Proportional control

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

Distributed parameter control of a large space structure with lumped and distributed flexibility

Abstract: In this paper, a simple distributed parameter controller for a large space structure with lumped and distributed flexibility is discussed. We consider two flexible beams connected by a spring as a simple example of the large space structures. The flexible beams and the spring can be regarded as an element of the structure with the distributed flexibility and a connective part with lumped flexibility, respectively. We derive dynamic equations by means of Hamilton's principle. We introduce Lyapunov function related to the total energy of the distributed parameter system and derive a simple sensor output feedback control law. Using LaSalle's theorem and the characteristic of the differential operator, we can prove the asymptotic stability of the closed-loop system and the convergence property to the desired stationary state. The proposed controller is the proportional, derivative and strain feedback control law named PDS controller. As the PDS controller is a static feedback controller using the joint angle, the angular velocity and the strain data, it is easy to implement. As we don't need an approximated finite-dimensional model at the controller design phase, the controller based on the original distributed parameter system is robust and simple. In order to demonstrate the validity of the derived model and the proposed controller, experiments have been carried out.

A hybrid NDI control method for the high-alpha super-maneuver flight control

Abstract: This paper proposes a hybrid Nonlinear Dynamic Inversion (NDI) control method for the high angle of attack super-maneuverable flight control. In the post-stall flight regime, the problems of nonlinearity, time varying, coupling and uncertainties would arise, which is a big challenge for the flight control method. A hybrid NDI control method based on the angular acceleration feedback control is proposed to increase system robustness and performance. It is inspired by the idea of the NDI and the Increment NDI (INDI) control methods, and contains three parts: feedforward control, proportional control, and logical integral control. The hybrid NDI control method can not only increase system robustness, but also improve the system dynamic performance. To demonstrate the effectiveness of the method in the post-stall flight control, numerical simulations are conducted to evaluate its ability to handle system uncertainties, time-varying problems, and nonlinear factors. Simulation results show that the system responses are almost not affected by these complex, troublesome factors and have good performance and robustness.

Using time-reversal symmetry for stabilizing a simple 3D walker model

Abstract: A new method is presented for controlling the lateral foot placement of a simple 3D compass biped model. The method is based on the fact that, in the limit cycle, the gait is time-reversal symmetric and that, after a disturbance, the degree of asymmetry is indicated by a single variable. This variable is used for feedback with a proportional controller. Simulation results show that the controller works very well for a large range of gaits, without any adaptation of the parameter values

Real-time implementation of decentralized adaptive formation control on multi-quadrotor systems

Abstract: In this study, we focus on real-time implementations of a practical distributed adaptive formation control scheme for a multi-quadrotor system with uncertain inertial system parameters. We design a decentralized controller based on the leader-follower formation approach to motion control of such a system in rigid formation. The proposed control approach has a two-level structure: At the high level, a distributed control scheme is designed for the kinematic formation control problem. In the low-level, we analyze each single quadrotor control design in three parts. The first is an adaptive linear quadratic controller under consideration of inertial uncertainties for the pitch and roll dynamics, and in this case, we design an on-line parameter estimation with the least squares approach, excepting yaw and altitude dynamics. The second is proportional controller for the yaw motion. The third is proportional-integral-derivative controller for altitude. Throughout the formation control implementations, the controllers successfully satisfy the formation maintenance objective. Simulations and experimental results are presented considering various scenarios, demonstrating the effectiveness of our algorithm.

Construction method for automatic disturbance rejection controller of three-motor synchronous control system

Abstract: The invention discloses a construction method for an automatic disturbance rejection controller of a three-motor synchronous control system, which comprises the following steps that: three controlled induction machines, three transducers and a common load are used as a whole to form a three-motor synchronous control system; and a speed control circuit and two tension control circuits of the three-motor synchronous control system are provided with an optimized first-order automatic disturbance rejection controller respectively, wherein the optimized first-order automatic disturbance rejection controller is a device for determining a new controlled quantity according to a system setting, system controlled output and a previous controlled quantity; the optimized first-order automatic disturbance rejection controller and the three-motor synchronous control system form a closes loop; and the optimized first-order automatic disturbance rejection controller consists of an extended state observer, a proportional controller and has a disturbance estimated value for making up an error feedback controlled quantity. The method has the advantages of simple algorithm, easily adjusted parameters, better decoupling control between the speed and the two tensile forces independent of an accurate mathematical model of an alternating current machine, higher response speed, higher static accuracy, higher capacity of resisting disturbance and higher robustness.