Robust Linear Control of Nonlinear Flat Systems

Sira‐Ramírez, Hebertt; Cortés‐Romero, John; Luviano‐Juárez, Alberto

doi:10.5772/14228

Cited by 12 publications

(12 citation statements)

References 38 publications

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“…where p is a positive integer and t s > 0 specifies the desired time interval for the flattening effect of the clutch function. 37,38 The flattened version of any given signal is obtained by multiplying the signal by the clutch function. In the simulations, we used the clutch function (42) with the parameters p = 1 and t s = 0.7 to flatten the signalsx (.…”

Section: Simulation Studymentioning

confidence: 99%

Robust nonlinear control of atomic force microscope via immersion and invariance

Keighobadi

Hosseini-Pishrobat

Faraji

et al. 2018

Intl J Robust & Nonlinear

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This paper reports an immersion and invariance (I&I)-based robust nonlinear controller for atomic force microscope (AFM) applications. The AFM dynamics is prone to chaos, which, in practice, leads to performance degradation and inaccurate measurements. Therefore, we design a nonlinear tracking controller that stabilizes the AFM dynamics around a desired periodic orbit. To this end, in the tracking error state space, we define a target invariant manifold, on which the system dynamics fulfills the control objective. First, considering a nominal case with full state measurement and no modeling uncertainty, we design an I&I controller to render the target manifold exponentially attractive. Next, we consider an uncertain AFM dynamics, in which only the displacement of the probe cantilever is measured. In the framework of the I&I method, we recast the robust output feedback control problem as the immersion of the output feedback closed-loop system into the nominal full state one. For this purpose, we define another target invariant manifold that recovers the performance of the nominal control system. Moreover, to handle large uncertainty/disturbances, we incorporate the method of active disturbance rejection into the I&I output feedback control. Through Lyapunov-based analysis of the closed-loop stability and robustness, we show the semiglobal practical stability and convergence of the tracking error dynamics. Finally, we present a set of detailed, comparative software simulations to assess the effectiveness of the control method. KEYWORDSatomic force microscope, chaos, disturbance rejection control, immersion and invariance, output feedback control INTRODUCTIONAtomic force microscopes (AFMs) are useful tools for measuring intermolecular forces in electronics, identification of biological materials, materials science, and semiconductors. The main component of an AFM is a microcantilever with a sharp tip, which is connected to a piezoelectric. A photodiode sensor, which is sensitive to the microcantilever's end position, determines the tip displacement. When the tip approaches the sample substrate, the atomic force interaction changes the dynamics of the AFM tip and, consequently, the whole microscope. The AFMs can operate in different modes including contact, noncontact, and tapping modes. In the contact mode, the tip operates within the range of the repulsive Int J Robust Nonlinear Control. 2019;29:1031-1050.wileyonlinelibrary.com/journal/rnc

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Section: Simulation Studymentioning

confidence: 99%

Robust nonlinear control of atomic force microscope via immersion and invariance

Keighobadi

Hosseini-Pishrobat

Faraji

et al. 2018

Intl J Robust & Nonlinear

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“…Here, the generalized proportional integral (GPI) observer proposed in Sira-Ramı´rez et al 33 is adopted as a DOB (equation (15)) to estimate d 1 . If it is estimated by the extended state observer (ESO) as in Xu, 34 then the form of ESO is…”

Section: Attitude Angle Loop Control Designmentioning

confidence: 99%

Finite-time attitude tracking control design for reusable launch vehicle in reentry phase based on disturbance observer

Wang

Zou

Chen

et al. 2017

Advances in Mechanical Engineering

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For the attitude tracking control problem of reentry reusable launch vehicle in reentry phase, a disturbance observerbased sliding mode controller is proposed in this article. At first, attitude model is decomposed into two loops on the basis of the engineering backgrounds of reusable launch vehicle and the multiple time-scale technique. Then, external disturbances and uncertainty are estimated by the disturbance observer, and sliding mode control scheme in the framework of backstepping technique is designed where sliding surfaces and sliding mode controllers are, respectively, designed for each loop. Based on Lyapunov stability theory, finite-time stability analysis is presented, in which attitude tracking error converges to the neighborhood around zero in finite time. Finally, simulations on the 6-degree-of-freedom reentry model are done to show the effectiveness of the proposed control scheme.

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“…El Control por Rechazo Activo de Perturbaciones (ADRC por las siglas en inglés de Active Disturbance Rejection Control) constituye una metodología madura en el control de sistemas inciertos tanto lineales como no lineales [13]. La idea principal consiste en la estimación precisa de la parte desconocida de la dinámica del sistema a controlar y suprimir su efecto mediante la complementación de la ley de control con un esfuerzo de cancelación [4].…”

Section: Introductionunclassified

Control robusto del pH en fotobiorreactores mediante rechazo activo de perturbaciones

Carreño¹,

Guzmán²,

Moreno³

et al. 2020

XXXVIII Jornadas De Automática: Gijón, 6, 7, Y 8 De Septiembre De 2017

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En este trabajo se aborda el problema de la regulación del pH en fotobiorreactores usando el enfoque de control por rechazo activo de perturbaciones. Dicha formulación se basa en el diseño de observadores GPI para la estimación en línea de perturbaciónes externas y dinámicas no modeladas empleando el concepto de planitud diferencial. Con el fin de validar el rendimiento del controlador propuesto, se utiliza un simulador de un fotobiorreactor tipo Raceway a escala. Los resultados de simulación demuestran que el algoritmo de control evaluado mejora significativamente la precision de la regulación del pH, logrando con ello una influencia positiva en la producción de biomasa.

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Robust Linear Control of Nonlinear Flat Systems

Cited by 12 publications

References 38 publications

Robust nonlinear control of atomic force microscope via immersion and invariance

Robust nonlinear control of atomic force microscope via immersion and invariance

Finite-time attitude tracking control design for reusable launch vehicle in reentry phase based on disturbance observer

Control robusto del pH en fotobiorreactores mediante rechazo activo de perturbaciones

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