Robust Control With Exact Uncertainties Compensation: With or Without Chattering?

Ferreira, A.; Bejarano, Francisco Javier; Fridman, Leonid

doi:10.1109/tcst.2010.2064168

Cited by 92 publications

(62 citation statements)

References 15 publications

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“…The motor induces a torque = = , where u is the normalized input voltage of the PWM amplifier, is constant, and = . There are two control problems commonly associated with the Furuta pendulum: stabilization around one of the two equilibrium points and the swing-up [48,49]. In order to study the inherent delay due to the wireless communication together with the design of a retarded control law, here we are going to focus on the problem of stabilization.…”

Section: Mathematical Modelmentioning

confidence: 99%

“…Using classical techniques, stabilization of the Furuta pendulum requires measurements of variables and and the estimation of the corresponding time derivativeṡanḋ(see, e.g., [33,48,49]). However, when wireless communication is considered, delays in the measurement deteriorate the accuracy of estimation of time derivatives.…”

Section: Controller Design and Tuningmentioning

confidence: 99%

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Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

Ortega-Montiel

Villafuerte-Segura

Vázquez³

et al. 2017

Mathematical Problems in Engineering

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The design and tuning of a simple feedback strategy with delay to stabilize a class of underactuated mechanical systems with dead time are presented. A linear time-invariant (LTI) model with time delay of fourth order and a Proportional Retarded (PR) controller are considered. The PR controller is shown as an appealing alternative to the application of observer-based controllers. This paper gives a step forward to obtain a better understanding of the effect of output delays and related phenomena in mechatronic systems, making it possible to design resilient control laws under the presence of uncertain time delays in measurements and obtain an acceptable performance without using a derivative action. The Furuta pendulum is a standard two-degrees-of-freedom benchmark example from the class of underactuated mechanical systems. The configuration under study includes an inherent output delay due to wireless communication used to transmit measurements of the pendulum's angular position. Our approach offers a constructive design and a procedure based on a combination of root loci and Mikhailov methods for the analysis of stability. Experiments over a laboratory platform are reported and a comparison with a standard linear state feedback control law shows the advantages of the proposed scheme.

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Section: Mathematical Modelmentioning

confidence: 99%

Section: Controller Design and Tuningmentioning

confidence: 99%

Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

Ortega-Montiel

Villafuerte-Segura

Vázquez³

et al. 2017

Mathematical Problems in Engineering

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“…within finite time. As reported by Ferreira et al [4] a control goal may be effectively achieved by one of the following two approaches: The first one aims to design an sliding mode controller. In this case the perturbations are rejected by means of the robust controller.…”

Section: Introductionmentioning

confidence: 99%

Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces

Koch

Reichhartinger

2016

Elektrotech. Inftech.

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A laboratory hydraulic setup consisting of a coupled actuating and load cylinder is investigated in order to emulate real world working conditions of heavy equipment such as excavators and loaders. An observer-based control scheme is proposed to regulate the position of the actuating cylinder. It relies on on-line identification of unknown parameter as well as reconstruction and compensation of unknown load forces, such that the performance of the closed position feedback loop is superior compared to classical control strategies. The applied method exploit ideas of variable structure systems in the design of both, the observer and the parameter identification scheme.Keywords: robust control; sliding mode control; robust exact differentiation; finite time parameter estimation; uncertain systems; hydraulic actuator Beobachterbasierte Sliding Mode-Regelung eines Hydraulikzylinders unter unbekannten Lastkräften.

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“…Such uncertainties may be due to measurement error, simplified models of natural laws, neglected dynamics, or inevitably uncertain model. In recent years, a variety of methodologies in robust control have been studied and proposed, such as adaptive control approach, differential inequality approach, sliding mode control approach, ∞ control approach, adaptive sliding mode control approach, time-domain approach, backstepping control approach, neural-fuzzy approach, LMI approach, and others; see, for instance [1][2][3][4][5][6][7][8][9][10][11][12] and the references therein. In [8], based on the time-domain approach with differential inequality, a feedback control has been proposed to accomplish generalized exponential synchronization for a pair of mechanical systems with uncertainties.…”

Section: Introductionmentioning

confidence: 99%

Robust Stabilization for a Class of Uncertain Nonlinear Systems via a Novel Hybrid Control Applicable to Mechanical Systems

Sun

2014

Advances in Mechanical Engineering

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An important consideration in control system design is that of model uncertainty. Besides, systems with mixed uncertainties, chaotic vibrations, and input nonlinearities are not easily stabilized and traditional control schemes for linear systems are not always effective. Therefore, in this paper, we will solve two problems, first searching a novel hybrid control methodology to achieve the practical stabilization for uncertain systems with mixed uncertainties and second calculating the guaranteed exponential convergence rate with the convergence radius. The applicability of the main results is demonstrated by a tracking controller design for a class of uncertain nonlinear mass-damper-spring systems with mixed uncertainties, chaotic vibrations, and input nonlinearities.

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Robust Control With Exact Uncertainties Compensation: With or Without Chattering?

Cited by 92 publications

References 15 publications

Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

Proportional Retarded Controller to Stabilize Underactuated Systems with Measurement Delays: Furuta Pendulum Case Study

Observer-based sliding mode control of hydraulic cylinders in the presence of unknown load forces

Robust Stabilization for a Class of Uncertain Nonlinear Systems via a Novel Hybrid Control Applicable to Mechanical Systems

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