Discrete-time anti-windup compensation for synchrotron electron beam controllers with rate constrained actuators

Gayadeen, Sandira; Duncan, Stephen R.

doi:10.1016/j.automatica.2016.01.037

Cited by 22 publications

(15 citation statements)

References 20 publications

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“…It is also worth mentioning that to eliminate high-frequency noise, we use a filter. 32–34 The corrective steering angles can be applied to vehicle wheels by the actuators. When the sensors have measurement noise, the corrective steering angles that extracted from controller (as shown with blue lines in Figure 30) due to their high frequency cannot be applied to vehicle wheels by the actuators.…”

Section: Simulation Resultsmentioning

confidence: 99%

An adaptive sliding mode controller for the lateral control of articulated long vehicles

Esmaeili

Kazemi

Oreh

2018

Proceedings of the Institution of Mechanical Engineers, Part K:

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Today, use of articulated long vehicles is surging. The advantages of using large articulated vehicles are that fewer drivers are used and fuel consumption decreases significantly. The major problem of these vehicles is inappropriate lateral performance at high speed. The articulated long vehicle discussed in this article consists of tractor and two semi-trailer units that widely used to carry goods. The main purpose of this article is to design an adaptive sliding mode controller that is resistant to changing the load of trailers and measuring the noise of the sensors. Control variables are considered as yaw rate and lateral velocity of tractor and also first and second articulation angles. These four variables are regulated by steering the axles of the articulated vehicle. In this article after developing and verifying the dynamic model, a new adaptive sliding mode controller is designed on the basis of a nonlinear model. This new adaptive sliding mode controller steers the axles of the tractor and trailers through estimation of mass and moment of inertia of the trailers to maintain the stability of the vehicle. An articulated vehicle has been exposed to a lane change maneuver based on the trailer load in three different modes (low, medium and high load) and on a dry and wet road. Simulation results demonstrate the efficiency of this controller to maintain the stability of this articulated vehicle in a low-speed steep steer and high-speed lane change maneuvers. Finally, the robustness of this controller has been shown in the presence of measurement noise of the sensors. In fact, the main innovation of this article is in the designing of an adaptive sliding mode controller, which by changing the load of the trailers, in high-speed and low-speed maneuvers and in dry and wet roads, has the best performance compared to conventional sliding mode and linear controllers.

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Section: Simulation Resultsmentioning

confidence: 99%

An adaptive sliding mode controller for the lateral control of articulated long vehicles

Esmaeili

Kazemi

Oreh

2018

Proceedings of the Institution of Mechanical Engineers, Part K:

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“…Once the actuator saturates, the controller continues to integrate the error with no effect on the actuation input, leading to significant performance degradations, stability issues and even possible mechanical failures of FTS systems [17], [18]. To this end, various control approaches have been considered for saturation nonlinearities, e.g., discrete-time periodic Lyapunov approach [19], gainscheduled control [20], nested switching control [21], antiwindup compensation [22], [23], and internal model compensation [24]. It should be noted that most of these methods are discussed in a general control framework without considering the specific characteristics of the Smith predictor.…”

Section: Introductionmentioning

confidence: 99%

Actuator Saturation Compensation for Fast Tool Servo Systems With Time Delays

et al. 2021

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Fast tool servo systems with high precision and high speed pose significant challenges to servo control at the nano-scale. The saturation of the control actions, time delays and system uncertainties further complicate the control challenges. To address these problems, we propose a Smith predictor based robust anti-windup scheme in this paper, such that high performance servo with nano-accuracy can be achieved in the case of saturations, time delays and model uncertainties. According to the input/output based equivalent representation, the saturation nonlinearity is transformed to the dead zone nonlinearity fulfilling a sector condition. Based on the Popov criterion, the stability conditions for the anti-windup compensator are derived, which are further formulated as an H ∞ optimization problem with robustness against model uncertainties. The effectiveness of the proposed control architecture is verified through real-time experiments, where excellent servo performance, saturation compensation and robustness are demonstrated, outperforming existing results.INDEX TERMS Nanopositioning, fast tool servo, time delay, actuator saturation, anti-windup compensation

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“…Dynamical systems with actuator saturation are ubiquitous, which can cause adverse effects or even instability of the control systems. To deal with saturation nonlinearity, different methods have been proposed, including the convex combination method (Hu et al, 2002), dead-zone function method (Tong and Li, 2013) and anti-windup compensation method (Gayadeen and Duncan, 2016; Li et al, 2016a; Li and Lin, 2014). For local stability, scholars are devoted to calculating the domain of attraction for both continuous-time systems (Mohammadpour and Binazadeh, 2018; Tarbouriech et al, 2011; Zuo et al, 2010) and discrete-time systems (Binazadeh and Bahmani, 2017; Gayadeen and Duncan, 2016).…”

Section: Introductionmentioning

confidence: 99%

Event-triggered composite nonlinear control for saturated systems with measurement feedback

Zuo

Cheng

Wang

et al. 2019

Transactions of the Institute of Measurement and Control

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The composite nonlinear feedback (CNF) control problem with event-triggered strategy for saturated systems with measurement feedback is considered in this paper. Both the full-order measurement and the reduced-order one are investigated to ensure the satisfactory performance of the closed-loop saturated systems under the proposed event-triggered mechanism. Generally speaking, the CNF control is divided into the linear control part and the nonlinear control part, which are designed separately. The purpose of the former is to shorten the rise time, while the latter aims at reducing the overshoot caused by the former. In this paper, a co-design method of linear and nonlinear control parts is proposed such that the control output tracks the reference input asymptotically with a good transient performance. Moreover, the parameter of CNF is applied to the construction of event-triggered mechanism which can efficiently reduce the communication burden. In order to avoid Zeno behavior, the minimum event-triggering time interval is explicitly formulated. Finally, an example of fighter aircraft is given for illustration.

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Discrete-time anti-windup compensation for synchrotron electron beam controllers with rate constrained actuators

Cited by 22 publications

References 20 publications

An adaptive sliding mode controller for the lateral control of articulated long vehicles

An adaptive sliding mode controller for the lateral control of articulated long vehicles

Actuator Saturation Compensation for Fast Tool Servo Systems With Time Delays

Event-triggered composite nonlinear control for saturated systems with measurement feedback

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