Receptance-based robust stability criteria for second-order linear systems with time-varying delay and unstructured uncertainties

Franklin, Taniel S.; Araújo, José Mário; Santos, Tito L.M.

doi:10.1016/j.ymssp.2020.107191

Cited by 17 publications

(6 citation statements)

References 45 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The eigenvalues are not positive and follow the Lyapunov stability criterion. 22 Therefore, when the time tends to infinity, the brake clearance is close to the equilibrium point. The controllability matrix signal G O defined as…”

Section: System Dynamic Analysismentioning

confidence: 99%

Design and test of electromechanical disc brake controller for mine hoist

Jin

Wang

2022

Measurement and Control

View full text Add to dashboard Cite

Electromechanical braking technology is an effective way to improve the braking response of mine hoist. Through the analysis of the mine hoist electromechanical mechanical disc brake, a mathematical model including the motor, reducer and thread pair is established. The control process is analyzed in detail, and then the control strategy is obtained. An automatic control system based on linear quadratic regulator and PI controller is proposed. The braking goal of self-adaptive adjustment of braking clearance and on-line adjustment of braking force is realized. Compare the simulation and test results, discuss the performance of the controller. The results of the experiment indicate that the brake gap adjustment time is less than 10 s, stable within 1±0.2 mm, and the steady-state error is less than 2%. The positive pressure of the brake has a linear relationship with the motor voltage, with a slope of 920.4 and an intercept of −1298.88. It can replace the existing hydraulic brakes without the problem of low degree of automation and high pollution, which provides a new way for the control system of electromechanical brake.

show abstract

Section: System Dynamic Analysismentioning

confidence: 99%

Design and test of electromechanical disc brake controller for mine hoist

Jin

Wang

2022

Measurement and Control

View full text Add to dashboard Cite

show abstract

“…The proposed PIDA controller is defined by a linear time-invariant control law. Hence, standard tools for robustness analysis with respect to unstructured uncertainties and delays can be applied a posteriori (Franklin et al, 2021). Moreover, due to the generality of the polytopic description, polytopic difference inclusions can be used to formally represent time-varying delay effect (Gielen et al, 2010) and some types of nonlinearities (Boyd et al, 1994; Hu et al, 2006) a priori.…”

Section: Notationmentioning

confidence: 99%

“…Motivated by the relevance of modeling error, some studies on the robustness analysis and design of the controlled system have been delivered in recent times. The robust control of vibrating systems using FEM or receptance models can be addressed by different approaches (Abdelaziz, 2013; Adamson et al, 2020; Franklin et al, 2021). The partial eigenstructure assignment with guaranteed robustness is described in early and more recent works as Cai et al (2010); Araújo et al (2018); Xie (2021).…”

Section: Introductionmentioning

confidence: 99%

Proportional-integral-derivative-acceleration robust controllers for vibrating systems

Gontijo

Araújo

Santos

et al. 2022

Journal of Vibration and Control

View full text Add to dashboard Cite

This paper presents a design framework to obtain a robust multivariable Proportional-Integral-Derivative (PID) controller for second-order linear vibrating systems. A Proportional-Integral-Derivative plus acceleration (PIDA) controller is also proposed to deal with the regularization problem. Relevant control challenges, such as modeling error, regulatory performance optimization, regional pole placement, saturation avoidance, and constant reference tracking are handled within the proposed Linear Matrix Inequality (LMI) design approach. The design strategy is obtained from a linear transformation that can be applied to achieve constant reference tracking for an actuated subspace of underactuated systems. Moreover, the integral action has two additional objectives: (1) to improve regulatory performance in the presence of constant disturbance and (2) to increase the design degree of freedom in order to robustly achieve closed-loop specifications. Three simulation case studies are used to highlight the benefits of the PID and PIDA controllers.

show abstract

“…A search strategy based on the maximum peak of the sensitivity function (M s ) associated with this loop-gain can offer a trade-off between robustness and performance for the closed-loop controlled system [29]. As the system parameters are usually uncertain, robustness is a significant issue in the controller design [32]. The peak M s is related with a disk with center in the critical abscissa of instability (−1, 0) and radius equal to M −1 s .…”

Section: Introduction Of the Robustness Conditionmentioning

confidence: 99%

Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

et al. 2021

Self Cite

View full text Add to dashboard Cite

This paper proposes a method for active vibration control to a two-link flexible robot arm in the presence of time delay, by means of robust pole placement. The issue is of practical and theoretical interest as time delay in vibration control can cause instability if not properly taken into account in the controller design. The controller design is performed through the receptance method to exactly assign a pair of pole and to achieve a given stability margin for ensuring robustness to uncertainty. The desired stability margin is achieved by solving an optimization problem based on the Nyquist stability criterion. The method is applied on a laboratory testbed that mimic a typical flexible robotic system employed for pick-and-place applications. The linearization assumption about an equilibrium configuration leads to the identification of the local receptances, holding for infinitesimal displacements about it, and hence applying the proposed control design technique. Nonlinear terms, due to the finite displacements, uncertainty, disturbances, and the coarse encoder quantization, are effectively handled by embedding the robustness requirement into the design. The experimental results, and the consistence with the numerical expectations, demonstrate the method effectiveness and ease of application.

show abstract

Receptance-based robust stability criteria for second-order linear systems with time-varying delay and unstructured uncertainties

Cited by 17 publications

References 45 publications

Design and test of electromechanical disc brake controller for mine hoist

Design and test of electromechanical disc brake controller for mine hoist

Proportional-integral-derivative-acceleration robust controllers for vibrating systems

Vibration Control of a Two-Link Flexible Robot Arm with Time Delay through the Robust Receptance Method

Contact Info

Product

Resources

About