Model Matching Control Research Articles

Robust Cascade Control inside a New Model-Matching Architecture

Whenever additional states of a plant can be measured, closing nested feedback loops can be exploited in a variety of ways. The goal here is to reduce the bandwidth of feedback controllers and thus reduce the amplification of sensor noise that can otherwise spoil the expected performance when the actuator saturates. This can be particularly relevant for demanding tracking specifications and large plant uncertainties. In this context, the current work proposes a novel model-matching control architecture with a feedforward controller and two feedback controllers, which is accompanied by a new robust design method in the frequency domain of Quantitative Feedback Theory (QFT). The use of a feedforward controller reduces the amount of feedback to the minimum necessary to constrain the spread of the tracking error responses as specified. Furthermore, this amount of feedback is quantitatively distributed along the frequency between the inner and outer loops to reduce the total sensor noise at the control input as much as possible. A theoretical example illustrates the method and highlights the advantages of the new architecture over two other previously feasible QFT solutions: one with double feedback and another with single feedback plus feedforward. The importance of choosing the correct switching frequency between loops is also demonstrated. Finally, the angle of rotation of a commercial servo motor is successfully controlled using the motor speed as an internal measure.

A Survey on Dynamic Corrective Control of Asynchronous Sequential Machines

As a feedback control methodology exclusively targeting asynchronous sequential machines (ASMs), corrective control has been rapidly developing for the past two decades. This paper presents a comprehensive survey on the theory and application of dynamic corrective control in which the controller also has the form of an ASM. First, basic notions and principles of dynamic corrective control, including models of ASMs and configurations of closed-loop systems, are reviewed. Next, assorted dynamic corrective control schemes are presented aiming at solving specific control problems of ASMs, such as model matching and fault-tolerant control. Variations of control aspects are classified according to modeling formalisms of controlled ASMs—input/state, input/output, and composite ASMs—and involved fault characteristics, such as transient, permanent, and intermittent faults and intelligent attacks. Representative results on the application of fault-tolerant corrective control to real-world engineering systems are also provided with an emphasis on space-borne digital systems. Finally, some challenging topics for future studies on corrective control are discussed.

Electronic locking devices based on microcontrollers and chaotic maps using Model-Matching Control

In this work a real-time communication system using Arduino® microcontrollers, applied to electronic locking devices, is implemented. Model-Matching Control is used to achieve synchronization between transmitter and receiver Arduino® microcontrollers using only one transmission channel. Model-Matching Control is fed with dynamics from both Arduinos. Transmitter Arduino® is used also to generate in real-time an encrypted chaotic code key based on the Chen map. Receiver Arduino® recover in real-time the chaotic code key that is a binary signal key of an electronic locking device and where wireless communication is made between the two Arduinos using Bluetooth modules. System evaluation in terms of performance, randomness, and time complexity, are shown, as well as experimental results and some discussions are presented.

Design of suboptimal model-matching controllers using squared magnitude function for MIMO linear systems

This paper proposes a novel two-stage method for the design of a suboptimal model-matching controller in an output feedback closed-loop system (OFCLS) using the concept of squared magnitude function (SMF). A streamlined procedure for selection of a reference model, based on a linear quadratic regulator (LQR) with integral action (LQRI) having optimum values for the elements of the weighting matrices and the degree of interaction is proposed. The degrees of the numerator and denominator polynomials of the elements of the OFCLS transfer function matrix (TFM) are obtained from those of the plant and the chosen controller structure. In the first stage of the controller design, taking the LQRI-based closed-loop system (LCLS) as a reference model, the OFCLS is obtained using the approximate model-matching (AMM) technique based on the SMF concept. The approximation method involves a higher-order approximation for stable multiple-input-multiple-output (MIMO) lower-order systems. In the second stage, controller parameters are obtained using the exact model-matching (EMM) method with information about the OFCLS and plant TFMs. The proposed controller design method outperforms the method presented in the literature on integral squared error index. The simulation and experimental results illustrate the effectiveness of the proposed method.

Interpolation algorithm in designing of feed-forward robust precision control motion

Based on the structure and dynamic process of the ladder secondary double-sided linear induction motor (DSLIM) with asymmetry position of primary part of motor, the motor parameters may change with the secondary position, which directly cause the stability of electromagnetic thrust. It is difficult to meet the system control performances for designing of controller in the dynamic characteristics of the speed closed loop. This paper describes some solving algorithm by adopting the rotor field oriented control as the model matching strategy to achieve the smooth control of the electromagnetic thrust. The arrangement of model matching process is based on the Nevallina pick solution as linear interpolation method. Through the robust control concept and model matching control, the stability of the electromagnetic thrust during the motor step change process can be achieved. The simulation results verify the truth of the presented control strategies.

Model Matching and Passivation of MIMO Linear Systems via Dynamic Output Feedback and Feedforward

A model matching and passivating control architecture for multi-input/multi-output linear systems, comprising dynamic feedback and feedforward, is proposed. The approach—essentially without any restriction on the relative degree and the zeros of the underlying system and by relying only on input/output measurements—provides a closed-loop system, the transfer matrix of which matches any desired matrix of rational functions. An alternative implementation of the above design allows to achieve an arbitrary approximation accuracy of a desired transfer matrix while also preserving structural properties—in particular observability —of the overall interconnected system. Such a construction can be then specialized to provide input/output decoupling or a system that is passive from a novel control input to a modified output. The result is achieved by arbitrarily assigning the relative degree and location of the poles and zeros on the complex plane of the interconnected system in a systematic way. It is also shown that similar ideas can be employed to enforce a desired, arbitrarily small, $\mathcal {L}_2$ -gain from an unknown disturbance input to a modified output, while preserving the corresponding gain from the control input to the same output. The article is concluded with applications and further discussions on the results.

Model matching and fault‐tolerant control of switched asynchronous sequential machines with transient faults

Switched asynchronous sequential machines (ASMs) are endowed with inherent fault-tolerance capability. This study presents model matching and fault-tolerant control of switched ASMs based on corrective control theory. The objective is to design a corrective controller that matches the stable-state behaviour of the closed-loop system to that of a reference model while overcoming all transient faults infiltrating into the machine. In particular, the proposed control scheme can invalidate not only transient faults causing unauthorised state transitions in single submachine, but also those ones invoking unwanted switching operations between submachines. The existence condition and design procedure for a fault-tolerant corrective controller is addressed in the framework of corrective control. For experimental verification, the proposed scheme is applied to the read-only memory controller for on-board computers implemented on a field programmable gate array system.

Synchronization of complex networks of identical and nonidentical chaotic systems via model-matching control.

In this work, a synchronization scheme for networks of complex systems is presented. The proposed synchronization scheme uses a control law obtained with some definitions from graph theory and solving the Model-Matching Problem for complex networks. In particular, Rössler, Chen, Lorenz and Lü chaotic systems are used as complex chaotic systems into complex networks. Particular cases with regular and irregular networks of six identical chaotic systems are implemented, with some well-known topologies as star and ring small-world, and tree topologies. Highlighting, the obtained control law is applied to synchronize an irregular network of six different chaotic systems in a tree topology. The usefulness and advantages of the proposed synchronization scheme are highlighted performing numerical simulations of the chaotic complex networks.

The discrete-time tracking problem with H∞ model matching approach plus integral control

In this study, the discrete-time H∞ model matching problem with integral control by using 2 DOF static output feedback is presented. First, the motivation and the problem is stated. After presenting the notation, the two lemmas toward the discrete-time H∞ model matching problem with integral control are proven. The controller synthesis theorem and the controller design algorithm is elaborated in order to minimize the H∞ norm of the closed-loop transfer function and to maximize the closed-loop performance by introducing the model transfer matrix. In following, the discrete-time H∞ MMP via LMI approach is derived as the main result. The controller construction procedure is implemented by using a well-known toolbox to improve the usability of the presented results. Finally, some conclusions are given.

Control design in cyber-physical fluid–structure interaction experiments

Cyber-physical fluid dynamics is a hybrid experimental–computational approach to study fluid–structure interaction (FSI). It enables on-the-fly changes to structure inertia, damping, stiffness, and even kinematic constraints by replacing traditional elastically-mounted structures with actuators and a controller. The control design plays a central role in matching the closed-loop dynamics of the cyber-physical structure (CPS) to those of the desired structure. Control designs based on traditional proportional–integral–derivative (PID) and post-modern H∞ control are presented. The controllers are synthesized to match the linearized desired structural dynamics (or the input–output response) but no assumption of linearity is levied on the fluid behavior. To quantify the matching of input–output response, a CPS deviation index is defined based on H∞ norms. To evaluate and compare the performance of the control designs, two well-known FSI instabilities are considered, galloping and aeroelastic flutter. These FSI instabilities represent convenient test cases because they can be analyzed with linear aerodynamic models. Comparing the critical instability flow velocity and oscillation frequency of the CPS with different control designs and the desired mechanical structure demonstrates that the internal structure of the controller is crucial to fully matching the response of the desired structure. H∞ model-matching control with admittance causality is found to be the most adept control design for the CPS.

Research on Torque Control Strategy for Electric Vehicle with In-wheel Motor

The BP neural network PID algorithm torque distribution control strategy for electric vehicle with in-wheel motor is proposed, in which the constraint conditions of motor torque characteristic and road adherence are taken into concerned. The model-matching control is adopted using double parameters of yaw rate and body slip angle which is adjusted according to weight factor. In addition, the more effective 3-freedom vehicle model is implemented to determine the desired vehicle yaw rate and body slip angle by considering the variation of the tire lateral slip stiffness which is affected by wheel vertical load transfer when vehicle is accelerating and steering. The simulation results show the effectiveness of the torque distribution control strategy. The driver’s driving task is performed in the way that vehicle high dynamic performance is satisfied under the condition of ensured vehicle stability.

Improvement in the vehicle stability of distributed-drive electric vehicles based on integrated model-matching control

This paper presents a vehicle dynamic stability controller for distributed-drive electric vehicles. A hierarchical control structure is adopted for the proposed controller. An upper controller is designed on the basis of integrated model-matching control. It consists of a feedforward component plus a feedback component to calculate the desired external yaw moment to achieve the desired vehicle motion. The feedforward control aims at compensating the effect caused by the variation in the linear cornering stiffnesses of the tyres during the life cycle of the tyres. It provides a rapid response under common driving conditions. The linear cornering stiffnesses of the tyres are estimated in real time by the adaptive forgetting-factor recursive least-squares method. Since many vehicle parameters have strongly non-linear and time-varying characteristics, adaptive sliding mode control is used as the feedback component to make the controller robust against systematic uncertainties. To combine the outputs of feedforward and feedback together and to avoid probable conflict, a weight gain coefficient is obtained. Additionally, a conventional sliding-mode controller is introduced as a comparative upper control strategy. The lower controller is utilized to allocate the required yaw moment and traction to the four independent motors, taking into account the tyre grip margins. Simulations for a low- g manoeuvre and a high- g manoeuvre are carried out to evaluate the proposed control algorithm. The results show that the proposed vehicle stability controller can significantly stabilize the vehicle motion and greatly reduce the driver’s workload in comparison with with the conventional sliding-mode controller.

10910 天井クレーンのスキルレス化に関する研究

The operation of overhead crane is required the vibration suppression of the suspended load, and It is required the accurate transport to the target position. Therefore, we realize of skill less crane system that reduces vibration suppression of suspended load from Crane operator by automation of deflection angle control. In the previous study, we derive an analytical model of the overhead crane as a linear parameter varying (LPV) system, and good control results were obtained by combined control using Dual Model Matching (DMM) control method. In this paper, we implemented in the push button controller as an example of the typical human interface of the crane to overhead crane. Then, we verify the effectiveness of deflection angle control by designed controller and the proposed system for crane operator.

A Model Matching STR Controller for High Performance Aircraft

This paper presents a development, as well as an investigation of a Model Matching Controller (MMC) design based on the Self-Tuning Regulator (STR) framework for high performance aircraft with direct application to an F-16 aircraft flight control system. In combination with the Recursive Least Squares (RLS) identification, the MMC is developed and investigated for effectiveness on a detailed model of the aircraft. The popular robust Quantitative Feedback Theory (QFT) controller is also outlined and used to represent a baseline controller, for performance comparison during four simulated test flight maneuvers. In each of the four maneuvers, the proposed MMC provided consistently stable and satisfactory performance, including the challenging pull-up and pushover maneuvers. The baseline stationary controller has been found to become unstable in two of the four maneuvers tested. It also performs satisfactorily-to-arguably poorly in the remaining two as compared to the MMC. Simulation results presented in this investigation support a clear argument that the proposed MMC provides superior performance in the realm of automatic flight control.

Robust dynamic bumpless transfer: an exact model matching approach

This study considers the problem of dynamic bumpless transfer for uncertain controller switched systems. The robust dynamic bumpless transfer is firstly concerned. With a set of pre-given controllers, design conditions on robust dynamic bumpless transfer are formulated under which the switched system will perform a smooth transition at the transfer moment. These conditions consist of two parts including several linear matrix equations (LMEs) and two linear matrix inequalities (LMIs), each part derived is based on exact model matching and L1 control, respectively. Furthermore, the condition for guaranteeing the closed-loop system to be robustly stable under arbitrary bumpless transfer is discussed. Lastly, a numerical example and a practical simulation example on the ramjet engine control system are given to illustrate the practicability of the proposed method.

2302 DMMによるクレーンの運動と振動の制御 : ヒューマン・インターフェースの実装実験(OS3-2 ビーグル制御,OS3 交通・物流システムの制御,オーガナイズド・セッション(OS))

The operation of overhead crane are required the vibration suppression of the suspended load and the accurate transport to the target position. In the previous study, we derive an analytical model of the overhead crane as a linear parameter varying (LPV) system, and good control results were obtained by combined control using Dual Model Matching (DMM) control method, but we have to input the target trajectory. Therefore, in this study, we realize of practical crane control system that reduces vibration suppression of suspended load from Crane operator by designed controller. In this paper, we implemented in the push button controller as an example of the typical human interface device of the crane to overhead crane to simulate the practical situations. Then, we verify the effectiveness of DMM controller to LPV system, by the experiments in the similar to actual crane operating environments.

フィードフォワードモデルマッチング制御による操縦特性模擬を実現した MuPAL-α による ILS 進入実験

This paper reports flight controller design for In-Flight Simulator (IFS) MuPAL-α and some experiment results. As IFS MuPAL-α was required to realize handling characteristics of given models using only feedforward controllers, inverse systems were designed as the flight controller for model-matching control. Flight experiments confirmed that MuPAL-α with our controller has a research ability for handling quality investigation.

Distributed adaptive robust tracking and model matching control with actuator faults and interconnection failures

In this paper, direct adaptive-state feedback control schemes are developed to solve the robust tracking and model matching control problem for a class of distributed large scale systems with actuator faults, faulty and perturbed interconnection links, and external disturbances. The adaptation laws are proposed to update the controller parameters on-line when all the eventual faults, the upper bounds of perturbations and disturbances are assumed to be unknown. Then a class of distributed state feedback controllers is constructed to automatically compensate the fault, perturbation and disturbance effects based on the information from adaptive schemes. The proposed distributed adaptive tracking controller can ensure that the resulting adaptive closed-loop large-scale system is stable and the tracking error decreases asymptotically to zero in the presence of uncertain faults of actuators and interconnections, perturbations in interconnection channels, and disturbances. The proposed adaptive design technique is finally evaluated in the light of a simulation example.

Virtual Reality-based Teleoperation with Robustness Against Modeling Errors

This article investigates virtual reality (VR)-based teleoperation with robustness against modeling errors. VR technology is an effective way to overcome the large time delay during space robot teleoperation. However, it depends highly on the accuracy of model. Model errors between the virtual and real environment exist inevitably. The existing way to deal with the problem is by means of either model matching or robot compliance control. As distinct from the existing methods, this article tries to combine model matching and robot compliance control. On one hand, the status of the virtual robot is corrected by using the position sensor data from robot joints before and during teleoperation, and the pose of the virtually manipulated object is obtained with visual recognition technology. On the other hand, compliance control algorithms of impedance control based on joint torque sensors and hybrid position/force control based on a wrist sensor have been executed in order to eliminate the small sustaining model errors. A VR-based teleoperation system of satellite on-orbit self-serving is built up. In order to verify the proposed method, an experiment deploying the solar panel troubled by malfunction is carried out through teleoperation. It shows that the large model errors are removed with the model matching method and the adopted compliance control is robust against the remaining small model errors.

Simultaneous Realization of Handling and Gust Responses: In-Flight Simulator Controller Design

This paper addresses the design problem of a flight controller for an in-flight simulator, in which the controller is required to realize the gust response and the handling response of the target aircraft simultaneously. A two-degree-of-freedom model-matching controller is proposed to meet this requirement, with feedback and feedforward controllers designed to vary the gust response and handling response characteristics, respectively. The controller is designed in two steps: the feedback controller is first designed via the H ∞ model-matching approach, then the feedforward controller is designed as a filtered right inverse system of the closed-loop system comprising the plant dynamics and the feedback controller. Controllers are designed to enable a research aircraft to simulate the lateral-directional motions of two target aircraft models: a Boeing 747 and a Convair 880M. Hardware-in-the-loop simulations and flight tests with the designed controllers confirm that they achieve the simultaneous realization of gust response and handling response of the target aircraft. Additionally, an in-flight simulator controller for investigating handling qualities for lateral-directional motions is designed, and hardware-in-the-loop simulations and flight tests confirm its applicability to handling-quality investigation.