Hybrid control for vision based Cart-Inverted Pendulum system

Time-delayed control in a balancing problem may be a nonsmooth function for a variety of reasons. In this paper we study a simple model of the control of an inverted pendulum by either a connected movable cart or an applied torque for which the control is turned off when the pendulum is located within certain regions of phase space. Without applying a small angle approximation for deviations about the vertical position, we see structurally stable periodic orbits which may be attracting or repelling. Due to the nonsmooth nature of the control, these periodic orbits are born in various discontinuity-induced bifurcations. Also we show that a coincidence of switching events can produce complicated periodic and aperiodic solutions.

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“…Omitting O(s 3 ) terms, (25) intersects the discontinuity-induced bifurcation curve (24) at the point in Fig. 4-A indicated by a circle.…”

Section: Series Expansions In S and τmentioning

confidence: 99%

Dynamics of Simple Balancing Models with Time-Delayed Switching Feedback Control

Simpson

Kuske

2011

J Nonlinear Sci

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“…which is not invertible and thus has not dynamical stabilization control law as defined in (21). In order to realize a feasible dynamical stabilization control law as defined in (21), one considers [v 2 , v 3 ] T as the new input signals of the following defined extended air-path nonlinear systeṁ…”

Section: ) Egr and Vgt Controllermentioning

confidence: 99%

Two loop based dynamical feedback stabilization control of a diesel engine with EGR & VGT

Wang

Bosche

Tian

2011

IEEE Conference on Decision and Control and European Control Conference

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In this paper, a fourth-order dimensional nonlinear model is proposed for a diesel engine equipped with a Variable Geometry Turbocharger (VGT) and an Exhaust Gas Recirculation (EGR) valve. The referred model which takes into account the engine crankshaft speed dynamics and the air-path dynamics is a non-minimum phase unstable system. The fuel flow rate W f which is considered as input for the engine crankshaft subsystem acts as an external perturbation for the three-order dimensional non-minimum phase air-path subsystem. The global control objectives are to track desired values of engine speed, intake manifold pressure and compressor flow mass rate which can be suitably chosen according to low emission criterions. For the considered objectives two loop based dynamical feedback stabilization control is proposed: an inner loop and an outer loop. The inner loop considers a control based on Lyapunov function which realizes the desired engine speed trajectory tracking. The outer loop concerns EGR & VGT control. It is developed from a particular extended nonlinear air-path subsystem with its modified outputs. This outer loop ensures both the desired intake manifold pressure and the desired compressor mass flow rate trajectory tracking. The outer loop dynamical feedback stabilization control provides also the external fuel mass flow rate perturbation rejection.The robustness and efficiency of the proposed method are demonstrated by simulation results.

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“…The communication between these two type of controls is done with a similar logic based switch mechanism in [21]. The jumping-up control is used to guarantee a good level of performance in terms of settling time, while the Lyapunov stabilization control ensures a minimum speed S.S. Error and a robust external load disturbance rejection performances.…”

Section: Diesel Engine Speed Regulation Modelmentioning

confidence: 99%

“…The DPCC is derived from a classical PCC which enables sampled tracking of linear systems by enabling switching at high frequencies [19], [24]. And the latter stabilization controller is inspired from the hybrid stabilization control of non-minimum nonlinear systems using a low-cost vision [21], [22].…”

Section: Introductionmentioning

confidence: 99%

Hybrid adaptive control used in diesel engine speed regulation

Wang

Bosche

Tian

2011

2011 19th Mediterranean Conference on Control &Amp; Automation (MED)

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In this paper, a hybrid adaptive control to realize an entire enveloppe speed regulation with fast operating condition changes and input saturation constraint is proposed. It is based on a simplified nonlinear parameter varying diesel engine model which includes variable transport delays in fueling input. The proposed controller which consists of a derived piecewise continuous controller based jumping-up sub-controller and a friction and load torque observer based Lyapunov function stabilization sub-controller guarantees the closed-loop system stability and demonstrates perfectly unknown friction and load torque disturbance rejection capacities. Comparing with a linear parameter varying control, the proposed hybrid adaptive control has better performance in terms of settling time, steady state error and it allows no static state fueling input oscillation and nearly zero speed drop in presence of significant external load torque changes. Moreover, the proposed control has a very simple structure and can be implemented easily for real-time system control. I. INTRODUCTIONDiesel engines are recognized as the most common and preferred solution for the distributed power generating systems in numerous applications, such as automotive vehicles, ships, cranes, and electric power generators due to theirs superior fuel efficiency and durability compared to the other types of internal combustion engines [26], [8], [9]. The diesel engine design objectives are to obtain the best possible performance in terms of speed regulation (such as maintaining good transient and steady-state performance and ensuring good external friction and load disturbance rejection capabilities), fuel consumption economy and exhaust gas emissions. Often, these are conflicting and coupling objectives, e.g. engine speed control has significant impact on engine performance, fuel consumption economy and exhaust gas emission [2]. The nonlinear and open loop possible unstable nature (which is most probably due to the positive feedback from the fueling input pumped from the engine output shaft), time varying delays (due to the interval between the cylinder firings in forward-loop) and multiple operating modes makes the engine speed control a very challenging problem.Until now, different approaches have been tested for engine speed control:• methods based on linearization model which are tuned and scheduled controllers at different operating points: optimal gain scheduling controller [3]

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Hybrid control for vision based Cart-Inverted Pendulum system

Cited by 23 publications

References 20 publications

Dynamics of Simple Balancing Models with Time-Delayed Switching Feedback Control

Dynamics of Simple Balancing Models with Time-Delayed Switching Feedback Control

Two loop based dynamical feedback stabilization control of a diesel engine with EGR & VGT

Hybrid adaptive control used in diesel engine speed regulation

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Hybrid control for vision based Cart-Inverted Pendulum system

Cited by 23 publications

References 20 publications

Dynamics of Simple Balancing Models with Time-Delayed Switching Feedback Control

Dynamics of Simple Balancing Models with Time-Delayed Switching Feedback Control

Two loop based dynamical feedback stabilization control of a diesel engine with EGR &amp; VGT

Hybrid adaptive control used in diesel engine speed regulation

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Product

Resources

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Two loop based dynamical feedback stabilization control of a diesel engine with EGR & VGT