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Operator based Nonlinear Control for Nonlinear Plants with Time-delays
Mingcong Deng,Shuhui Bi,Akira Yanou,Akira Inoue 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, operator based robust nonlinear control for nonlinear plants with time-delays is considered by using robust right coprime factorization approach. That is, based on internal model control (IMC) and a delay compensating method, operator based nonlinear control systems are designed, and sufficient conditions for the designed feedback control systems are obtained. Based on the conditions, robust stability of the nonlinear systems is ensured and output tracking performance is also realized. A simulation example is given to support the proposed design scheme.
Xudong Gao,Mingcong Deng 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.3
A new operator-based nonlinear robust control design scheme for wireless power transfer systems withuncertainties is proposed in this paper. In the proposed control design system, to deal with the uncertainties in thewireless power transfer system, operator-based robust right coprime factorization approach is adopted to guaranteethe robust stability. Moreover, the tracking performance is improved by using the proposed control design scheme. Simulations and experiments are tested to show the effectiveness of this proposed control design scheme.
Yanfeng Wu,Mingcong Deng 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.5
An L-shaped arm driven by a linear pulse motor is considered in this paper, an operator-based robustnonlinear control approach is proposed to reduce the vibration of the arm. First, by separating the arm into twoparts, its vibration dynamics is modelled based on Euler-Bernoulli beam theory. Second, by using operator-basedrobust right coprime factorization approach, two control schemes are designed, one for controlling the linear pulsemotor move to the desired destination and reducing the vibration of the arm with optimal trajectory, another oneis to control vibration of the arm by using a piezoelectric actuator, where a tracking compensator is designed tocompensate the hysteresis of the piezoelectric actuator and make the arm vibration track to the reference values. Finally, simulation results are demonstrated to verify the effectiveness of the proposed control scheme.
A Design of a Strongly Stable Generalized Minimum Variance Control Using a Genetic Algorithm
Akira YANOU,Mingcong DENG,Akira INOUE 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
This paper proposes a design scheme of generalized minimum variance control (GMVC) having a new design parameter. The design parameter is introduced by applying coprime factorization approach and Youla-Kucera parameterization of stabilizing compensators to a generalized minimum variance controller. And it is selected by using a genetic algorithm so that the controller is designed to be stable. Therefore the proposed method gives a strongly stable system, that is, not only the closed-loop system is stable, but also the controller itself is stable.
Aihui Wang,Mingcong Deng,Dongyun Wang 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.6
In this paper, an operator-based robust nonlinear control for a human multi-joint arm-like manipulator with time-varying delay measurements is proposed by using robust right coprime factorization approach, a delay compensation operator and a forward predictive operator. That is, first, considering the uncertainties of dynamic model consisting of measurement error and disturbances, an operator-based nonlinear feedback control scheme is designed to eliminate effect of uncertainties. Second, an operator controller based on real measured data from human multi-joint arm viscoelasticity is pre-sented to obtain desired motion mechanism of human multi-joint arm viscoelastic properties, the un-known time-varying delay measurements are described by a delay operator, the delay compensation operator is designed to remove the effect of unknown time-varying delay measurements, and the for-ward predictive operator is designed to compensate the term related to effect of central nervous system (CNS) during human multi-joint arm movements. The BIBO stability can be guaranteed and the tracking performance can be realized by the designed operator controller, the delay compensation operator and the forward predictive operator. Finally, the effectiveness of the proposed design scheme is confirmed by the simulation results based on experimental data.
Operator-based Robust Control for Nonlinear Uncertain Systems with Unknown Backlash-like Hysteresis
Shuhui Bi,Lei Wang,Yongguo Zhao,Mingcong Deng 제어·로봇·시스템학회 2016 International Journal of Control, Automation, and Vol.14 No.2
In this paper, operator based robust control for nonlinear uncertain system with unknown backlash-likehysteresis is considered. In detail, a continuous backlash-like hysteresis operator is proved to be corresponding to aone-to-one operator, that is, it is suitable to be used in operator theoretic based control theory. Moreover, an internalmodel control (IMC) structure with one parallel compensating operator is proposed for nonlinear uncertain systemwith unknown backlash-like hysteresis. Based on the proposed control scheme, the designed system is robustlystable and the desired output tracking performance can be realized simultaneously. Finally, a simulation exampleabout nonlinear plant preceded by backlash is given to show the design procedure of the proposed method.