Proportional control

About: Proportional control is a research topic. Over the lifetime, 3756 publications have been published within this topic receiving 49050 citations.

Autonomous Control of a Line Follower Robot Using a Q-Learning Controller.

Abstract: In this paper, a MIMO simulated annealing SA based Q learning method is proposed to control a line follower robot. The conventional controller for these types of robots is the proportional P controller. Considering the unknown mechanical characteristics of the robot and uncertainties such as friction and slippery surfaces, system modeling and controller designing can be extremely challenging. The mathematical modeling for the robot is presented in this paper, and a simulator is designed based on this model. The basic Q learning methods are based pure exploitation and the epsilon-greedy methods, which help exploration, can harm the controller performance after learning completion by exploring nonoptimal actions. The simulated annealing based Q learning method tackles this drawback by decreasing the exploration rate when the learning increases. The simulation and experimental results are provided to evaluate the effectiveness of the proposed controller.

Modeling and Position Tracking Control of a Novel Circular Hydraulic Actuator With Uncertain Parameters

Abstract: In order to realize precise position tracking of a novel circular hydraulic actuator with parameter uncertainties and bounded disturbances, an adaptive sliding mode controller (ASMC) that incorporates a fuzzy tuning technique is proposed in this paper. The mechanical structure and basic principle of the actuator are first introduced, and the mathematical model of its corresponding valve-controlled hydraulic servo system is constructed. Based on Lyapunov stability theory, online parameter estimation and sliding mode controller design are effectively integrated to approximate the equivalent control of sliding mode. To mitigate the undesired chattering phenomenon and further improve system performance, a fuzzy tuning scheme is employed to regulate the proportional gain of the approaching control term. In addition, a real-time control platform is established, and the controllers parameter identification and position tracking are verified by preliminary experiments. Finally, the traditional PID controller and the exponent approaching sliding controller are also conduced to further evaluate the control performances of the designed controller, and the comparative results demonstrate that the proposed control scheme has better control performance in reducing errors for trajectory tracking.

Optical position clamping with predictive control

Abstract: We increase the effective stiffness of optical tweezers by position clamping a polystyrene bead with a predictive feedback control algorithm. This algorithm mitigates the effect of feedback loop delay. Hence, higher gain than with proportional control can be employed, which results in higher effective trap stiffness, without trap instability. In experiments (initial trap stiffness 0.056 pN/nm with a 1.78 μm diameter polystyrene bead), predictive control increased the effective trap stiffness by 55% relative to proportional control. We also derive theoretical expressions for the power spectra of the bead position controlled by our algorithm.

Parametric Study of a Piezoceramic Patch Actuator for Proportional Velocity Feedback Control Loop

Abstract: This paper presents a parametric study on the stability and control performance of proportional velocity feedback control with square piezoceramic patch actuators of various widths and thicknesses, used to suppress the vibration of a thin rectangular plate. A simple stability-performance formula has been derived, which, using the open loop sensor-actuator frequency response function, gives the maximum control performance that can be produced by such a feedback loop at resonance frequencies of the lower order modes of the plate. The parametric study has been carried out using simulated sensor-actuator frequency response functions. The results have been validated using measured frequency response functions on sets of rectangular panels with a square piezoceramic patch of various widths and thicknesses. The parametric study has shown that the control performance is significantly improved by increasing the width and reducing the thickness of the square actuator.