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Tuning rules for passivity-based integral control for a class of mechanical systems [article]

Carmen Chan-Zheng, Mauricio Muñoz-Arias, Jacquelien M.A. Scherpen
2022 arXiv   pre-print
This manuscript introduces a passivity-based integral control approach for fully-actuated mechanical systems.  ...  Furthermore, we provide tuning rules to prescribe the performance of the closed-loop system. We conclude this manuscript with experimental results obtained from a robotic arm.  ...  Description of a class of mechanical systems Consider a standard n-DoF mechanical systems given by   q ṗ  =   0 n×n I n −I n −D (x)     ∇ q H(x) ∇ p H(x)   +   0 n×n G (q)   u +   d u  ... 
arXiv:2203.13157v1 fatcat:nz7nnwa5lng2rgszwecfdbyrvq

Tuning Rules for Control of Nonlinear Mechanical Systems [article]

Carmen Chan-Zheng, Pablo Borja, Jacquelien M.A. Scherpen
2020 arXiv   pre-print
In this paper, we propose several rules to tune the gains of Passivity-Based Controllers for a class of nonlinear mechanical systems.  ...  in this way the tuning rules with a physical interpretation.  ...  Then, we provide the port-Hamiltonian (pH) representation of the class of mechanical systems for which our tuning rules are suitable.  ... 
arXiv:2009.03055v1 fatcat:isd3qz7bunh3phi4juxzegla7a

GA-based multi-objective optimization of active nonlinear quarter car suspension system—PID and fuzzy logic control

Mahesh P. Nagarkar, Yogesh J. Bhalerao, Gahininath J. Vikhe Patil, Rahul N. Zaware Patil
2018 International Journal of Mechanical and Materials Engineering  
A mathematical model of nonlinear quarter car is developed and simulated for control and optimization in Matlab/ Simulink® environment.  ...  Class C road is selected as input road condition with the vehicle traveling at 80 kmph. Active control of the suspension system is achieved using FLC and PID control actions.  ...  Availability of data and materials Not applicable.  ... 
doi:10.1186/s40712-018-0096-8 fatcat:vw6frhc7rffqlcfbewclwbxmli

Page 10542 of Mathematical Reviews Vol. , Issue 2004m [page]

2004 Mathematical Reviews  
Even though it is a widely accepted con- troller for mechanical control systems, it is still short of theoretical bases, e.g., optimality, performance tuning rules, automatic per- formance tuning methods  ...  Although there are many books concerning the use of a PID controller for process control, it is hard to find a book on the characteristics of PID control for mechanical systems.  ... 

Design and Development of PID Controller-Based Active Suspension System for Automobiles [chapter]

Senthilkumar Mouleeswaran
2012 PID Controller Design Approaches - Theory, Tuning and Application to Frontier Areas  
Zeigler-Nichols rules for tuning PID controllers Zeigler and Nichols proposed rules for determining the proportional gain K p , integral time T i , and derivative time T d based on the transient response  ...  Zeigler and Nichols suggested rules for tuning PID controllers (meaning to set values K p , T i , T d ) based on experimental step responses or based on the values of K p that results in marginal stability  ... 
doi:10.5772/32611 fatcat:gjb7vd63onhhtpovo66nwkj37y


Y. Elattar, S. Metwalli, M. Rabie
2016 The International Conference on Applied Mechanics and Mechanical Engineering  
The dynamic behavior of the system evaluated by developing a mathematical model for the controlled system and developing a computer simulation program.  ...  The parameters of both of the controllers were estimated and tuned to minimize the integrated of square error (ISE) and integral of time absolute error (ITAE) criterions.  ...  DESIGN OF PID CONTROLLER A proportional-integral-derivative controller (PID controller) is a generic control loop feedback mechanism (controller) widely used in industrial control systems.  ... 
doi:10.21608/amme.2016.35163 fatcat:ux4cj7w6xrhh5a4vdwbrz3lt4m

Knowledge-Based Control for Robot Arm [chapter]

Aboubekeur Hamdi-Cherif
2011 Robot Arms  
At the opposite of inverse dynamics methods, passivity-based methods do not look for linearization but rather for the passivity of the closed-loop system.  ...  Passivity-based control The second set of methods deals with passivity-based control. The aim is to find a control law that preserves the passivity of the rigid RA in closed-loop.  ...  The robot arm is an integrated technology, and its technological elements are actuators, sensors, mechanism, control and system, etc.  ... 
doi:10.5772/20203 fatcat:cb2oyl7lvvbuzbuahhfjlepcqu

Development of A PID Controller for Active Car Suspension System Using Adaptive Weighted PSO Algorithm

Magdy Aboelela, Rania Hennas, Hassen Dorrah
2015 International Conference on Aerospace Sciences and Aviation Technology  
The system simulation and tuning of the PID controller have been achieved using MATLAB/Simulink tool.  ...  This paper focuses on the application of PI/PID controller tuned by Adaptive Weighted Particle Swarm Optimization (AWPSO) algorithm to car suspension system.  ...  The application of implementing the AWPSO to tune a class of PID controllers has been tried on many application in literature [32] .  ... 
doi:10.21608/asat.2015.22945 fatcat:rzcz4iro4jbvjpkheowxweluzm

Page 908 of American Society of Civil Engineers. Collected Journals Vol. 123, Issue EM9 [page]

1997 American Society of Civil Engineers. Collected Journals  
With- out mathematical models one can simply choose structural or control design parameters (or rules, such as fuzzy logic, or trial and error tuning of PID controllers) intuitively and try them on the  ...  The guarantee in this definition is based on a mathematical ‘‘evaluation model,’’ where the design might be based on an- other given class of models called the ‘‘design model.’’  ... 

Passivity-based control of mechanical systems with linear damping identification [article]

Carmen Chan-Zheng, Pablo Borja, Jacquelien Scherpen
2021 arXiv   pre-print
We propose a control approach for a class of nonlinear mechanical systems to stabilize the system under study while ensuring that the oscillations of the transient response are reduced.  ...  The approach is twofold: (i) we apply our technique for linear viscous damping identification of the system to improve the accuracy of the selected control technique, and (ii) we implement a passivity-based  ...  to reduce oscillations for a class of mechanical systems.  ... 
arXiv:2105.04324v2 fatcat:msss6ljw3nhphcmxu5r3vzjfli

Hybrid geno-fuzzy controller for seismic vibration control

Monica Patrascu, Ioan Dumitrache
2012 Proceedings of 2012 UKACC International Conference on Control  
This paper evaluates the possibility of applying a geno-fuzzy control strategy to a magnetorheological semi-active damper for seismic vibration control.  ...  The control strategy is validated by considering a more destructive seismic disturbance as input for the damperstructure system.  ...  The inference mechanism retrieves the rules from the rule base according to the current inputs of the controller.  ... 
doi:10.1109/control.2012.6334605 fatcat:fq6nq4ygrvcileklprsl55qnem

Cyber-Physical Systems for Wide-Area Situational Awareness [chapter]

C. Alcaraz, L. Cazorla, J. Lopez
2017 Cyber-Physical Systems  
The provision of these services as an integral part of the SA brings about a new research field known as wide-area situational awareness (WASA), highly dependent on CPSs for control from anywhere across  ...  However, their application in SA solutions for the protection of large control distributions against unforeseen faults may be insufficient.  ...  Cazorla is supported by a FPI fellowship from the Junta de Andalucía through the project FISICCO (P11-TIC-07223).  ... 
doi:10.1016/b978-0-12-803801-7.00020-1 fatcat:fzbs5dysqvaitgdra3mj2x3upy

Hybrid control strategy for a semi active suspension system using fuzzy logic and bio-inspired chaotic fruit fly algorithm [article]

Vikram Bhattacharjee, Debanjan Chatterjee, Orkun Karabasoglu
2017 arXiv   pre-print
A novel linguistic rule based fuzzy logic controller is developed to aid the PID.A quarter car model with a non-linear spring system is used to test the performance of the proposed control approach.  ...  This study proposes a control strategy for the efficient semi active suspension systems utilizing a novel hybrid PID-fuzzy logic control scheme .In the control architecture, we employ the Chaotic Fruit  ...  Fuzzy Controller for MR Dampers A fuzzy controller works on a set of rules that are based on the mathematical analysis and system modelling.  ... 
arXiv:1703.08878v1 fatcat:ilx6gernxrdodinwwco45fof7q

Analysis via Passivity Theory of a Class of Nonlinear PID Global Regulators for Robot Manipulators [chapter]

Jose Luis, Victor Santibanez, Rogelio Soto, Jose Perez, Joel Perez
2011 Advances in PID Control  
The authors would like to thank CONACYT(México) Grant No. 134534, Promep, Cátedra e-robots Tecnológico de Monterrey, DGEST for their support.  ...  Theory of a Class of Nonlinear PID Global Regulators for Robot Manipulators The PID tuning method is based on the stability analysis presented in (Santibáñez & Kelly, 1998) .  ...  for global asymptotic stability of a class of nonlinear PID type controllers for rigid robot manipulators.  ... 
doi:10.5772/18293 fatcat:fwldcjp4yjeb3jwupyishl7lfa

Recent Developments of Advanced Fuzzy Logic Controllers Used in Smart Buildings in Subtropical Climate

Yazeed Yasin Ghadi, M.M.G. Rasul, M.K.K. Khan
2014 Energy Procedia  
However most of HVAC systems are controlled by using conventional controller whose functions are based on ON/OFF controller and Proportional-Integral-Derivative (PID) controllers.  ...  This paper reviews, investigates and evaluates the use of fuzzy logic controller in HVAC systems and light controllers for smart buildings in subtropical Australia.  ...  The second category of fuzzy PID controllers are consists of the PID controllers with a set of fuzzy rules and a fuzzy reasoning mechanism to tune the PID gains online [30] .  ... 
doi:10.1016/j.egypro.2014.11.1015 fatcat:dnlo2kxhj5bghbt6vgn4dchok4
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