Tracking Controller Design Method Research Articles

Fault-Tolerant Control of High-Speed Trains with Parameter Uncertainty

This paper studies the robust fault-tolerant control problem against actuator faults and parameter uncertainty for High-Speed Trains. First, models of actuator faults and parameter uncertainty are presented. Then a robust fault-tolerant tracking controller design method is developed. This method is based on the mixed Linear Matrix Inequalities (LMI)/Lyapunov stability theory. Tracking control examples and simulations are given, and the response curves of the fault system and the system with the fault-tolerant tracking controller are presented.

유전자 알고리즘을 이용한 다중 제한 조건을 만족하는 강인 트랙 추종 제어

This paper presents a design method of a robust tracking controller satisfying multiple constraints using genetic algorithm. A robust <TEX>$H_{\infty}$</TEX> constraint with loop shaping is used to address disturbance attenuation with error limits and a loop gain constraint is considered so as not to enlarge the tracking loop gain and bandwidth unnecessarily. The robust <TEX>$H_{\infty}$</TEX> constraint is expressed by a matrix inequality and the loop gain constraint is considered as an objective function so that genetic algorithm can be applied. Finally, a robust tracking controller can be obtained by integrating genetic algorithm with LMI approach. The proposed tracking controller design method is applied to the track-following system of an optical DVD recording drive and is evaluated through the experimental results.

Fuzzy Non-fragile H∞ Tracking Control for Flexible Air-breathing Hypersonic Vehicles

This paper proposed a fuzzy non-fragile tracking control design method for flexible air-breathing hypersonic vehicles (FAHVs). The T-S fuzzy set approach is applied to the modeling of the complex nonlinear dynamics of FAHVs, and a T-S fuzzy model is constructed, which can represent the nonlinear hypersonic vehicle system. Then, by considering the actuator controller coefficients uncertainties and disturbances, the fuzzy non-fragile H∞ tracking problem for FAHVs is proposed. A state-feedback controller design method is proposed to guarantee the tracking performance in the presence of actuator controller coefficients uncertainties. By a Lyapunov approach, the existence conditions for such a controller are established in terms of linear matrix inequalities (LMIs). An illustrative example is given to show the excellent tracking performance of the proposed controller design method.

Robust reliable tracking controller design against actuator faults for LPV systems

AbstractA robust reliable tracking controller design method is developed against actuator faults for linear parameter varying (LPV) systems under a passive control framework. This method is based on a newly proposed stability condition for LPV systems, which is a more general condition than the existing results. An important contribution of this method is that it could handle relatively wider range of actuator faults due to the extra freedom degree introduced by a new slack variable in the stability condition. Numerical example shows the effectiveness and superiority of our method.Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

Measurement and tracking control of the Z‐tilts error compensating stage of the nano‐measuring machine

PurposeThe purpose of this paper is to develop the multi‐degree‐of‐freedom measurement system to test, verify, and control the nano‐measuring machine.Design/methodology/approachA generic differential model approach is constructed to numerically describe the hysteresis effects of piezoelectric actuators. Based on the generic differential model, a feedforward compensator with a proportional integral (PI) type controller is designed to compensate for the hysteresis nonlinearity of a piezoelectric actuated three degree‐of‐freedom coplanar nanostage which can provide high‐precision applications.FindingsThe Z‐tilts (z, pitch, and roll motion) error compensation stage of the nano‐measuring machine is accomplished. Moreover, a high‐resolution laser interferometer is used to measure position accurately.Originality/valueThis paper contributes to develop a tracking control design method for the piezoelectric motion platform which combines a closed‐loop feedforward compensator with a PI type controller.

Robust stability and tracking of non-linear systems with modified Prandtl-Ishlinskii hysteresis model

This paper introduces a method to guarantee robust stability of nonlinear systems with modified Prandtl-Ishlinskii (PI) hysteresis model and presents a tracking controller design method to compensate the effect of hysteretic non-linearity. In order to make hysteresis model closer to the real hysteretic behaviour, a modified PI hysteresis model which is described by a non-symmetric play operator with unknown slopes is adopted. Using an operator theoretic approach, the modified PI hysteresis model is represented as a generalised Lipschitz operator and a bounded parasitic term. To guarantee robust stability of the controlled systems with hysteresis, a robust condition using robust right coprime factorisation is used. To ensure the output tracking performance, a non-linear tracking controller is designed. Simulation results are presented to validate the effectiveness of the proposed control design method.

Design of a robust gain-up tracking controller for a stable seek action of an optical disk drive

In this paper, we present a robust gain-up tracking controller design method to control stably the shake of tracking actuator after a seek control. A minimum gain-up tracking open-loop gain is calculated by estimating the shake of tracking actuator and a desired transient response is considered to stabilize quickly the shake of tracking actuator. A robust gain-up tracking controller is designed by considering a robust H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> control problem with a regional stability constraint. The proposed gain-up tracking controller design method is applied to the gain-up track-following system of a DVD rewritable drive and is evaluated through the experimental results.

EDA-Based Speed Control of a Networked DC Motor System With Time Delays and Packet Losses

This paper presents a new controller design method for networked DC motor system in the presence of time delays and packet losses. The sufficient condition under which the closed-loop system is asymptotically stable and the necessary condition under which the networked DC motor has zero steady-state tracking error are derived. Based on the obtained conditions, an output tracking controller design method is proposed, where the estimation of distribution algorithm is used to optimize the control parameters to improve the system control performance. The proposed method can be easily applied to various applications, since it is simple and has no assumptions on time delay and packet loss models. Simulation and experimental results are given to demonstrate the effectiveness of the proposed approach.

An optimal adaptive H-infinity tracking control design via wavelet network

In this paper, an optimal adaptive H-infinity tracking control design method via wavelet network for a class of uncertain nonlinear systems with external disturbances is proposed to achieve H-infinity tracking performance. First, an alternate tracking error and a performance index with respect to the tracking error and the control effort are introduced in order to obtain better performance, especially, in reducing the cost of the control effort in the case of small attenuation levels. Next, H-infinity tracking performance, which attenuates the influence of both wavelet network approximation error and external disturbances on the modified tracking error, is formulated. Our results indicate that a small attenuation level does not lead to a large control signal. The proposed method insures an optimal trade-off between the amplitude of control signals and the performance of tracking errors. An example is given to illustrate the design efficiency.

A controller design method for constructing a robust track-following system

This paper provides a robust tracking controller design method for the track-following system of an optical disk drive. A tracking loop gain adjustment algorithm is introduced to accurately estimate the tracking vibration quantity in spite of the uncertainties of the actuator. A minimum tracking open-loop gain is calculated by the estimated tracking vibration quantity and a tolerable limit of tracking error. A weighting function is selected to have a slightly larger gain than the calculated minimum tracking open-loop gain. A robust tracking controller is designed by considering a robust Hinfin control problem with the reasonable weighting function. The proposed tracking controller design method is applied to the track-following system of a DVD rewritable drive and is evaluated through the experimental results .

Robust tracking problem for continuous time stochastic uncertain systems

AbstractWe propose a finite‐horizon robust minimax tracking controller design method for time‐varying continuous time stochastic uncertain systems. The uncertainty in the system is characterized by a set of probability measures under which stochastic noises, driving the system, are defined. A minimax optimal tracking controller is derived from the solution of a risk‐sensitive linear quadratic Gaussian control problem. Also a numerical example is presented to illustrate the characteristics of proposed tracking controller. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society

진동량 추정을 통한 강인 트랙킹 제어기의 설계

This paper presents a robust tracking controller design method for the track-following system of an optical recording device. A tracking loop gain adjustment algorithm is introduced to accurately estimate the tracking vibration quantity in spite of the uncertainties of the tracking actuator. A minimum tracking open-loop gain is calculated by the estimated tracking vibration quantity and a tolerable limit of tracking error. A robust tracking controller is designed by considering a robust <TEX>$H_\infty$</TEX> control problem with the weighting function of a slightly larger gain than the minimum tracking open-loop gain. The proposed controller design method is applied to the track-following system of an optical recording device and is evaluated through the experimental result.

H ∞ tracking-based adaptive fuzzy sliding mode controller design for nonlinear systems

An H∞ tracking-based adaptive fuzzy sliding mode controller (H∞ AFSMC) is proposed for a class of nonlinear systems involving system uncertainties and external disturbances. The H∞ tracking control design method and the adaptive fuzzy sliding mode control technique are combined in the design of the H∞ AFSMC controller. By the Lyapunov theory, it is shown that the proposed controller has the following advantages: it can inhibit the chattering phenomenon and can guarantee the H∞ tracking performance to attenuate the lumped uncertainties caused by the unmodelled dynamics, the approximation error and the external disturbances. Subsequently, the problem of H∞ AFSMC design is characterised in terms of an eigenvalue problem, which can be efficiently solved by using convex optimisation techniques. Finally, an inverted pendulum system is simulated to demonstrate the validity and effectiveness of the proposed controller.

Mixed H2/H∞ PID tracking control design for uncertain spacecraft systems using a cerebellar model articulation controller

A mixed H2/H∞ tracking control design method for uncertain spacecraft systems with guaranteed control performance is examined. A mixed H2/H∞ controller incorporating a cerebellar model articulation controller (CMAC) learning method and sliding-mode control action is developed in uncertain spacecraft systems under plant uncertainties and external disturbances. The CMAC control system is used to adaptively estimate the non-linear uncertainties, yielding a controller that can tolerate a wider range of uncertainties. The sliding-mode control action is included to eliminate the effect of approximation error via CMAC control system approximation. The sufficient condition is developed for mixed H2/H∞ performance in terms of linear matrix inequality formulations. The proposed method is simple and the PID parameters can be obtained systematically. Simulation results indicate that the mixed H2/H∞ performance can be achieved using the proposed methods.

GA-based multiobjective PID control for a linear brushless DC motor

This paper presents a robust output tracking control design method for a linear brushless DC motor with modeling uncertainties. Two frequency-domain specifications directly related to the mixed sensitivity function and control energy consumption are imposed to ensure stability and performance robustness. With regard to time-domain specifications, the rise time, maximum overshoot and steady-state error of the step response are considered. A generalized two-parameters proportional, integral, and derivative (PID) control framework is developed via a genetic searching approach ensuring the specifications imposed. The proposed design method is intuitive and practical that offers an effective way to implement simple but robust solutions covering a wide range of plant perturbation and, in addition, provides excellent tracking performance without resorting to excessive control. Extensive experimental and numerical results for a linear brushless motor confirm the proposed control design approach.

Reliable robust flight tracking control: an LMI approach

This paper studies the reliable robust tracking controller design problem against actuator faults and control surface impairment for aircraft. First, models of actuator faults and control surface impairment are presented. Then a reliable robust tracking controller design method is developed. This method is based on the mixed linear quadratic (LQ)//H/sub /spl infin// tracking performance index and multiobjective optimization in terms of linear matrix inequalities. Flight control examples are given, and both linear and nonlinear simulations are given.

Digital tracking control for PWM systems with unacceptable zeros

Perfect output tracking, which requires inversion of the input-output dynamics, is not always a practical control objective. Difficulties are encountered for systems with zeros which are unstable, or stable but lightly damped. When the zeros are unacceptable in the above sense, perfect output tracking would require the control to be either unbounded, or bounded but highly oscillatory. In this paper, an approximate output tracking control design method is introduced for pulsewidth modulated (PWM) systems with unacceptable zeros. The design method is applied to the nonlinear sampled-data model of the PWM system, and is based on output redefinition. Although the new approach leads to approximate rather than perfect output tracking, it guarantees bounded and nonoscillatory responses.

Tracking Controller Design for a Robotic Manipulator

In this paper, a tracking controller design method for a dc motor driven robotic manipulator is presented. The reference input to be followed is a ramp function. The main difficulties are caused by the Coulomb frictions, disturbance due to the gravitational pull and the rather stiff spring effect of the link between the drive motor and the manipulator arm. The proposed design method is based on the feeding back of the delayed values of the observable variables and augmenting the system by additional integrators