as a state tracking control scheme, traditional SMC cannot be employed in the applications where the system states are not available. To alleviate these problems, the paper presents the development of a novel control method, so called ＂the output tracking integrated discrete PID （proportional-integral-derivative）-based SMC＂ for the S1SO （single-input-single-output） system, along with the controller design approaches （i.e., the traditional SMC design approach and the model reference approach）. Without the need of system states, this novel method allows for eliminating chattering problem and the steady state error that may exists in such control methods as the continuous PID-based SMC. In order to demonstrate the effectiveness of the developed method, experiments were carried out on a commercially available piezoelectric actuator with varying sampling times, as compared to the continuous P1D-based SMC. The results illustrate that the tracking performance with the proposed method is much better than the continuous PID-based SMC.
基金the National Natural Science Foundation of China(No.11472137)the Natural Science Foundation of Jiangsu Province(No.BK20140773)
文摘An adaptive sliding mode controller with a disturbance observer(ASMC-DO)is proposed for the control of a single-input and single-output(SISO)servo system which has uncertain parameters,nonlinear friction,disturbance and input saturation.It is difficult to choose the suitable value of the parameters.The newly designed adaptive method is used to reduce the effects of system time-varying parameters,such as the moment of inertia and the damp coefficient.The robustness of object is improved.A DO is selected to approximate the compound disturbance and to render the estimate error convergent in finite time.The stability and the convergence of the closed-loop system are proved by using the Lyapunov theory.Experimental results show that the proposed ASMC-DO can better satisfy the influence of variable parameters and external disturbance to the control precision of the SISO servo system than other two controllers.The effectiveness of the proposed controller is showed.The control input stability and robust performances of is reduced.the input saturation system are enhanced and the chattering is reduced.
文摘This paper presents an observer based dynamic fuzzy logic system （DFLS） scheme for a class of unknown single-input single-output （SISO） nonlinear dynamic systems with external disturbances. The proposed approach does not need the availability of the state variables. Within this scheme, the DFLS is employed to identify the unknown nonlinear dynamic system. The control law and parameter adaptation laws of the DFLS are derived based on Lyapunov synthesis approach. The control law is robustfied in H∞ sense to attenuate external disturbance, model uncertainties, and fuzzy approximation errors. It is shown that under appropriate assumptions, it guarantees the boundedness of all the signals in the closed-loop system and the asymptotic convergence to zero of tracking errors. The proposed method is applied to an inverted pendulum system to verify the effectiveness of the proposed algorithms.
文摘Research work for some time now has shown that fading wireless channels present enormous advantages if properly exploited through a Multiple-Input Multiple-Output (MIMO) communication model. In this paper, we demonstrate the advantages of implementing the MIMO communication model by investigating three communication techniques, namely, Single-Input Single-Output (SISO), Multiple-Input Single-Output (MISO) and MIMO for WiMAX communication systems. The performances of these communication techniques are analyzed and compared for three scenarios - rural environment, TGV (high-speed train) environment and urban environment by using the models to investigate several communication parameters.
