Unknown External Load Disturbances Research Articles

Optimization and H∞ Performance Analysis for Load Frequency Control of Power Systems With Time-Varying Delays

With the development and expansion of the power grid, the load frequency control (LFC) scheme receives sensor signals and outputs control signals through an open communication network with a mass of data and extensive information exchange, which may introduce constant, and time-varying delays. This paper considers the optimization andH∞performance problem for LFC of power systems with time-varying delays. Some improved criteria for guaranteeing the stability andH∞performance of the closed-loop system with unknown external load disturbances via the Lyapunov stability theory application. An unique delay-dependent proportional-integral (PI) controller and an optimized PI controller are designed for a specifiedH∞performance index and set, respectively. The criteria proposed in this paper are based on linear matrix inequalities (LMIs), which can be easily solved by the MATLAB LMI-Toolbox. Finally, in case studies, the effectiveness of our method is demonstrated.

Finite Time Fractional-order Adaptive Backstepping Fault Tolerant Control of Robotic Manipulator

In this paper, fractional calculus theory is employed to inspect a finite time fault tolerant controller for robotic manipulators in the presence of uncertainties, unknown external load disturbances, and actuator faults, using fractional-order adaptive backstepping approach in order to achieve, fast response and high-precision tracking performance. Knowing the advantages of adaptive controllers an adaptive form of the above controller is then established to deal with the overall uncertainties in the system. The most important property of the proposed controller is that we do not need to have knowledge about the actuator fault, external disturbances and system uncertainties exist in system. In this study two important achievements are made. The first one is that the finite time convergence of closed-loop system is ensured irrespective of initial states values. The second one is that the effects of the actuator faults and other uncertainties are attenuated by the suggested controller. The performance of the suggested controller is then tested for a PUMA560 robot in which the first three joints are used. The simulation results validate the usefulness of the suggested finite-time fractional-order adaptive backstepping fault-tolerant (FOAB-FTC) controller in terms of accuracy of tracking, and convergent speed.

Antiwindup Control of an Electrohydraulic System With Load Disturbance and Modeling Uncertainty

In this study, a linear antiwindup controller of an electrohydraulic system (EHS) is proposed to drive the joint motion of a two-degree-of-freedom robotic arm. Since the unknown external load disturbance is caused by the driven force/torque of the robotic arm and some hydraulic parametric uncertainties existing in an EHS model, perhaps the control saturation emerges in the controller, which will degrade the dynamic performance and the stable margin of the EHS. Thus, a model recovery antiwindup compensator embedded in an unconstrained controller is designed to suppress the control saturation of a servo valve. The antiwindup effectiveness of the proposed controller has been demonstrated by a comparative experiment study with both linear and nonlinear controllers, which indicates the proposed controller can achieve better dynamic performance under largely unknown load disturbance and model uncertainty.

Optimal Shape Control of Piezoelectric Intelligent Structure Based on Genetic Algorithm

Shape variation induced by mismachining tolerance, humidity and temperature of the working environment, material wear and aging, and unknown external load disturbances have a relatively large influence on the dynamic shape of a mechanical structure. When integrating piezoelectric elements into the main mechanical structure, active control of the structural shape is realized by utilizing the inverse piezoelectric effect. This paper presents a mathematical model regarding piezoelectric intelligent structure shape control. We also applied a genetic algorithm, and given a piezoelectric intelligent cantilever plate with both ends affected by a certain load, optimal shape control results of piezoelectric materials were analyzed from different perspectives (precision reference or cost reference). The mathematical model and results indicate that, by optimizing a certain number of piezoelectric actuators, high-precision active shape control can be realized.

Design of brushless DC position servo systems using integral variable structure approach

This paper considers brushless DC position control systems with unknown external load disturbance and plant parameter variations. Since the dynamic characteristics of such systems are very complex and highly nonlinear, a conven- tional linear controller design may not assure satisfactory requirements. To improve the dynamic response of such systems, an integral- compensated variable structure control (IVSC) has been proposed. The approach comprises an integral controller for achieving a zero steady- state error response under step input, and a vari- able structure controller for enhancing the robustness. Simulation results show that the pro- posed approach gives a rather accurate servo- tracking result and is fairly robust to plant parameter variations and external load dis- turbance.