Proportional control

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

Feedback Linearization with Acceleration Feedback for a Two-Lin Flexible Manipulator

Abstract: This paper utilizes a three-loop control strategy in a decentralized fashion for each link of a two-link flexible manipulator. The first loop employs techniques from feedback linearization for the rigid dynamics, where motor dynamics are accounted for in the model and the linearizing control law. The second (outer) loop consists of a simple proportional-derivative (PD) control law for accurate rigid body angle tracking. The third outer loop employs acceleration feedback, from sensed linear acceleration at each link endpoint, to account for flexure effects. The overall scheme is relatively simple in order to facilitate easy implementation; experimental results are provided to verify the effectiveness of the developed schemes.

Control configuration for inverse response processes

Abstract: In this paper we present a control configuration for inverse response processes inspired in the Smith Predictor scheme. It is based on an inner-outer factorization and it is aimed to remove the non-minimum phase dynamics of the feedback loop. Then, the design of the feedback controller is done considering just the minimum phase part of the plant. To show the applicability of the proposed control configuration it is compared by simulation with two common approaches.

Global practical stabilisation of large-scale hydraulic networks

Abstract: Proportional feedback control of a large-scale hydraulic network that is subject to structural changes is considered. Results regarding global practical stabilisation of the non-linear hydraulic network using a set of decentralised proportional control actions are presented. The results show that closed-loop stability of the system is maintained when structural changes are introduced to the system.

Effective Nonlinear Control Algorithms for a Series of Pneumatic Climbing Robots

Abstract: Aimed at combining the advantages of the lightweight mechanism and the passive compliant movement, pneumatic actuators are used to drive a series of climbing robots to meet the requirements of glass-wall cleaning for high-rise buildings. The pneumatic systems in Sky Cleaners include X, Y and Z cylinders, brush cylinders and the vacuum suckers. The major challenge in the pneumatic systems is the ability of a control system to deal with hysteresis which is caused by coulomb friction, temperature, and manufacturing tolerance stack up of the valves. Three nonlinear control strategies, fuzzy PID, segmental proportional control, and segmental variable bang-bang controller are proposed for Sky cleaner 1, 2, 3 respectively in order to solve the problems of high speed movement and precise position control of the cylinders. Testing results show that the novel approaches can effectively improve the control quality.

Optimal time-varying P-controller for a class of uncertain nonlinear systems

Abstract: In this manuscript, an optimal time-varying P-controller is presented for a class of continuous-time underactuated nonlinear systems in the presence of process noise associated with systems’ inputs. This is a state feedback control strategy where the optimization is performed on a time-varying feedback operator (herein called the feedback control gain). The main goal of the current manuscript is to provide a framework for multi-input multi-output nonlinear systems which yields a satisfactory tracking performance based on the optimal time-varying feedback control gain. Unlike other feedback control techniques that perform dynamic linearization of system models, the proposed time-varying Pcontroller provides the full-state feedback control to the original nonlinear system model. Hence, this P-controller guarantees global asymptotic state-tracking. Furthermore, the bounded system’s process noise is taken into consideration to measure the controller’s robustness. The proposed P-controller is tested for its nonlinear trajectory tracking and fixed-point stabilization capabilities with two nonholonomic systems in the presence of input noise.