Tracking control of nonlinear stochastic systems with actuator nonlinearity

Srang, Sarot; Yamakita, Masaki

doi:10.1109/aim.2014.6878160

Cited by 2 publications

(1 citation statement)

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“…Here an adaptive controller is designed to achieve exponential tracking of a class of non-linear deterministic system. 19 The authors design a robust sliding mode controller to stabilize a non-linear uncertain plant. The stabilization is done in the presence of different non-linearities such as dead-zone and backlash with actuator.…”

Section: To Control Trmsmentioning

confidence: 99%

Design of robust proportional–integral–derivative controller for generalized decoupled twin rotor multi-input-multi-output system with actuator non-linearity

Pandey

Dey

Banerjee

2018

Proceedings of the Institution of Mechanical Engineers, Part I:

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This work addresses the problem of robust stabilization of twin rotor multi-input-multi-output system in the presence of inherent actuator non-linearity and plant structured uncertainties due to parameter variation. In order to achieve so, first a generalized decoupling technique is implemented to eliminate the cross coupling effect which are present in between the input and output of main and tail rotors of twin rotor multi-input-multi-output system. Next, two proportional–integral–derivative controllers are employed to control the main and tail rotors independently. The ranges of the parameters of the controllers are evaluated based on the Kharitonov theorem so as to ensure robust stability in the presence of structured uncertainties. The values of the controller parameters are finally sought out of these robust ranges with bacterial foraging optimization technique such that satisfactory time domain criteria are met. Furthermore, the compensated system is analyzed in frequency domain with common actuator non-linearity dead-zone and saturation together. The performance of the designed controller is evaluated through both simulation and experimental results. The controllers are found to perform efficiently ensuring adequate robust stability even in the presence of uncertainty, disturbance and actuator non-linearity.

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Section: To Control Trmsmentioning

confidence: 99%