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Proportional control

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


Papers
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Journal ArticleDOI
01 Jun 2016-Robotica
TL;DR: The controllers investigated are composed of a bounded proportional control term and a Hammerstein strictly positive real angular rate control term that ensures that the total torque demanded of each actuator is bounded by a value that is less than the maximum torque that each actuators is able to provide, thereby disallowing actuator saturation.
Abstract: In this paper the control of flexible-joint manipulators while explicitly avoiding actuator saturation is considered. The controllers investigated are composed of a bounded proportional control term and a Hammerstein strictly positive real angular rate control term. This control structure ensures that the total torque demanded of each actuator is bounded by a value that is less than the maximum torque that each actuator is able to provide, thereby disallowing actuator saturation. The proposed controllers are shown to render the closed-loop system asymptotically stable, even in the presence of modeling uncertainties. The performance of the controllers is demonstrated experimentally and in simulation.

11 citations

Journal ArticleDOI
TL;DR: The Kalman filter is proposed to filter the noises in the measured actuator displacement for improved performance and a higher proportional gain in the PID controller improves the effect of time delay compensation of the EFC method.
Abstract: Summary The equivalent force control (EFC) method has been developed for real-time hybrid testing to replace the numerical iteration of implicit integration with a force-feedback control loop. With this control loop, the EFC method can also compensate for the time delay in real-time hybrid testing. However, the delay compensation effect of the EFC can be influenced by factors such as noises in the measured displacement. This paper discusses the influence of the measurement noises on real-time hybrid testing with the EFC. The Kalman filter is proposed to filter the noises in the measured actuator displacement for improved performance. A higher proportional gain in the PID controller, which improves the effect of time delay compensation of the EFC method, can be allowed without losing stability when incorporating the Kalman filter. A series of real-time hybrid tests were conducted, and the results validated that the EFC method with Kalman filter can effectively compensate for the time delay. Copyright © 2015 John Wiley & Sons, Ltd.

11 citations

Proceedings ArticleDOI
01 Oct 2018
TL;DR: In this paper, the modeling and identification of a nonlinear actuated hydraulic system is addressed and a linearized piecewise affine in the control and state model in a state-dependent matrix form is linearized over the entire operational state-space.
Abstract: In this paper, the modeling and identification of a nonlinear actuated hydraulic system is addressed. The full-order model is first reduced in relation to the load pressure and flow dynamics and, based thereupon, linearized over the entire operational state-space. The dynamics of the proportional control valve is identified, analyzed, and intentionally excluded from the reduced model, due to a unity gain behavior in the frequency range of interest. The input saturation and dead-zone nonlinearities are considered while the latter is identified to be close to 10% of the valve opening. The mechanical part includes the Stribeck friction detected and estimated from the experiments. The linearization is performed in multiple steps, for the most pronounced terms of nonlinear system dynamics. Out of this follows a linearized piecewise affine in the control and state model in a state-dependent matrix form. A series of measurements were performed on the designed and implemented experimental setup, while identifying uncertain parameters of the system, in addition to those obtained from the technical data and characteristics of components. The models behavior are compared with experimental measurements and discussed.

11 citations

Journal Article
TL;DR: It is proposed that the torque or the force used to move each link needs to compensate the initial value of the gravity to obtain the home position and an optimal control is online applied to robotic arms for the regulation case.
Abstract: The major contributions of this paper are as follows: 1) The mathematical model of the cylindrical robotic arm is presented. This model is obtained by using the Euler Lagrange method. 2) The method to obtain the mathematical model of this paper is different to others because they use the Jacobians, the inertia tensors, or the Christoffel symbols, while in this paper, none of these methods is used. 3) It is proposed that the torque or the force used to move each link needs to compensate the initial value of the gravity to obtain the home position. 4) It is proposed that an optimal control is online applied to robotic arms for the regulation case. The proposed optimal control can be online applied to rigid robotic arms. The Riccati equation used in the proposed optimal control is online solved at the same time than the optimal control works. 5) The proposed optimal control is compared with a proportional control for the regulation case where the �rst is better than the second. 6) It is proposed that an optimal control is online applied to robotic arms for a reference point different of zero. The proposed optimal control can be online applied to any kind of rigid robotic arm. The Riccati equation of the proposed optimal control is online solved at the same time than the optimal control works.

11 citations

Journal ArticleDOI
TL;DR: In this paper, an adaptive fuzzy-proportional integral derivative (PID) controller for DC-DC boost converters used as voltage regulators in PV systems is presented, which maximizes the stable operating range by tuning the PID parameters ultimately at various loading conditions.

11 citations


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Performance
Metrics
No. of papers in the topic in previous years
YearPapers
20237
202217
202162
2020110
2019150
2018150