An Approach to the Design of Nonlinear State-Space Control Systems

Pozna, Claudiu; Precup, Radu‐Emil

doi:10.24846/v27i1y201801

Cited by 25 publications

(12 citation statements)

References 35 publications

(32 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, the approach depends much on the model, so that it is not applicable to the control applications using the model with uncertainties. In the meanwhile, the approach is quite theoretical, and not meaningful to engineering applications [12].…”

Section: Usv Controlmentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

View full text Add to dashboard Cite

Multi-under-actuated unmanned surface vehicles (USV) path tracking control is studied and decoupled by virtue of decentralized control. First, an improved integral line-of-sight guidance strategy is put forward and combined with feedback control to design the path tracking controller and realize the single USV path tracking in the horizontal plane. Second, graph theory is utilized to design the decentralized velocity coordination controller for USV formation, so that multiple USVs could consistently realize the specified formation to the position and velocity of the expected path. Third, cascade system theory and Lyapunov stability are used to respectively prove the uniform semi-global exponential stability of single USV path tracking control system and the global asymptotic stability and uniform local exponential stability of coordinated formation system. At last, simulation and field experiment are conducted to analyze and verify the advancement and effectiveness of the proposed algorithms in this paper.

show abstract

Section: Usv Controlmentioning

confidence: 99%

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Liu

Zhang

2020

Sensors

View full text Add to dashboard Cite

show abstract

“…These elements can be neglected comparing to the other elements because the injection frequency expected to be much higher, than the highest possible , removing the nonlinearity from Eq. (10) [13]. The measurements can only be performed in the stationary coordinate system, therefore Eq.…”

Section: High-frequency Synchronous Injectionmentioning

confidence: 99%

“…In this case the machine is fully symmetrical in magnetic point of view, so no high-frequency signal injection methods can be applied, because Eqs. (13)(14)(15)(16)(17) will not contain any information from the angle error,…”

Section: ̂ℎ( ) = ℎ Sin( ) Cos( ) |mentioning

confidence: 99%

Sensorless Vector Control of Permanent Magnet Synchronous Machine Using High-Frequency Signal Injection

Szabó¹,

Veszprémi²

2020

ACTA POLYTECH HUNG

View full text Add to dashboard Cite

The vector control theory of alternating current machines could provide high performance control during transient events, since these methods do not depend on the static equations of the selected machine, but on the space vector-based differential system of equations. These control methods have a very important common property; all of them require an angle, with which the system's input can be transformed into the common reference frame in which the space vector notation is construed. The sensorless control methods attempt to estimate the common coordinate system's angle, without using any information from the encoder, one of which is the high-frequency voltage injection method. This paper presents the mathematical model of the high-frequency synchronous voltage injection method on permanent magnet synchronous machines. The common coordinate system is estimated using a Phase-Locked-Loop (PLL). Based on the detailed mathematical model a new equivalent dynamic model for the PLL structure is proposed, with which the PLL's controller could be tuned, with the knowledge of the machine's parameters and injected voltage properties. Simulation results are provided for an off-the-shelf interior magnet synchronous machine.

show abstract

“…Many nonlinear and linear controllers could be considered to deal with a state space model with constraints [16][17][18]. TP model transformation method is an effective numerical method that can convert a LPV uncertain model into the canonical form of polytopic models in a unified way [19,20].…”

Section: Introductionmentioning

confidence: 99%

An Efficient TP Model Transformation Algorithm for Robust Visual Servoing in the Presence of Uncertain Data

Wang¹,

Bi²,

Hou³

et al. 2020

ACTA POLYTECH HUNG

View full text Add to dashboard Cite

This paper presents a robust visual servoing controller based on an efficient TP model transformation method, while taking into account an uncertain image Jacobian matrix where, the camera intrinsic parameters, image features, and depth estimations are affected by unknown random uncertainties with known bounds. The convex vertex decomposition of image Jacobian matrix through uniform design greatly reduce the number of LMIs in the quasi-min-max model predictive control (MPC) scheme, in order to obtain the optimal control inputs of the constrained visual servoing system, while meeting the real-time requirements. Simulation and Experimental results demonstrate the effectiveness of the proposed method.

show abstract

An Approach to the Design of Nonlinear State-Space Control Systems

Cited by 25 publications

References 35 publications

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Multi-under-Actuated Unmanned Surface Vessel Coordinated Path Tracking

Sensorless Vector Control of Permanent Magnet Synchronous Machine Using High-Frequency Signal Injection

An Efficient TP Model Transformation Algorithm for Robust Visual Servoing in the Presence of Uncertain Data

Contact Info

Product

Resources

About