Non-overshooting Control Research Articles

Non-overshooting sliding mode for UAV control

AbstractFor a class of uncertain systems, a non-overshooting sliding mode control is presented to make them globally exponentially stable and without overshoot. Even when the unknown stochastic disturbance exists, and the time-variant reference trajectory is required, the strict non-overshooting stabilisation is still achieved. The control law design is based on a desired second-order sliding mode (2-sliding mode), which successively includes two bounded-gain subsystems. Non-overshooting stability requires that the system gains depend on the initial values of system variables. In order to obtain the global non-overshooting stability, the first subsystem with non-overshooting reachability compresses the initial values of the second subsystem to a given bounded range. By partitioning these initial values, the bounded system gains are determined to satisfy the robust non-overshooting stability. In order to reject the chattering in the controller output, a tanh-function-based sliding mode is developed for the design of smoothed non-overshooting controller. The proposed method is applied to a UAV trajectory tracking when the disturbances and uncertainties exist. The control laws are designed to implement the non-overshooting stabilisation in position and attitude. Finally, the effectiveness of the proposed method is demonstrated by the flying tests.

Non-overshooting control of nonlinear pure-feedback systems

In this paper, the non-overshooting tracking control problem of nonlinear pure-feedback systems is studied. From the model, nonlinear pure-feedback systems are more general than nonlinear strict-feedback systems. In this way, the nonlinear pure-feedback system can express the physical system that the strict-feedback system cannot. Therefore, it is more meaningful to study the nonlinear pure-feedback system. At present, there are few reports on non-overshooting control of nonlinear systems. These documents are mainly aimed at nonlinear strict-feedback systems, and the obtained non-overshooting conditions are also conservative. Then, this paper aims at nonlinear pure-feedback systems, and obtains its non-overshooting conditions from another aspect. The specific narrative is as follows: the closed-loop system is structured by designing the auxiliary controller, and then the expressions of tracking error are derived. By analyzing these expressions, the conditions of non-overshooting tracking control of pure-feedback systems are obtained. Finally, the simulation results of three examples verify the effectiveness of this algorithm.

Design of simple nonovershooting controllers for linear high order systems with or without time delay

In this paper, we mainly considered the problem of nonovershooting control of high order systems with or without time delay by simple controllers. As basic principles for nonovershooting control systems, three propositions are offered and proved. Under direction of these principles, a nonovershooting dominant pole control structure having three dominant poles, i.e., one real pole and a pair of complex conjugate poles on its left, is proposed. While its zeroes and nondominant poles are on the left side of these three dominant poles with sufficient distance. The controllers adopted are composed by first order filter and PD-PID controller. Dominance of the three dominant poles can be checked and ensured through the computational method we offered. Two illustrating examples are given to show the effectiveness of our method.

Design Approach for Robust Non-overshooting Controller for ACS with Parametric Uncertainty

Design Approach for Robust Non-overshooting Controller for ACS with Parametric Uncertainty

A non-overshooting controller for vehicle path following

Unmanned pavement construction is of great significance in China, and one of the most important issues is how to follow the designed path near the boundary of the pavement construction area to avoid curbs or railings. In this paper, we raise a simple yet effective controller, named the proportional-integral-radius and improved particle swarm optimization (PIR-IPSO) controller, for fast non-overshooting path-following control of an unmanned articulated vehicle (UAV). Firstly, UAV kinematics model is introduced and segmented UAV steering dynamics model is built through field experiments; then, the raw data collected by differential global positioning system (DGPS) is used to build the measurement error distribution model that simulates positioning errors. Next, line of sight (LOS) guidance law is introduced and the LOS initial parameter is assigned based on human driving behavior. Besides, the initial control parameters tuned by the Ziegler-Nichols (ZN) method are used as the initial iterative parameters of the PSO controller. An improved PSO fitness function is also designed to achieve fast non-overshoot control performance. Experiments show that compared with the PSO, ZN and ZN-PSO controller, the PIR-PSO-based controller has significantly less settling time and almost no overshoot in various UAV initial states. Furthermore, compared with other controllers, the proposed PIR-IPSO-based controller achieves precise non-overshoot control, relatively less settling time and centimeter-level positioning error in various initial deviations.

Rapid Nonovershooting Control for Simultaneous Infusion of Anesthetics and Analgesics

We propose a rapid nonovershooting tracking controller for the continuous infusion of anesthetics and analgesics to prevent overdosing and other harmful side effects on patients. The controller utilizes a state feedback control design methodology for multi-input multi-output systems to achieve a closed-loop eigenstructure that yields a nonovershooting transient response. The method is combined with a global optimization method to achieve a rapid nonovershooting response. The controller uses an extended Kalman filter to estimate system states from measurable outputs, and integral control is added to achieve robust tracking. The performance of the method is simulated on 20 patient models in two groups, and the results are compared against another recent study from the biomedical control literature.

Robust output regulation for state feedback descriptor systems with nonovershooting behavior

In this paper, the design of robust non-overshooting (NO) controllers for output regulation is presented for a continuous linear time-invariant (LTI), multi-input multi-output (MIMO) state feedback based descriptor system. In this method of controller design for descriptor system, the integral sliding mode (ISM) technique along with generalised Moore’s eigen structure assignment method and output regulation theory for descriptor system is invoked to ensure robust output regulation with NO behavior. The efficiency of the proposed controller is also demonstrated with the help of a numerical example and simulation results presented at the end.

Non-overshooting control of linear system by a simple asymptotic gain scheduling method

In this paper, a simple yet effective method has been raised for non-overshooting control of linear higher order plant. It is based on Posicast control, asymptotic gain scheduling and dominant pole placement by modified proportional-integral-derivative (PID) controllers, including PI-D, I-PD, PI-PD and PD-PID. The control system is composed by two closed-loops, that is, the inner loop where modified PID controllers are used to stabilize the plant by dominant pole placement, and the outer loop where asymptotic gain scheduling is used to shape the non-overshooting step response. Use of the modified PID controllers is the key to secure success of asymptotic gain scheduling, for dominance of the specified poles and phase lag dominant pole control system can be designed by these controllers in the inner loop. Three numerical examples are used to validate the method; results show that a non-overshooting control with relatively short settling time and small undershoot can be realized.

Robust nonovershooting tracking controller for descriptor systems

This paper introduces a robust non-overshooting tracking controller for descriptor systems based on an Integral Sliding Mode (ISM) technique. Non-overshooting controllers (NOS) are a class of controllers which provide good transient response while tracking without any overshoots. But, NOS controllers developed so far for the descriptor systems are not robust to disturbances. So, to provide robustness against matched disturbances, here an integral sliding mode based non-overshooting controller is proposed. Hence, good transient performance without any overshoot during tracking and robustness can be ensured at the same time. Simulation results are given towards the end, which confirms the efficacy of the proposed methodology.

Non-overshooting PD and PID controllers design

ABSTRACTThis paper involves the design of non-overshooting PD and PID controllers for some special plants. The PID controller parameters are determined to reach a stable closed-loop system with monotonically decreasing frequency response. Thus specific regions in the controller parameters space are obtained. Gain crossover frequency and phase isodamping property are employed to choose an appropriate solution among the obtained solutions. The performance of the proposed PD and PID controllers in position and velocity control of a laboratory DC servomechanism system is investigated through experimental tests.

Non-Overshooting Force Control of Series Elastic Actuators

Whenever mechanical devices are used to interact with the environment, accurate control of the forces occurring at the interaction surfaces arises as an important challenge. Traditionally, force controlled systems utilize stiff force sensors in the feedback loop to measure and regulate the interaction forces. Series elastic actuation (SEA) is an alternative approach to force control, in which the deflection of a compliant element (orders of magnitude less stiff than a typical force sensor) placed between motor and the environment is controlled to regulate the interaction forces. The use of SEAs for force control is advantageous, since this approach possesses inherent robustness without the need for high-precision force sensors/actuators and allows for the accurate control of the force exerted by the actuator through position control of the deflection of a compliant coupling element. Here, a non-overshooting force controller is proposed to be embedded into the control structure of SEAs. Such controller architecture ensures safe operations of SAEs by making sure that the force applied to the environment are always bounded from above by the reference forces commanded to the controller.

New Method of Pressure Control for Initiating Explosive Device Pressing Powder

Efficiently and precisely controlling the powder-pressing is an important technological means to ensure the quality of initiating explosive device.The pressure control of initiating explosive device object is a typical nonlinear control problem,and cannot be required with the traditional control ways.The pressure control of initiating explosive device object with human simulating intelligent control theory is studied,and a new thought to design human simulating intelligent controller based on error information space(e,(?))phase plane is proposed.Based on the human simulating intelligence,a powder-pressing presure control model for initi- ating explosive device is built and designed.This system model has strong ability of online adaptation real time control,learning, memory and deduction.The real application demonstrates that this new method can solve the key problem of high-precision and non-overshooting control of powder-pressing pressure of loading materials for initiating explosive device and the products have good consistency.

Nonovershooting Control of Strict-Feedback Nonlinear Systems

A means of obtaining a nonovershooting output tracking response for single-input-single-output (SISO) strict-feedback nonlinear systems is introduced. With the proposed method, arbitrary reference trajectories can be tracked "from below" for arbitrary initial conditions (as long as the initial value of the plant output is strictly below the initial value of the reference trajectory). In addition, a design is presented for "approximately" nonovershooting control in the presence of disturbances, where the amount of overshoot can be made arbitrarily small by appropriately choosing the control gains. Finally, an output-feedback example shows the ability of our approach to ensure arbitrarily small overshoot, where the overshoot is caused by the initial condition of the unmeasured part of the state

Construction of a Set of Nonovershooting Tracking Controllers

The problem of tracking a known reference without overshooting is of great practical importance in a number of applications. However, nonminimum phase systems and systems with reference inputs other than steps have received very little attention. This paper proposes two different techniques for obtaining a continuous time, nonovershooting, feedback controller for a wide variety of linear single input, single output (SISO) systems, including nonminimum phase systems and systems whose reference input is something other than a step function. These techniques are then used to generate an initial nonovershooting controller from which a set of nonovershooting controllers is obtained. Examples are given to demonstrate all key concepts.

A decoupled path-following control algorithm based upon the decomposed trajectory error

This paper proposes a new path-following control algorithm for the machine tool servo systems. The control system first decomposes the contouring error into the normal tracking error and the advancing tangential error. A dynamic decoupling procedure is then applied to the system dynamics. Finally, a dynamic decoupled controller is proposed to compensate the decomposed tangential and the normal tracking errors. The normal control minimizes the perpendicular tracking error while the tangential control maintains a desired feed rate. The proposed method is applied to the control of an experimental x– y table. Experimental results show that the proposed control can achieve good tracking and trajectory following characteristics. The new algorithm also enables the design of a non-overshooting controller along the path. This will result in a no-overcutting process for the machine tool operation.