Set-point Regulation Control Research Articles

Finite-Dimensional Observer-Based PI Regulation Control of a Reaction–Diffusion Equation

This article investigates the output feedback setpoint regulation control of a reaction–diffusion equation by means of boundary control. The considered reaction–diffusion plant may be open-loop unstable. The proposed control strategy consists of the coupling of a finite-dimensional observer and a PI controller in order to achieve the boundary setpoint regulation control of various system outputs such as the Dirichlet and Neumann traces. In this context, it is shown that the order of the finite-dimensional observer can always be selected large enough, with an explicit criterion, to achieve both the stabilization of the plant and the setpoint regulation of the system output.

Event-Triggered Adaptive Fuzzy Setpoint Regulation of Surface Vessels With Unmeasured Velocities Under Thruster Saturation Constraints

This article investigates the event-triggered adaptive fuzzy output feedback setpoint regulation control for the surface vessels. The vessel velocities are noisy and small in the setpoint regulation operation and the thrusters have saturation constraints. A high-gain filter is constructed to obtain the vessel velocity estimations from noisy position and heading. An auxiliary dynamic filter with control deviation as the input is adopted to reduce thruster saturation effects. The adaptive fuzzy logic systems approximate vessel’s uncertain dynamics. The adaptive dynamic surface control is employed to derive the event-triggered adaptive fuzzy setpoint regulation control depending only on noisy position and heading measurements. By the virtue of the event-triggering, the vessel’s thruster acting frequencies are reduced such that the thruster excessive wear is avoided. The computational burden is reduced due to the differentiation avoidance for virtual stabilizing functions required in the traditional backstepping. It is analyzed that the event-triggered adaptive fuzzy setpoint regulation control maintains position and heading at desired points and ensures the closed-loop semi-global stability. Both theoretical analyses and simulations with comparisons validate the effectiveness and the superiority of the control scheme.

Integral action for setpoint regulation control of a reaction–diffusion equation in the presence of a state delay

This paper is concerned with the regulation control of a one-dimensional reaction–diffusion equation in the presence of a state-delay in the reaction term. The objective is to achieve the PI regulation of the right Dirichlet trace with a command selected as the left Dirichlet trace. The control design strategy consists of the design of a PI controller on a finite dimensional truncated model obtained by spectral reduction. By an adequate selection of the number of modes of the original infinite-dimensional system, we show that the proposed control design procedure achieves both the exponential stabilization of the original infinite-dimensional system as well as the setpoint regulation of the right Dirichlet trace.

Output Feedback Regulation Control for a Class of Uncertain Nonlinear Systems

This paper investigates the global regulation problem for a class of nonlinear systems with integral input-to-state stable (iISS) dynamic uncertainty. By designing a reduced-order observer, a systematic output feedback control strategy is proposed. The designed dynamic controller can achieve the global set-point regulation control and guarantee all signals of the closed-loop systems bounded. The developed control schemes find its application in the pendulum control system. Simulation results verify its effectiveness.

Iterative regulation of an electrically driven flexible-joint robot with model uncertainty

Considers the set-point regulation control problem of rigid and flexible-joint electrically driven robots with model uncertainties and unknown payloads. The proposed control scheme is based on simple linear state and output feedbacks. The resulting controller can also be implemented in a case where the current signal is not measurable. Applications of the approach when the Coulomb friction forces are taken into account have also been considered.

Linear stabilizing controllers for electrically driven flexible-joint robots with uncertain parameters

This study presents a linear output-based controller for stabilizing a rigid-link flexible-joint electrically driven (RLFJED) robot manipulator. The proposed controller ensures local exponential stability under some uncertainty conditions. It is assumed that the velocity signals from the link side are not measurable. The controller is analyzed by using tools for pole placement by an output-feedback in the framework of the linear system theory. Some useful structural properties of the systems under consideration have been studied. Applications of the results to the set-point regulation control problem are considered.