This document describes the design of a fuzzy logic controller for a single-link flexible manipulator. A fuzzy-PID controller is used to control an uncertain flexible robotic arm and its internal motor dynamics parameters. The controller is tested against conventional integral and PID controllers in simulations. The results show the proposed fuzzy PID controller has better robustness under variations in motor dynamics compared to the other controllers.
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
Design of an adaptive state feedback controller for a magnetic levitation sy...IJECEIAES
This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.
Real Time Implementation of Fuzzy Adaptive PI-sliding Mode Controller for Ind...IJECEIAES
In this work, a fuzzy adaptive PI-sliding mode control is proposed for Induction Motor speed control. First, an adaptive PI-sliding mode controller with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalized soft-switching parameters. The proposed control design uses a fuzzy inference system to overcome the drawbacks of the sliding mode control in terms of high control gains and chattering to form a fuzzy sliding mode controller. The proposed controller has implemented for a 1.5kW three-Phase IM are completely carried out using a dSPACE DS1104 digital signal processor based real-time data acquisition control system, and MATLAB/Simulink environment. Digital experimental results show that the proposed controller can not only attenuate the chattering extent of the adaptive PI-sliding mode controller but can provide high-performance dynamic characteristics with regard to plant external load disturbance and reference variations.
—This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle's invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors. Keywords—IBVS, posture control, omnidirectional wheeled mobile robot, dynamic actuator, Lyapunov direct method.
The stabilization of forced inverted pendulum via fuzzy controllereSAT Journals
Abstract
In the field of nonlinear control engineering, the inverted pendulum can be considered as a bench mark problem. For an inverted
pendulum, there are mainly two types of equilibrium which are categorized as stable equilibrium and unstable equilibrium. The
stable equilibrium is the one in which the pendulum is in normal pendent position and not requires any control force since
because it is naturally stable. Under the influence of an external force, the stable equilibrium loses its stability and there comes
the need of a stabilizing controller. Therefore unstable equilibrium refers to the pendulum in upright position strictly under the
influence of a stabilizing controller. The inverted pendulum is strictly nonlinear, under actuated system; challenging task comes
with the stability analysis. A forced inverted pendulum is considered which has been modeled with respect to the cart motion. To
improve the performance and stabilize the system, a fuzzy controller is designed for the respective system. Simulation results
validate the fact that the stabilization is achieved through out and the perfect result is obtained for the system.
Keyword: Fuzzy, Heuristic, Forced Inverted Pendulum
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
Design of an adaptive state feedback controller for a magnetic levitation sy...IJECEIAES
This paper presents designing an adaptive state feedback controller (ASFC) for a magnetic levitation system (MLS), which is an unstable system and has high nonlinearity and represents a challenging control problem. First, a nonadaptive state feedback controller (SFC) is designed by linearization about a selected equilibrium point and designing a SFC by pole-placement method to achieve maximum overshoot of 1.5% and settling time of 1s (5% criterion). When the operating point changes, the designed controller can no longer achieve the design specifications, since it is designed based on a linearization about a different operating point. This gives rise to utilizing the adaptive control scheme to parameterize the state feedback controller in terms of the operating point. The results of the simulation show that the operating point has significant effect on the performance of nonadaptive SFC, and this performance may degrade as the operating point deviates from the equilibrium point, while the ASFC achieves the required design specification for any operating point and outperforms the state feedback controller from this point of view.
Real Time Implementation of Fuzzy Adaptive PI-sliding Mode Controller for Ind...IJECEIAES
In this work, a fuzzy adaptive PI-sliding mode control is proposed for Induction Motor speed control. First, an adaptive PI-sliding mode controller with a proportional plus integral equivalent control action is investigated, in which a simple adaptive algorithm is utilized for generalized soft-switching parameters. The proposed control design uses a fuzzy inference system to overcome the drawbacks of the sliding mode control in terms of high control gains and chattering to form a fuzzy sliding mode controller. The proposed controller has implemented for a 1.5kW three-Phase IM are completely carried out using a dSPACE DS1104 digital signal processor based real-time data acquisition control system, and MATLAB/Simulink environment. Digital experimental results show that the proposed controller can not only attenuate the chattering extent of the adaptive PI-sliding mode controller but can provide high-performance dynamic characteristics with regard to plant external load disturbance and reference variations.
—This paper presents a new image based visual servoing (IBVS) control scheme for omnidirectional wheeled mobile robots with four swedish wheels. The contribution is the proposal of a scheme that consider the overall dynamic of the system; this means, we put together mechanical and electrical dynamics. The actuators are direct current (DC) motors, which imply that the system input signals are armature voltage applied to DC motors. In our control scheme the PD control law and eye-to-hand camera configuration are used to compute the armature voltages and to measure system states, respectively. Stability proof is performed via Lypunov direct method and LaSalle's invariance principle. Simulation and experimental results were performed in order to validate the theoretical proposal and to show the good performance of the posture errors. Keywords—IBVS, posture control, omnidirectional wheeled mobile robot, dynamic actuator, Lyapunov direct method.
The stabilization of forced inverted pendulum via fuzzy controllereSAT Journals
Abstract
In the field of nonlinear control engineering, the inverted pendulum can be considered as a bench mark problem. For an inverted
pendulum, there are mainly two types of equilibrium which are categorized as stable equilibrium and unstable equilibrium. The
stable equilibrium is the one in which the pendulum is in normal pendent position and not requires any control force since
because it is naturally stable. Under the influence of an external force, the stable equilibrium loses its stability and there comes
the need of a stabilizing controller. Therefore unstable equilibrium refers to the pendulum in upright position strictly under the
influence of a stabilizing controller. The inverted pendulum is strictly nonlinear, under actuated system; challenging task comes
with the stability analysis. A forced inverted pendulum is considered which has been modeled with respect to the cart motion. To
improve the performance and stabilize the system, a fuzzy controller is designed for the respective system. Simulation results
validate the fact that the stabilization is achieved through out and the perfect result is obtained for the system.
Keyword: Fuzzy, Heuristic, Forced Inverted Pendulum
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
Nonlinear Control of an Active Magnetic Bearing with Output ConstraintIJECEIAES
In this paper, an appropriate control strategy is proposed to handle the nonlinear dy- namics of an active magnetic bearing (AMB). The goal of the control design is to drive the AMB rotor to the origin with improved transient response. In order to achieve this task, back stepping control technique with a barrier Lyapunov function are employed to keep the tracking error trajectory inside a predefined zone to avoid possible mechanical contact between rotor and stator. Besides, a speed observer is also used since information about rotor speed is not always available. The stability of the closed-loop system is proven. The effectiveness of the proposed control strategy is verified by numerical simulations.
In this article, we are interested in the improvement of the performances of Doubly Fed Induction Machine (DFIM) operating in motor mode by the use of the direct torque control (DTC). Firstly, we focused on the modeling of the DFIM and the study of the principle of functioning of the DTC control. Then, we implement this control on the Matlab/Simulink environment. Secondly, we present the simulation results of the proposed control. The analysis of these results shows clearly that the system based on the DFIM studied follows perfectly the set points, what allowed us to justify the efficiency of the elaborate control.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
The main objective of this paper is to continue the development of activities of basic and applied research related to wind energy and to develop methods of optimal control to improve the performance and production of electrical energy from wind. A new control technique of Double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding mode control (SMC) with exponential reaching law control (ERL). The SMC with ERL proves to be capable of reducing the system chattering phenomenon as well as accelerating the approaching process. A nonlinear case numerical simulation test is employed to verify the superior performance of the ERL method over traditional power rate reaching strategy. Results obtained in Matlab/Simulink environment show that the SMC with ERL is more robust, prove excellent performance for the control unit by improving power quality and stability of wind turbine.
Magnetic bearing is well-known for its advantage of reducing friction in rotary machines and is placing conventional bearings where high-speed operations and cleanliness are essential. It can be shown that the AM is a nonlinear system due to the relation between the magnetic force and current/rotor displacement. In this paper, a mathematical model of a 4-DOF AMB supported by four dual electric magnets is presented. The control objective is placed in a view of control input saturation and output limitation that are meaningful aspect in practical applications. Backstepping algorithm based control strategy is then adopted in order to achieve the high dynamic performance of the bearing. The control is designed in such a way that it takes input and output constraints into account by flexibly using hyperbolic tangent and barrier Lyapunov functions. Informative simulation studies are carried out to understand the operations of the machine and evaluate the controller quality.
Research on the synchronous vibration of the non-integral mechanism under the...IJRES Journal
This article proposes and designs the internal structure of the electrical cabinet which can achieve
the 3-DOF (degrees-of-freedom) motion, and making it in the horizontal vibration environment with excitation
frequency of 12.5Hz.Obtaining vibrational properties of its internal structure through the Simulink simulation
results, which is to said that manipulator and low-voltage electrical appliances are not in the synchronous
conditions. But it is necessary to make it in a state of near synchronization to ensure the accuracy of the reliability
test of the variable load load with low-voltage electrical appliances. On this issue,to achieve the desired results
through the PID feedback control to further optimize.
International Refereed Journal of Engineering and Science (IRJES)irjes
a leading international journal for publication of new ideas, the state of the art research results and fundamental advances in all aspects of Engineering and Science. IRJES is a open access, peer reviewed international journal with a primary objective to provide the academic community and industry for the submission of half of original research and applications.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
On tracking control problem for polysolenoid motor model predictive approach IJECEIAES
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
PID Controller Design for a Real Time Ball and Beam System – A Double Integra...idescitation
In this paper, the authors have discussed and shown
how to tune the PID controller in closed loop with time-delay
for the double integrator systems for a particular stability
margins. In math model it is assumed that time delay (ô) of
the plant is known. As a case study the authors have consid-
ered the mathematical model of the real-time beam and ball
system and analyzed the simulation and real time response.
Nonlinear Control of an Active Magnetic Bearing with Output ConstraintIJECEIAES
In this paper, an appropriate control strategy is proposed to handle the nonlinear dy- namics of an active magnetic bearing (AMB). The goal of the control design is to drive the AMB rotor to the origin with improved transient response. In order to achieve this task, back stepping control technique with a barrier Lyapunov function are employed to keep the tracking error trajectory inside a predefined zone to avoid possible mechanical contact between rotor and stator. Besides, a speed observer is also used since information about rotor speed is not always available. The stability of the closed-loop system is proven. The effectiveness of the proposed control strategy is verified by numerical simulations.
In this article, we are interested in the improvement of the performances of Doubly Fed Induction Machine (DFIM) operating in motor mode by the use of the direct torque control (DTC). Firstly, we focused on the modeling of the DFIM and the study of the principle of functioning of the DTC control. Then, we implement this control on the Matlab/Simulink environment. Secondly, we present the simulation results of the proposed control. The analysis of these results shows clearly that the system based on the DFIM studied follows perfectly the set points, what allowed us to justify the efficiency of the elaborate control.
LMI based antiswing adaptive controller for uncertain overhead cranes IJECEIAES
This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/ Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, no ripple, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
The main objective of this paper is to continue the development of activities of basic and applied research related to wind energy and to develop methods of optimal control to improve the performance and production of electrical energy from wind. A new control technique of Double fed induction generator for wind turbine is undertaken through a robust approach tagged nonlinear sliding mode control (SMC) with exponential reaching law control (ERL). The SMC with ERL proves to be capable of reducing the system chattering phenomenon as well as accelerating the approaching process. A nonlinear case numerical simulation test is employed to verify the superior performance of the ERL method over traditional power rate reaching strategy. Results obtained in Matlab/Simulink environment show that the SMC with ERL is more robust, prove excellent performance for the control unit by improving power quality and stability of wind turbine.
Magnetic bearing is well-known for its advantage of reducing friction in rotary machines and is placing conventional bearings where high-speed operations and cleanliness are essential. It can be shown that the AM is a nonlinear system due to the relation between the magnetic force and current/rotor displacement. In this paper, a mathematical model of a 4-DOF AMB supported by four dual electric magnets is presented. The control objective is placed in a view of control input saturation and output limitation that are meaningful aspect in practical applications. Backstepping algorithm based control strategy is then adopted in order to achieve the high dynamic performance of the bearing. The control is designed in such a way that it takes input and output constraints into account by flexibly using hyperbolic tangent and barrier Lyapunov functions. Informative simulation studies are carried out to understand the operations of the machine and evaluate the controller quality.
Research on the synchronous vibration of the non-integral mechanism under the...IJRES Journal
This article proposes and designs the internal structure of the electrical cabinet which can achieve
the 3-DOF (degrees-of-freedom) motion, and making it in the horizontal vibration environment with excitation
frequency of 12.5Hz.Obtaining vibrational properties of its internal structure through the Simulink simulation
results, which is to said that manipulator and low-voltage electrical appliances are not in the synchronous
conditions. But it is necessary to make it in a state of near synchronization to ensure the accuracy of the reliability
test of the variable load load with low-voltage electrical appliances. On this issue,to achieve the desired results
through the PID feedback control to further optimize.
International Refereed Journal of Engineering and Science (IRJES)irjes
a leading international journal for publication of new ideas, the state of the art research results and fundamental advances in all aspects of Engineering and Science. IRJES is a open access, peer reviewed international journal with a primary objective to provide the academic community and industry for the submission of half of original research and applications.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
On tracking control problem for polysolenoid motor model predictive approach IJECEIAES
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects due to its functions, in which a straight motion is provided directly without mediate mechanical actuators. Recently, with several commons on mathematic model, some control methods for PLM based on Rotational Motor have been applied, but position, velocity and current constraints which are important in real systems have been ignored. In this paper, position tracking control problem for PLM was considered under state-independent disturbances via min-max model predictive control. The proposed controller forces tracking position errors converge to small region of origin and satisfies state including position, velocity and currents constraints. Further, a numerical simulation was implemented to validate the performance of the proposed controller.
Hardware-in-the-loop based comparative analysis of speed controllers for a tw...journalBEEI
A comparative study of speed control performance of an induction motor drive system connecting to a load via a non-rigid shaft. The nonrigidity of the coupling is represented by stiffness and damping coefficients deteriorating speed regulating operations of the system and can be regarded as a two-mass system. In the paper, the ability of flatness based and backstepping controls in control the two-mass system is verified through comprehensive hardware-in-the-loop experiments and with the assumption of ideal stator current loop performance. Step-by-step control design procedures are given, in addition, system responses with classical PID control are also provided for parallel comparisons.
Modeling & Simulation of PMSM Drives with Fuzzy Logic ControllerIJMER
International Journal of Modern Engineering Research (IJMER) is Peer reviewed, online Journal. It serves as an international archival forum of scholarly research related to engineering and science education.
International Journal of Modern Engineering Research (IJMER) covers all the fields of engineering and science: Electrical Engineering, Mechanical Engineering, Civil Engineering, Chemical Engineering, Computer Engineering, Agricultural Engineering, Aerospace Engineering, Thermodynamics, Structural Engineering, Control Engineering, Robotics, Mechatronics, Fluid Mechanics, Nanotechnology, Simulators, Web-based Learning, Remote Laboratories, Engineering Design Methods, Education Research, Students' Satisfaction and Motivation, Global Projects, and Assessment…. And many more.
Experimental verification of SMC with moving switching lines applied to hoisti...ISA Interchange
In this paper we propose sliding mode control strategies for the point-to-point motion control of a hoisting crane. The strategies employ time-varying switching lines (characterized by a constant angle of inclination) which move either with a constant deceleration or a constant velocity to the origin of the error state space. An appropriate design of these switching lines results in non-oscillatory convergence of the regulation error in the closed-loop system. Parameters of the lines are selected optimally in the sense of two criteria, i.e. integral absolute error (IAE) and integral of the time multiplied by the absolute error (ITAE). Furthermore, the velocity and acceleration constraints are explicitly taken into account in the optimization process. Theoretical considerations are verified by experimental tests conducted on a laboratory scale hoisting crane.
We focus a modern methodology in this paper for adding the fuzzy logic control as well as sliding model control. This combination can enhance the MLS position control robustness and enhanced performance of it.In the start, for an application in an area to control the loops placement and position for the synchronous motor what has permanent magnetic linearity we tend to control the fuzzy sliding mode control. To resolve the chattering issues a designed controller is investigated and, in this way, steady state motion in sliding with higher accuracy is obtained. In this case, method of online tuning with the help of fuzzy logic is used in order to adjust the thickness of boundary layer and switching gains.For the suggested scheme technique, the outcomes of simulation suggest that with the classical SMC the accurate state and good dynamic performance is compared due to force chattering resistance, response by quick dynamic force and external disturbance elements and robustness against them.
Big Bang- Big Crunch Optimization in Second Order Sliding Mode ControlIJMTST Journal
In this article, Second order sliding mode with Big Bang- Big Crunch optimization technique is employed
for nonlinear uncertain system.The sliding surface describes the transient behavior of a system in sliding
mode. Frequently, PD- type sliding surface is chosen as a hyperplane in the system state space.An integral
term incorporated in the sliding surface expression that resulted in a type of PID sliding surface as hyperbolic
function for alleviating chattering effect. The sliding mode control law is derived using direct Lyapunov
stability approach and asymptotic stability is proved theoretically. Here, novel tuning scheme is introduced for
estimation of PID sliding surface coefficients, due to which it reduces the reaching time as well as disturbance
effect.The simulation results are presented to make a quantitative comparison with the traditional sliding
mode control. It is demonstrated that the proposed control law improves the tracking performance of system
dynamic model in case of external disturbances and parametric uncertainties.
This work treats the modeling and simulation of non-linear system behavior of an induction motor using backstepping sliding mode control (BACK- SMC). First, the direct field oriented control IM is derived. Then, a sliding for direct field oriented control is proposed to compensate the uncertainties, which occur in the control. Finally, the study of Backstepping sliding controls strategy of the induction motor drive. Our non linear system is simulated in MATLAB SIMULINK environment, the results obtained illustrate the efficiency of the proposed control with no overshoot, and the rising time is improved with good disturbances rejections comparing with the classical control law.
International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
Adaptive Fuzzy Integral Sliding-Mode Regulator for Induction Motor Using Nonl...IJPEDS-IAES
An adaptive fuzzy integral sliding-mode controller using nonlinear sliding surface is designed for the speed regulator of a field-oriented induction motor drive in this paper. Combining the conventional integral sliding surface with fractional-order integral, a nonlinear sliding surface is proposed for the integral sliding-mode speed control, which can overcome the windup problem and the convergence speed problem. An adaptive fuzzy control term is utilized to approximate the uncertainty. The stability of the controller is analyzed by Lyapunov stability theory. The effectiveness of the proposed speed regulator is demonstrated by the simulation results in comparison with the conventional integral sliding-mode controller based on boundary layer.
The Polysolenoid Linear Motor (PLM) have been playing a crucial role in many industrial aspects because it provides a straight motion directly without mediate mechanical actuators. Some control methods for PLM based on Rotational Motor are applied to obtain several good performances, but position and velocity constraints which are important in real systems are ignored. In this paper, we analysis control problem of tracking position in PLM under state-independent disturbances via min-max model predictive control. The proposed controller brings tracking position error converge to zero and satisfies state including position and velocity and input constraints. The simulation results validity a good efficiency of the proposed controller.
Comparative Analysis of Multiple Controllers for Semi-Active Suspension SystemPrashantkumar R
International Conference on Emerging Research in Computing, Information, Communication and Applications, ERCICA 2014, held on 01-02 Aug 2014 in Nitte Meenakhsi Institute of Technology, Bangalore, India
Paper ID: 600
OPTIMAL TORQUE RIPPLE CONTROL OF ASYNCHRONOUS DRIVE USING INTELLIGENT CONTROL...elelijjournal
The dynamic performance of an asynchronous machine when operated with cascaded Voltage Source Inverter using Space Vector Modulation (SVM) technique is presented in this paper. A classical model of Induction Motor Drive based on Direct Torque Control (DTC) method is considered which displays
appreciable run-time operation with very simple hysteresis control scheme. Direct control of the torque and flux variables is achieved by choosing suitable inverter voltage space vector from a lookup table. Under varying torque conditions the performance of the drive system is verified using MATLAB/Simulink software tool. The ripple content in the torque parameter is significant when traditional PI controller and Fuzzy approach are configured in the proposed system. Finally, by replacing the PI-Fuzzy controller with Hybrid Controller the torque ripple minimization can be achieved during no-load and loaded conditions.
Optimal FOPI-FOPD controller design for rotary inverted pendulum system using...TELKOMNIKA JOURNAL
The rotary inverted pendulum (RIP) has been used in various control application areas. This system can be represented as two degree of freedom (2-DOF), consisting of a rotating arm and rotating pendulum rod. RIP is an excellent example of designing a single-input multi-output (SIMO) system. Due to unstable RIP system dynamics, and its nonlinear model, multiple control techniques have been used to control this system. This paper uses integer and fractional order proportional integral-proportional derivative (PI-PD) controllers to stabilize the pendulum in the vertical direction. Constrained optimization approaches, such as the grey wolf optimization (GWO) methodology, are utilized to estimate the parametric values of the controllers. The simulation results showed that the fractional order PI-PD controller outperforms the integer order PI-PD controller with and without disturbance signal existence. A multiple results comparison has illustrated the superiority of fractional order controller over a previous work.
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Overview of the fundamental roles in Hydropower generation and the components involved in wider Electrical Engineering.
This paper presents the design and construction of hydroelectric dams from the hydrologist’s survey of the valley before construction, all aspects and involved disciplines, fluid dynamics, structural engineering, generation and mains frequency regulation to the very transmission of power through the network in the United Kingdom.
Author: Robbie Edward Sayers
Collaborators and co editors: Charlie Sims and Connor Healey.
(C) 2024 Robbie E. Sayers
COLLEGE BUS MANAGEMENT SYSTEM PROJECT REPORT.pdfKamal Acharya
The College Bus Management system is completely developed by Visual Basic .NET Version. The application is connect with most secured database language MS SQL Server. The application is develop by using best combination of front-end and back-end languages. The application is totally design like flat user interface. This flat user interface is more attractive user interface in 2017. The application is gives more important to the system functionality. The application is to manage the student’s details, driver’s details, bus details, bus route details, bus fees details and more. The application has only one unit for admin. The admin can manage the entire application. The admin can login into the application by using username and password of the admin. The application is develop for big and small colleges. It is more user friendly for non-computer person. Even they can easily learn how to manage the application within hours. The application is more secure by the admin. The system will give an effective output for the VB.Net and SQL Server given as input to the system. The compiled java program given as input to the system, after scanning the program will generate different reports. The application generates the report for users. The admin can view and download the report of the data. The application deliver the excel format reports. Because, excel formatted reports is very easy to understand the income and expense of the college bus. This application is mainly develop for windows operating system users. In 2017, 73% of people enterprises are using windows operating system. So the application will easily install for all the windows operating system users. The application-developed size is very low. The application consumes very low space in disk. Therefore, the user can allocate very minimum local disk space for this application.
Democratizing Fuzzing at Scale by Abhishek Aryaabh.arya
Presented at NUS: Fuzzing and Software Security Summer School 2024
This keynote talks about the democratization of fuzzing at scale, highlighting the collaboration between open source communities, academia, and industry to advance the field of fuzzing. It delves into the history of fuzzing, the development of scalable fuzzing platforms, and the empowerment of community-driven research. The talk will further discuss recent advancements leveraging AI/ML and offer insights into the future evolution of the fuzzing landscape.
Immunizing Image Classifiers Against Localized Adversary Attacksgerogepatton
This paper addresses the vulnerability of deep learning models, particularly convolutional neural networks
(CNN)s, to adversarial attacks and presents a proactive training technique designed to counter them. We
introduce a novel volumization algorithm, which transforms 2D images into 3D volumetric representations.
When combined with 3D convolution and deep curriculum learning optimization (CLO), itsignificantly improves
the immunity of models against localized universal attacks by up to 40%. We evaluate our proposed approach
using contemporary CNN architectures and the modified Canadian Institute for Advanced Research (CIFAR-10
and CIFAR-100) and ImageNet Large Scale Visual Recognition Challenge (ILSVRC12) datasets, showcasing
accuracy improvements over previous techniques. The results indicate that the combination of the volumetric
input and curriculum learning holds significant promise for mitigating adversarial attacks without necessitating
adversary training.
Student information management system project report ii.pdfKamal Acharya
Our project explains about the student management. This project mainly explains the various actions related to student details. This project shows some ease in adding, editing and deleting the student details. It also provides a less time consuming process for viewing, adding, editing and deleting the marks of the students.
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Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Technical Specifications
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
Key Features
Indigenized remote control interface card suitable for MAFI system CCR equipment. Compatible for IDM8000 CCR. Backplane mounted serial and TCP/Ethernet communication module for CCR remote access. IDM 8000 CCR remote control on serial and TCP protocol.
• Remote control: Parallel or serial interface
• Compatible with MAFI CCR system
• Copatiable with IDM8000 CCR
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
Application
• Remote control: Parallel or serial interface.
• Compatible with MAFI CCR system.
• Compatible with IDM8000 CCR.
• Compatible with Backplane mount serial communication.
• Compatible with commercial and Defence aviation CCR system.
• Remote control system for accessing CCR and allied system over serial or TCP.
• Indigenized local Support/presence in India.
• Easy in configuration using DIP switches.
Hybrid optimization of pumped hydro system and solar- Engr. Abdul-Azeez.pdffxintegritypublishin
Advancements in technology unveil a myriad of electrical and electronic breakthroughs geared towards efficiently harnessing limited resources to meet human energy demands. The optimization of hybrid solar PV panels and pumped hydro energy supply systems plays a pivotal role in utilizing natural resources effectively. This initiative not only benefits humanity but also fosters environmental sustainability. The study investigated the design optimization of these hybrid systems, focusing on understanding solar radiation patterns, identifying geographical influences on solar radiation, formulating a mathematical model for system optimization, and determining the optimal configuration of PV panels and pumped hydro storage. Through a comparative analysis approach and eight weeks of data collection, the study addressed key research questions related to solar radiation patterns and optimal system design. The findings highlighted regions with heightened solar radiation levels, showcasing substantial potential for power generation and emphasizing the system's efficiency. Optimizing system design significantly boosted power generation, promoted renewable energy utilization, and enhanced energy storage capacity. The study underscored the benefits of optimizing hybrid solar PV panels and pumped hydro energy supply systems for sustainable energy usage. Optimizing the design of solar PV panels and pumped hydro energy supply systems as examined across diverse climatic conditions in a developing country, not only enhances power generation but also improves the integration of renewable energy sources and boosts energy storage capacities, particularly beneficial for less economically prosperous regions. Additionally, the study provides valuable insights for advancing energy research in economically viable areas. Recommendations included conducting site-specific assessments, utilizing advanced modeling tools, implementing regular maintenance protocols, and enhancing communication among system components.
Final project report on grocery store management system..pdfKamal Acharya
In today’s fast-changing business environment, it’s extremely important to be able to respond to client needs in the most effective and timely manner. If your customers wish to see your business online and have instant access to your products or services.
Online Grocery Store is an e-commerce website, which retails various grocery products. This project allows viewing various products available enables registered users to purchase desired products instantly using Paytm, UPI payment processor (Instant Pay) and also can place order by using Cash on Delivery (Pay Later) option. This project provides an easy access to Administrators and Managers to view orders placed using Pay Later and Instant Pay options.
In order to develop an e-commerce website, a number of Technologies must be studied and understood. These include multi-tiered architecture, server and client-side scripting techniques, implementation technologies, programming language (such as PHP, HTML, CSS, JavaScript) and MySQL relational databases. This is a project with the objective to develop a basic website where a consumer is provided with a shopping cart website and also to know about the technologies used to develop such a website.
This document will discuss each of the underlying technologies to create and implement an e- commerce website.
Welcome to WIPAC Monthly the magazine brought to you by the LinkedIn Group Water Industry Process Automation & Control.
In this month's edition, along with this month's industry news to celebrate the 13 years since the group was created we have articles including
A case study of the used of Advanced Process Control at the Wastewater Treatment works at Lleida in Spain
A look back on an article on smart wastewater networks in order to see how the industry has measured up in the interim around the adoption of Digital Transformation in the Water Industry.
Industrial Training at Shahjalal Fertilizer Company Limited (SFCL)MdTanvirMahtab2
This presentation is about the working procedure of Shahjalal Fertilizer Company Limited (SFCL). A Govt. owned Company of Bangladesh Chemical Industries Corporation under Ministry of Industries.
Vaccine management system project report documentation..pdfKamal Acharya
The Division of Vaccine and Immunization is facing increasing difficulty monitoring vaccines and other commodities distribution once they have been distributed from the national stores. With the introduction of new vaccines, more challenges have been anticipated with this additions posing serious threat to the already over strained vaccine supply chain system in Kenya.
Vaccine management system project report documentation..pdf
Iaetsd design of a robust fuzzy logic controller for a single-link flexible manipulator
1. DESIGN OF A ROBUST FUZZY LOGIC CONTROLLER FOR A SINGLE-
LINK FLEXIBLE MANIPULATOR
K.RINI SOWHARIKA Dr.R.VIJAYA SANTHI
PG Scholar Asst.Professor
Department Electrical Engineering,
Andhra University,
Visakhapatnam,
Andhra Pradesh.
Abstract: In this paper, a single link flexible
manipulator is designed and controlled using a
fuzzy-PID controller. The controller is employed
to control an uncertain Flexible Robotic Arm and
its internal parameters in the motor dynamics. In
order to verify this method, proposed controller is
being tested against the conventional Integral and
PID controller. The simulation results show the
robustness of the proposed Fuzzy PID controller
under motor dynamics.
I. INTRODUCTION
FLEXIBLE arm manipulators span a wide range
of applications: space robots, nuclear maintenance,
microsurgery, collision control, contouring control,
pattern recognition, and many others. The system,
described by partial differential equations (PDEs), is
a distributed-parameter system of infinite
dimensions. Its non minimum phase behavior makes
it difficult to achieve high-level performance. Control
techniques such as linear control, optimal control,
adaptive control, sliding-mode control, neural
networks, or fuzzy logic deal with the control of
flexible manipulators and the modeling based on a
truncated (finite dimensional) model obtained from
either the finite-element method (FEM) or assumed
modes method. These methods require several
sensors to be used in order to obtain an accurate
trajectory tracking, and many of them also require the
knowledge of all the system parameters to design
properly the controller. Here a new method is
considered to cancel the vibration of the flexible
beam which gathers an online identification
technique with a control scheme in a suited manner,
with the only measures of both the motor angle
obtained from an encoder and the coupling torque
obtained from a pair of strain gauges as done in the
work in. In that paper, the nonlinearities effect in the
motor dynamics, such as the Coulomb friction torque.
Robust control schemes minimized this effect.
Fuzzy logic is a form of many-valued logic;
it deals with reasoning that is approximate rather than
fixed and exact. Compared to traditional binary sets
fuzzy logic variables may have a truth value that
ranges in degree between 0 and 1. Fuzzy logic has
been extended to handle the concept of partial truth,
where the truth value may range between completely
true and completely false. Furthermore, when
linguistic variables are used, these degrees may be
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2. managed by specific functions. Irrationality can be
described in terms of what is known as the
fuzzjective. Fuzzy Logic Control Technique has been
a good replacement for conventional control
Techniques. Many researchers have suggested that
these controllers have the potential for robust control
in the face of system parameter and load
uncertainties. It is realized that fuzzy logic control
can perform very effectively when the operating
conditions change rapidly. These features make up
very attractive for power system applications since
power system is a highly non-linear and chaotic
system.
Fig. 1. Diagram of a single-link flexible arm.
II. MODEL DESCRIPTION
A. Flexible-Beam Dynamics
The flexible slewing beam studied in this
paper is considered to be a Euler–Bernoulli beam
whose behavior is described by a PDE. Its dynamics
involves infinite vibration modes. As the frequency
of those modes increases, its amplitude decreases.
This means that reduced models can be used, where
only the low frequencies, usually more significant,
are considered. In order to reduce the model, several
approaches were proposed: 1) distributed parameters
model where the infinite dimension is truncated to a
finite number of vibration modes; and 2) lumped
parameters models where a spatial discretization
leads to a finite-dimensional model. In this sense, the
spatial discretization can be done by both a FEM and
a lumped-mass model.
Fig. 2. Solid model design of flexible joint arm
A single-link flexible manipulator with tip
mass is modeled, as developed in, that can rotate
about the Z-axis perpendicular to the paper, as shown
in Fig. 1. The axial deformation and the gravitational
effect are neglected, because the mass of the flexible
beam is floating over an air table which allows us to
cancel the gravitational effect and the friction with
the surface of the table. Since structural damping
always increases the stability margin of the system, a
design without considering damping may provide a
valid but conservative result.
The real structure studied in this paper is
made of carbon fiber, with high mechanical
resistance and very small density. We study it under
the hypothesis of small deformations with all its mass
concentrated at the tip position because the mass of
the load is bigger than that of the bar, then the mass
of the beam can be neglected. In other words, the
flexible beam vibrates with the fundamental mode;
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3. therefore, the rest of the modes are very far from the
first one and they can be neglected. Thus, we only
consider one mode of vibration. The main
characteristic of this model is that the influence of the
load changes can be modeled in a very easy manner,
thus adaptive controller can be easily applied.
Based on these considerations, we propose the
following model for the flexible beam:
̈ = ( − ) (1)
where is the unknown mass at the tip position.
and = (3 / ) are the length of the flexible arm
and the stiffness of the bar, respectively, assumed to
be perfectly known. The stiffness depends on the
flexural rigidity and on the length of the bar .
is the angular position of the motor gear. and
are the unmeasured angular position and angular
acceleration of the tip, respectively.
Fig.3. compensation of coupling torque in a hub
B. DC-Motor Dynamics
A common electromechanical actuator, in many
control systems, is constituted by the dc motor. The
dc motor used is supplied by a servo amplifier with a
current inner loop control. We can write the dynamic
equation of the system by using Newton’s second
law.
= ̈ + ̇ + ̇ , +
(2)
The dynamics of the complete system,
actuated by a dc motor, is given by the following
simplified model:
̈ = ( − ) (3)
= ̈ + ̇ + + (4)
= ( − ) (5)
Equation (3) represents the dynamics of the
flexible beam;(4) expresses the dynamics of the dc
motor; and (5) stands for the coupling torque
measured in the hub and produced by the translation
of the flexible beam, which is directly proportional to
the stiffness of the beam and the difference between
the angles of the motor and the tip position,
respectively.
( ) =
( )
( )
= (6)
Where = ( ) is the unknown natural frequency
of the bar due to the lack of precise knowledge of .
The coupling torque can be canceled in the motor by
means of a compensation term. In this case, the
voltage applied to the motor is of the form;
= +
.
(7)
Where is the voltage applied before the
compensation term.
The system in (4) is then given by
= ̈ + ̇ + (8)
The controller to be designed will be robust with
respect to the unknown piecewise constant torque
disturbances affecting the motor dynamics . Then,
the perturbation-free system to be considered is the
following:
= ̈ + ̇ (9)
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4. where = / . To simplify the developments, let
= / and = / . The dc-motor transfer
function is then written as
( ) =
( )
( )
=
( )
. (10)
Fig. 3 shows the compensation scheme of
the coupling torque measured in the hub.
The regulation of the load position ( ) to
track a given smooth reference trajectory ∗
( ) is
desired. For the synthesis of the feedback-control
law, we are using only the measured motor position
and the measured coupling torque . One of the
prevailing restrictions throughout our treatment of the
problem is our desire of not to measure, or compute
on the basis samplings, angular velocities of the
motor shaft or of the load.
The parameterization of in terms of is
given, in reduction-gear terms, by
= ̈ + = ̈ + (11)
System (11) is a second-order system in
which to regulate the tip position of the flexible bar
towards a given smooth reference trajectory,
∗
( ) is desired, with acting as an auxiliary
control input. Clearly, if there exists an auxiliary
open loop control input ∗
( )that ideally achieves
the tracking of ∗
( )for suitable initial conditions, it
satisfies then the second order dynamics, in
reduction-gear terms.
∗
( ) = ̈ ∗
( ) + ∗
( ) (12)
Subtracting (12) from (11), an expression in
terms of the angular tracking errors is obtained
̈ = ( − ) (13)
Where = − ∗
( ),
= − ∗
( ). Suppose for a moment, that we are
able to measure the angular-position tracking error
, then the outer loop feedback incremental
controller could be proposed to be the following PID
controller:
= + − ̇ − − ∫ ( )
(13)
In such a case, the closed-loop tracking error
evolves, governed by
( )
+ ̈ + ̇ + = 0 (14)
The design parameters { 2, 1, 0} are then
chosen so as to render the closed-loop characteristic
polynomial into a Hurwitz polynomial with desirable
roots.
III. INNER LOOP
CONTROLLER
The angular position , generated as an
auxiliary control input in the previous controller
design step, is now regarded as a reference trajectory
for the motor controller. We denote this reference
trajectory by ∗
. The design of the controller to be
robust with respect to this torque disturbance is
desired.
The following feedback controller is
proposed:
= ̂̇ + − ̂̇ − −
∫ ( ) ( ) − ∫ ∫ ( ) ( ) ( )
(15)
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5. The following integral reconstructor for the angular-
velocity error signal ̂̇ is obtained:
̂̇ = ∫ ( ) ( ) − (16)
Replacing ̂̇ in (25) into (24) and, after
some rearrangements, the feedback control law is
obtained
( − ∗
) = ( )
( ∗
− ) (17)
The open-loop control ∗( ) that ideally achieves the
open-loop tacking of the inner loop is given by
∗( ) = ̈ ∗
( ) + ̇ ∗
( ) (18)
The inner loop system in Fig. 4 is
exponentially stable. We can choose to place all the
closed-loop poles in a desired location of the left half
of the complex plane to design the
parameters { , , , }. As done with the outer
loop, all poles can be located at the same real value,
and , , , can be uniquely obtained by
equalizing the terms of the two following
polynomials:
( + ) = + 4 + 6 + 4 + = 0
(19)
+ ( + ) + ( + ) + +
= 0 (20)
Where the parameter represents the common
location of all the closed-loops poles, this being
strictly positive.
IV. FUZZY-PID CONTROLLER
Here, A classical FLS is represented as in
Fig-4. As shown, rules play a central role in the FLS
framework. Rules can be provided by experts or can
be extracted from numerical data. The IF-part of a
rule is an antecedent while the THEN-part of a rule is
its consequent. Fuzzy sets are associated with terms
that appear both in the antecedent and in the
consequent, while Membership Functions (MFs) are
used to describe these fuzzy sets.
Fig.4., structure of the fuzzy logic controller
Table:1
Control rules of the fuzzy controller
Input2
Input1 N Z P
N P N N
Z N P P
P N N N
Fuzzification: Translates inputs (real values)
to fuzzy values. Inference System: Applies a fuzzy
reasoning mechanism to obtain a fuzzy output. Type
Defuzzificator/Reductor: The defuzzificator
transduces one output to precise values; the type
redactor transforms a fuzzy set into a Type-1 fuzzy
set.
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6. Knowledge Base: Contains a set of fuzzy
rules, and a membership functions set known as the
database. The two normalized input variables, input1
and input2, are first fuzzified by two interval t fuzzy
sets i.e., ‘positive’ and ‘negative’ represented by
( 1) and ( 2) respectively.
BLOCK DIAGRAM OF THE SINGLE LINK FLEXIBLE MANIPULATOR USING FUZZY PID
CONTROL
Fig.5., Block Diagram Of The Single Link Flexible Manipulator Using Fuzzy PID Control
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7. V. SIMULATION & RESULTS
The major problems associated with the
control of flexible structures arise from the structure
is a distributed parameter system with many modes,
and there are likely to be many actuators.
There are three types of controllers used to
control the system which are simulated and compared
for better results.
They are;
1. Integral controller
2. Conventional PID controller
3. Fuzzy PID controller
The simulation results of the above controllers and
given bellow
I) Using Integral Controller
Fig.6, the simulation result of integral controller
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8. II) Using Conventional PID Controller
Fig.7, the simulation result of the conventional pid controller
III) Using Fuzzy PID Controller
Fig.8, the simulation result of the fuzzy PID controller
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9. IV) The Combined Figure Of The Output Simulated
Fig.9. The Combined Figure Of The Output Simulated
Therefore, the above results prove that the
system controlled by the fuzzy PID controller has
better n accurate results when compared to other
controllers
VI. CONCLUSION:
Here, fuzzy PID controller is designed to control
the single link flexible manipulator . The proposed
controller is being designed based on the
conventional PID controller. The proposed Fuzzy
PID controller is tested for different motor dynamics.
Simulation results show the efficiency of the
proposed controller, as it is being compared with the
conventional integral and PID controller.
VII. REFERENCES:
[1] S. K. Dwivedy and P. Eberhard, “Dynamic
analysis of flexible manipulators, a literature review,”
Mech.Mach. Theory, vol. 41, no. 7, pp. 749–777, Jul.
2006.
[2] R. H. Canon and E. Schmitz, “Initial experiments
on the end-point control of a flexible robot,” Int. J.
Rob. Res., vol. 3, no. 3, pp. 62–75, 1984.
[3] Y. P. Chen and H. T. Hsu, “Regulation and
vibration control of an FEM based single-link
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10. flexible arm using sliding-mode theory,” J. Vib.
Control, vol. 7, no. 5, pp. 741–752, 2001.
[4] Z. Su and K. A. Khorasani, “A neural-network-
based controller for a single-link flexible manipulator
using the inverse dynamics approach,” IEEE Trans.
Ind. Electron., vol. 48, no. 6, pp. 1074–1086,
Dec.2001.
[5] V. G. Moudgal, W. A. Kwong, K. M. Passino,
and S. Yurkovich, “Fuzzy learning control for a
flexible-link robot,” IEEE Trans. Fuzzy Syst., vol. 3,
no. 2, pp. 199–210, May 1995.
[6] J. Becedas, J. Trapero, H. Sira-Ramírez, and
V.Feliu, “Fast identification method to control a
flexible manipulator with parameter uncertainties,” in
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[7] V. Feliu and F. Ramos, “Strain gauge based
control of single link flexible very light weight robots
robust to payload changes,” Mechatronics, vol. 15,
no. 5, pp. 547–571, Jun. 2005.
[8] H. Olsson, H. Amström, and C. C. de Wit,
“Friction models and friction compensation,” Eur. J.
Control, vol. 4, no. 3, pp. 176–195, 1998.
[9] S. Cicero, V. Santos, and B. de Carvahlo, “Active
control to flexible manipulators,” IEEE/ASME Trans.
Mechatronics, vol. 11, no. 1, pp. 75–83, Feb. 2006.
[10] E. Bayo, “A finite-element approach to control
the end-point motion of a single-link flexible robot,”
J. Robot. Syst., vol. 4, no. 1, pp. 63–75, Feb. 1987.
[11] V. Feliu, K. S. Rattan, and H. Brown, “Modeling
and control of single-link flexible arms with lumped
masses,” J. Dyn. Syst. Meas. Control, vol. 114, no. 7,
pp. 59–69, 1992.
[12] W. Liu and Z. Hou, “A new approach to
suppress spillover instability in structural vibration,”
Struct. Control Health Monitoring, vol. 11, no. 1, pp.
37–53, Jan.–Mar. 2004.
[13] R. D. Begamudre, Electro-Mechanical Energy
ConversionWith Dynamics of Machines. New York:
Wiley, 1998.
[14] H. Sira-Ramírez and S. Agrawal, Differentially
Flat Systems. NewYork: Marcel Dekker, 2004.
[15] P. C. Young, “Parameter estimation for
continuous-time models—A survey,” Automatica,
vol. 17, no. 1, pp. 23–29, Jan. 1981.
[16] H. Unbehauen and G. P. Rao, “Continuous-time
approaches to system identification—A survey,”
Automatica, vol. 26, no. 1, pp. 23–35, Jan. 1990.
[17] N. Sinha and G. Rao, Identification of
Continuous-Time Systems. Dordrecht, The
Netherlands: Kluwer, 1991.
[18] H. Unbehauen and G. Rao, Identification of
Continuous Systems. Amsterdam, The Netherlands:
North-Holland, 1987.
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