Integrated Study of Inland-Vessel Diesel Engine Two-Cell SCR Systems With Dynamic References

In this article, a new nonlinear robust contouring control scheme is proposed for a planar manipulator. Compared with the end effector tracking error, contouring error is a more reasonable description of the minimum distance between actual position and desired contour when tracking a complex trajectory. Thus, the task coordinate contour error is selected to evaluate the tracking performance. However, most of the contouring control schemes are designed for biaxial gantry, the planar manipulator system is subjected to payload change, and the conventional contouring controller cannot solve this problem faultlessly. Here, the continuous nonsingular terminal sliding mode control and time delay estimation are integrated to develop a new contouring controller for large curvature trajectory high-speed tracking. The time delay estimation is adopted to estimate the manipulator dynamic and payload change. The tracking precision can be guaranteed even parameter uncertainty exsits. Furthermore, continuous nonsingular terminal sliding mode control is integrated with the contouring control to obtain faster convergence performance and robustness of the overall system. The proposed controller possesses obvious advantages, such as robust to payload change and a better performance when tracking a large curvature ellipse in high speed. The effectiveness of the proposed method is verified through simulation and experiment on a planar manipulator.

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“…. , a n are positive definite and 0 \ p \ 2, then (a 2 1 2 is obtained. For equation (30), _ e 6 ¼ 0, and k 1 .…”

Section: Define the Lyapunov Functionmentioning

confidence: 99%

“…To this aim, tremendous research efforts have been devoted. [1][2][3][4] The proportional-integral-differential (PID)-type controller is the most common algorithm. 5 The adaptive control 6,7 scheme is adopted to deal with the parameter uncertainty problem of the joint position tracking control.…”

Section: Introductionmentioning

confidence: 99%

Continuous nonsingular terminal sliding mode contouring control of manipulator based on time delay estimation

Cao

Qiu

et al. 2017

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…How to adjust the urea dosing control under transient conditions is the key to solving the above problem [3]. Several urea dosing feedback controllers have been proposed, and researchers have found that satisfying the control objectives with either NO x -based or NH 3 -based feedback control alone is difficult [4][5][6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

An ammonia coverage ratio observing and tracking controller: stability analysis and simulation evaluation

Zhao

Gong

et al. 2019

Sci. China Inf. Sci.

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Regional path moving horizon tracking controller design for autonomous ground vehicles SCIENCE CHINA Information Sciences 60, 013201 (2017); Approximate design of optimal tracking controller for time-delay systems Chinese Science Bulletin 51, 2158 (2006); Multiple hypothesis tracking based on the Shiryayev sequential probability ratio test SCIENCE CHINA Information Sciences 59, 122306 (2016); Evaluation of cracking potential for concrete arch dam based on simulation feedback analysis SCIENCE CHINA Technological Sciences 54, 565 (2011); SCIENCE CHINA Information Sciences

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“…Synchronization of chaotic systems deals with asymptotically synchronizing the state trajectories of a pair of chaotic systems called master and slave systems. Many control techniques have been developed for the chaos synchronization of integer-order chaotic systems such as active control [14][15][16], adaptive control [17][18][19], sliding mode control [20][21][22][23][24][25][26][27][28], backstepping control [29,30], fuzzy control [31,32], etc. On the other hand, there are some approaches to control nonlinear dynamical systems using the Markov chain [33,34].…”

Section: Introductionmentioning

confidence: 99%

Fractional Order Synchronous Reluctance Motor: Analysis, Chaos Control and FPGA Implementation

Rajagopal

Nazarimehr

Srinivasan³

et al. 2017

Asian Journal of Control

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This paper deals with the dynamical analysis and chaos control in a fractional order synchronous reluctance motor (FOSyncRM). Equilibrium points, characteristic equations and Eigen values of both commensurate and incommensurate FOSyncRM are presented. finite‐time Lyapunov exponents of the FOSyncRM system for fixed and varied parameters are investigated along with the bifurcation plots. Fractional order bifurcation plots are derived to show that the system shows more complex chaotic oscillations in fractional order. Chaos control in the FOSyncRM system is achieved using adaptive sliding mode controllers and the entire control algorithm is implemented in FPGA.

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Integrated Study of Inland-Vessel Diesel Engine Two-Cell SCR Systems With Dynamic References

Cited by 21 publications

References 26 publications

Continuous nonsingular terminal sliding mode contouring control of manipulator based on time delay estimation

Continuous nonsingular terminal sliding mode contouring control of manipulator based on time delay estimation

An ammonia coverage ratio observing and tracking controller: stability analysis and simulation evaluation

Fractional Order Synchronous Reluctance Motor: Analysis, Chaos Control and FPGA Implementation

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