• Title, Summary, Keyword: multi-input multi-output control surface

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A MIMO VSS with an Integral-Augmented Sliding Surface for Uncertain Multivariable Systems (불확실 다변수 시스템을 위한 적분 슬라이딩 면을 갖는 다입출력 가변 구조 제어기)

  • Lee, Jung-Hoon
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.59 no.5
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    • pp.950-960
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    • 2010
  • In this paper, a multi-input multi-output(MIMO) integral variable structure system with an integral-augmented sliding surface is designed for the improved robust control of uncertain multivariable system under the matched persistent disturbance. To effectively remove the reaching phase problems, the integral augmented sliding surface is proposed. Then for its design, the eigenstructure assignment technique is introduced to. To guarantee the designed performance against the persistent disturbance, the stabilizing control for multi-input system is also designed to generate the sliding mode on the integral sliding surface. The stability of the global system together with the existence condition of the sliding mode are investigated and proved for the case of multi input system in the presence of uncertainty and disturbance. The reaching phase is completely removed in proposed MIMO VSS by satisfying the two requirements. An example and computer simulations will be present for showing the usefulness of algorithm.

Multiple Sliding Surface Control Approach to Twin Rotor MIMO Systems

  • Van, Quan Nguyen;Hyun, Chang-Ho
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.14 no.3
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    • pp.171-180
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    • 2014
  • In this paper, a multiple sliding surface (MSS) controller for a twin rotor multi-input-multioutput system (TRMS) with mismatched model uncertainties is proposed. The nonlinear terms in the model are regarded as model uncertainties, which do not satisfy the standard matching condition, and an MSS control technique is adopted to overcome them. In order to control the position of the TRMS, the system dynamics are pseudo-decomposed into horizontal and vertical subsystems, and two MSSs are separately designed for each subsystem. The stability of the TRMS with the proposed controller is guaranteed by the Lyapunov stability theory. Some simulation results are given to verify the proposed scheme, and the real time performances of the TRMS with the MSS controller show the effectiveness of the proposed controller.

Minimum Time Regulation of DC-DC Converters in Damping Mode with an Optimal Adjusted Sliding Mode Controller

  • Jafarian, Mohammad Javad;Nazarzadeh, Jalal
    • Journal of Power Electronics
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    • v.12 no.5
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    • pp.769-777
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    • 2012
  • In this paper, a new development in the time optimal control theory in sliding mode control systems for multi-quadrant buck converters with a variable load is presented. In general, the closed-loop time optimal control system is applied to multi-quadrant buck converters for output regulation, so that an optimal switching surface is obtained. Moreover, an adjusted optimal sliding mode controller is suggested which adjusts the controller parameters to give an optimal switching surface. In addition, a description of the transient response of the closed-loop system is proposed and used to damp any output or input disturbances in minimum time. Numerical simulations and experimental results are employed to demonstrate that the output regulation time and transient performances of dc/dc converters using the proposed technique are improved effectively when compared to the classical sliding mode control method.

Controller design of variable structure system with an integral-augmented sliding surface for uncertain MIMO systems (적분 슬라이딩 면을 갖는 다변수 가변 구조 제어기 설계)

  • 이정훈;문건우;고종선;이대식;이주장;윤명중
    • 제어로봇시스템학회:학술대회논문집
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    • pp.1206-1212
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    • 1993
  • In this paper, an variable structure system with an integral-augmented sliding surface is designed for the improved robust control of a uncertain multi-input multi-output(MIMO) system subject to the persistent disturbances. To effectively remove the reaching phase problems, the integral augmented sliding surface is defined, then for its design, the eigenstructure assignment technique is introduced. To guarantee the designed performance againts the persistent disturbance, the stabilizing control for multi-input system is also designed. The stability of the global system and performance robustness are investigated. The example will be given for showing the usefulness of algorithm.

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Adaptive Sliding Mode Control Synthesis of Maritime Autonomous Surface Ship

  • Lee, Sang-Do;Xu, Xiao;Kim, Hwan-Seong;You, Sam-Sang
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.25 no.3
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    • pp.306-312
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    • 2019
  • This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

Robust Hcontrol applied on a fixed wing unmanned aerial vehicle

  • Uyulan, Caglar;Yavuz, Mustafa Tolga
    • Advances in aircraft and spacecraft science
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    • v.6 no.5
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    • pp.371-389
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    • 2019
  • The implementation of a robust $H_{\infty}$ Control, which is numerically efficient for uncertain nonlinear dynamics, on longitudinal and lateral autopilots is realised for a quarter scale Piper J3-Cub model accepted as an unmanned aerial vehicle (UAV) under the condition of sensor noise and disturbance effects. The stability and control coefficients of the UAV are evaluated through XFLR5 software, which utilises a vortex lattice method at a predefined flight condition. After that, the longitudinal trim point is computed, and the linearization process is performed at this trim point. The "${\mu}$-Synthesis"-based robust $H_{\infty}$ control algorithm for roll, pitch and yaw displacement autopilots are developed for both longitudinal and lateral linearised nonlinear dynamics. Controller performances, closed-loop frequency responses, nominal and perturbed system responses are obtained under the conditions of disturbance and sensor noise. The simulation results indicate that the proposed control scheme achieves robust performance and guarantees stability under exogenous disturbance and measurement noise effects and model uncertainty.

Dynamic surface control for trajectory tracking of mobile robots including motor dynamics (모터 동역학을 포함한 이동 로봇의 추종 제어를 위한 동적 표면 제어)

  • Park, Bong-Seok;Choi, Yoon-Ho;Park, Jin-Bae
    • Proceedings of the KIEE Conference
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    • pp.1685-1686
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    • 2008
  • Almost all existing controllers for nonholonomic mobile robots are designed without considering the motor dynamics. This is because the presence of the motor dynamics increases the complexity of the system dynamics, and makes difficult the design of the controller. In this paper, we propose a simple controller for trajectory tracking of mobile robots including motor dynamics. For the simple controller design, the dynamic surface control methodology is applied and extended to multi-input multi-output systems (i.e., mobile robots) that the number of inputs and outputs are different. Finally, simulation results demonstrate the effectiveness of the proposed controller.

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Optimal Parameter Design for a Cryogenic Submerged Arc Welding(SAW) Process by Utilizing Stepwise Experimental Design and Multi-dimensional Design Space Analysis (단계적 실험 설계와 다차원 디자인 스페이스 분석 기술을 통한 초저온 SAW 공정의 최적 용접 파라미터 설계)

  • Lee, Hyun Jeong;Kim, Young Cheon;Shin, Sangmun
    • Journal of the Korean Society for Quality Management
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    • v.48 no.1
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    • pp.51-68
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    • 2020
  • Purpose: The primary objective of this research is to develop the optimal operating conditions as well as their associated design spaces for a Cryogenic Submerged Arc Welding(SAW) process by improving its quality and productivity simultaneously. Methods: In order to investigate functional relationships among quality characteristics and their associated control factors of an SAW process, a stepwise design of experiment(DoE) method is proposed in this paper. Based on the DoE results, not only a multi-dimensional design space but also a safe operating space and normal acceptable range(NAR) by integrating statistical confidence intervals were demonstrated. In addition, the optimal operating conditions within the proposed NAR can be obtained by a robust optimal design method. Results: This study provides a customized stepwise DoE method (i.e., a sequential set of DoE such as a factorial design and a central composite design) for Cryogenic SAW process and its statistical analysis results. DoE results can then provide both the main and interaction effects of input control factors and the functional relationships between the input factors and their associated output responses. Maximizing both the product quality with high impact strength and the productivity with minimum processing times simultaneously in a case study, we proposed a design space which can provide both acceptable productivity and quality levels and NARs of input control factors. In order to confirm the optimal factor settings and the proposed NARs, validation experiments were performed. Conclusion: This research may provide significant contributions and applications to many SAW problems by preparing a standardization of the functional relationship between the input factors and their associated output response. Moreover, the proposed design space based on DoE and NAR methods can simultaneously consider a number of quality characteristics including tradeoff between productivity and quality levels.

Design and Implementation of a Single Input Fuzzy Logic Controller for Boost Converters

  • Salam, Zainal;Taeed, Fazel;Ayob, Shahrin Md.
    • Journal of Power Electronics
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    • v.11 no.4
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    • pp.542-550
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    • 2011
  • This paper describes the design and hardware implementation of a Single Input Fuzzy Logic Controller (SIFLC) to regulate the output voltage of a boost power converter. The proposed controller is derived from the signed distance method, which reduces a multi-input conventional Fuzzy Logic Controller (CFLC) to a single input FLC. This allows the rule table to be approximated to a one-dimensional piecewise linear control surface. A MATLAB simulation demonstrated that the performance of a boost converter is identical when subjected to the SIFLC or a CFLC. However, the SIFLC requires nearly an order of magnitude less time to execute its algorithm. Therefore the former can replace the latter with no significant degradation in performance. To validate the feasibility of the SIFLC, a 50W boost converter prototype is built. The SIFLC algorithm is implemented using an Altera FPGA. It was found that the SIFLC with asymmetrical membership functions exhibits an excellent response to load and input reference changes.

Steel nitriding optimization through multi-objective and FEM analysis

  • Cavaliere, Pasquale;Perrone, Angelo;Silvello, Alessio
    • Journal of Computational Design and Engineering
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    • v.3 no.1
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    • pp.71-90
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    • 2016
  • Steel nitriding is a thermo-chemical process leading to surface hardening and improvement in fatigue properties. The process is strongly influenced by many different variables such as steel composition, nitrogen potential, temperature, time, and quenching media. In the present study, the influence of such parameters affecting physic-chemical and mechanical properties of nitride steels was evaluated. The aim was to streamline the process by numerical-experimental analysis allowing defining the optimal conditions for the success of the process. Input parameters-output results correlations were calculated through the employment of a multi-objective optimization software, modeFRONTIER (Esteco). The mechanical and microstructural results belonging to the nitriding process, performed with different processing conditions for various steels, are presented. The data were employed to obtain the analytical equations describing nitriding behavior as a function of nitriding parameters and steel composition. The obtained model was validated, through control designs, and optimized by taking into account physical and processing conditions.