Robust Control Applied to Multiple-Input Multiple-Output Nonlinear Systems

Dias, Samaherni; Queiroz, Kurios; Araujo, Aldayr D.

doi:10.1007/s40313-014-0150-6

Cited by 3 publications

(3 citation statements)

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“…Now, to be possible to control the Chua's circuit, two input signals (v 1 ; v 2 ) are inserted, which results in the modified Chua's circuit [18] described by 8 <…”

Section: Example Of the Left Inverse Systemmentioning

confidence: 99%

“…This work, in simplified form, proposes to control robotic manipulators using a decoupling technique [12,13] associated with an adaptive control law ( Figure 2). Recently, the application of nonlinear decoupling control methods has been proposed [14][15][16][17][18]. The decoupling technique used here is the left inverse system proposed by Hirschorn's [12], and the adaptive controller is the variable structure model reference adaptive controller (VS-MRAC).…”

Section: Introductionmentioning

confidence: 99%

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Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control

Dias

Queiroz

Araujo

et al. 2016

Adaptive Control & Signal

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This work proposes a control structure to be applied to robotic manipulators, which are articulated mechanical systems composed of links connected by joints. The proposed controller can be divided into two parts. The first one is a left inverse system, which is used to decouple the dynamic behavior of the joints. The second is a sliding mode controller, which is applied for each decoupled joint. It is important to note that the proposed structure, using only input/output measurements, reduces the control signal 'chattering', and it is robust to parametric uncertainties. Besides all the characteristics presented, the proposed structure simplifies the design of sliding mode controller to be applied in robotic manipulators. All these features are verified by simulations.

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“…Now, to be possible to control the Chua's circuit, two input signals (v 1 ; v 2 ) are inserted, which results in the modified Chua's circuit [18] described by 8 <…”

Section: Example Of the Left Inverse Systemmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust control of robotic manipulators based on left inverse system and variable structure model reference adaptive control

Dias

Queiroz

Araujo

et al. 2016

Adaptive Control & Signal

Self Cite

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“…Uma das aplicações dos sistemas inversos é no controle de sistemas complexos. Alguns trabalhos na literatura (Gang e Lina, 2010;Ahmed et al, 2009;Li et al, 2009;Dias et al, 2011Dias et al, , 2014Dias et al, , 2016Dias et al, , 2019Lopes et al, 2020) utilizaram técnicas de sistemas inversos para controlar sistemas MIMO não lineares. Muitas dessas aplicações são direcionadas a motores de indução e sistemas robóticos.…”

Section: Introdu ç ãOunclassified

Controlador adaptativo robusto para o processo de tanque quádruplo

Dias¹,

Queiroz²,

Araujo³

2021

Procedings Do XV Simpósio Brasileiro De Automação Inteligente

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The recent interest in applications of robust control techniques in industrial environments has driven researchers to adjust already consolidated control techniques to meet the requirements of industrial applications. This review has the objective to create more autonomous industrial applications. An example is the level control of coupled tanks in industrial applications, which needs continuous supervision of an operator. Thus, this work presents a robust multivariable controller for the quadruple tank process. The proposed controller is robust to several industrial phenomena and allows the process operation without continuous human supervision. The work beyond the proposed controller presents results of stability analysis and simulations.Resumo: O crescente interesse por aplicações de técnicas de controle robusto em ambientes industriais tem impulsionado os pesquisadores a ajustar propostas já consolidadas para atender os requisitos das aplicações industriais. Essa revisão nas técnicas, em um momento de grande avanço tecnológico, tem o objetivo de permitir o controle de aplicações industriais de forma mais autônoma. Um exemplo desses processos é o controle do nível de tanques acoplados, no qual da forma que é realizado atualmente, demanda a supervisão contínua de um operador. Assim, este trabalho apresenta um controlador robusto multivariável para o processo de tanque quádruplo. O mesmo é projetado para ser robusto a vários fenômenos e permitir a operação do processo em vários cenários sem a necessidade de supervisão humana continua. O trabalho, além da proposta do controlador, apresenta resultados de análise de estabilidade e simulações.

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