2x2 Individual Channel Design MATLAB&amp;gt;sup&amp;lt;&amp;#174;&amp;gt;/sup&amp;lt;Toolbox

Ugalde‐Loo, Carlos E.; Licéaga‐Castro, Eduardo; Licéaga-Castro, J.

doi:10.1109/cdc.2005.1583389

Cited by 10 publications

(7 citation statements)

References 8 publications

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“…2. The framework of the total closed-loop transfer functions is obtained based on individual channels design for multivariable system Ugalde-loo et al (2005). The latter is decomposed into an equivalent set of single-input single-output (SISO) systems.…”

Section: Stability Analysismentioning

confidence: 99%

Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle

Al-Mayyahi

Wang

Birch

2015

J Control Autom Electr Syst

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(2016) Design of fractional-order controller for trajectory tracking control of a non-holonomic autonomous ground vehicle. Journal of Control, Automation and Electrical Systems, 27 (1). pp. 29-42. ISSN 2195-3880 This version is available from Sussex Research Online: http://sro.sussex.ac.uk/57057/ This document is made available in accordance with publisher policies and may differ from the published version or from the version of record. If you wish to cite this item you are advised to consult the publisher's version. Please see the URL above for details on accessing the published version. Copyright and reuse:Sussex Research Online is a digital repository of the research output of the University.Copyright and all moral rights to the version of the paper presented here belong to the individual author(s) and/or other copyright owners. To the extent reasonable and practicable, the material made available in SRO has been checked for eligibility before being made available.Copies of full text items generally can be reproduced, displayed or performed and given to third parties in any format or medium for personal research or study, educational, or not-for-profit purposes without prior permission or charge, provided that the authors, title and full bibliographic details are credited, a hyperlink and/or URL is given for the original metadata page and the content is not changed in any way. Abstract A robust control technique is proposed to address the problem of trajectory tracking of an autonomous ground vehicle (AGV). This technique utilizes a fractional-order proportional integral derivative (FOPID) controller to control a non-holonomic autonomous ground vehicle to track the behaviour of the predefined reference path. Two FOPID controllers are designed to control the AGV's inputs. These inputs represent the torques that are used in order to manipulate the implemented model of the vehicle to obtain the actual path. The implemented model of the non-holonomic autonomous ground vehicle takes into consideration both of the kinematic and dynamic models. In additional, a particle swarm optimization (PSO) algorithm is used to optimize the FOPID controllers' parameters. These optimal tuned parameters of FOPID controllers minimize the cost function used in the algorithm. The effectiveness and validation of the proposed method have been verified through different patterns of reference paths using MATLAB-Simulink software package. The stability of fractional-order system is analysed. Also, the robustness of the system is conducted by adding disturbances due to friction of wheels during the vehicle motion.The obtained results of FOPID controller show the advantage and the performance of the technique in terms of minimizing path tracking error and the complement of the path following.B Auday Al-Mayyahi

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Section: Stability Analysismentioning

confidence: 99%

Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle

Al-Mayyahi

Wang

Birch

2015

J Control Autom Electr Syst

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“…2 as C, (s) = k,,(s) g,, (s)(I y(s)hj (s)) (14) where i #j and ij = 1,2. The complex valued function y(s)= g2 (S)g21 (S) g I(s)g922(s) (15) is referred to as the multivariable structure function (MSF).…”

Section: Induction Motor Modelmentioning

confidence: 99%

“…It can be proved that in order to stabilise (18) it is just necessary to stabilise the channels given by (14) [13]. In general stabilisation of the diagonal elements of G(s) is not 4755 'garr lff,r G,, (s) = (I + G (s) K (s))-'G(s) K (s) required [7].…”

Section: Induction Motor Modelmentioning

confidence: 99%

“…To achieve this, kii(s) must be designed as a stabilising controller of g1j(s) -not a hard task, since gj1(s) are stable and minimumphase. Therefore, the existence of a stabilising controller for channels (14) reduces to the existence of controllers kii(s) which stabilise simultaneously g11(s)(1-ya(s)hj(s)) and gii(s), with i,j=1,2 i.j (this is the most simple case scenario [7]). …”

Section: Induction Motor Modelmentioning

confidence: 99%

“…Using the ICD Toolbox reported in [14], the following diagonal controller was obtained k (s) k2, ( 2. l X l2 IO (s±+ 6bx 104 )(S + Xoo)…”

Section: Induction Motor Modelmentioning

confidence: 99%

See 2 more Smart Citations

An Efficient Controller for SV-PWM VSI Based on the Multivariable Structure Function

Licéaga‐Castro

Ugalde‐Loo²,

Licéaga-Castro³

et al.

Proceedings of the 44th IEEE Conference on Decision and Control

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In this paper a novel control strategy for pulsewidth modulated voltage source inverters (PWM VSI) is presented. It is based on a linear, diagonal, low order, minimum-phase, fixed, and stable multivariable controller. It is obtained via individual channel design (ICD), a new framework that allows analysis and synthesis of multivariable control systems by means of the multivariable structure function (MSF). Such controller generates the appropriate reference voltage signals for the power inverter via a space-vector PWM (SV-PWM), which in turn provides the voltage signals for the terminals of an induction motor. The theoretical principles behind this control strategy are summarised for completeness. The similarities and differences between some current loop controllers found in literature and the scheme here proposed are discussed. In order to show the ICD controller performance a digital simulation is included. Moreover, it is also shown through the MSF that the dynamical system structure is not sensible to rotor speed or parameter variations. Therefore, it is possible to design a fixed linear robust controller for the whole speed range. Such solution is feasible for engineering applications due to its simplicity and robustness.

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A measurement‐based approach to designing fault‐tolerant controllers for multivariable systems

Kallakuri

Keel

Bhattacharyya

2015

Adaptive Control & Signal

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This paper presents new methodologies to design a set of controllers such that every controller in the set preserves closed-loop stability of a given multivariable plant under prescribed loop failures. The proposed approaches differ from existing techniques in two ways: First, our methods are strictly based on frequency response data of the plant that can be easily measured by experiments. No mathematical models or system identification processes are used. Second, while most control design methods find one controller, we design a set of controllers satisfying the control objective. Two approaches are presented with examples illustrating the respective advantages.

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2x2 Individual Channel Design MATLAB>sup<®>/sup<Toolbox

Cited by 10 publications

References 8 publications

Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle

Design of Fractional-Order Controller for Trajectory Tracking Control of a Non-holonomic Autonomous Ground Vehicle

An Efficient Controller for SV-PWM VSI Based on the Multivariable Structure Function

A measurement‐based approach to designing fault‐tolerant controllers for multivariable systems

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