A novel multi-loop control system for highly nonlinear processes

• Autorzy: Osypiuk R.
• Języki publikacji: EN

Abstrakty

EN

The first part of the paper deals with design and properties of a general n-loop control structure based on a divided process model. In the second part, two approaches to practical implementation of control of a two-joint serial manipulator are proposed, and simulation based verification of theoretical assumptions is carried out. The proposed multi-loop Model Following Control structure (n-MFC) may find wide application in new intelligent controllers to robust control of parameter-varying process plants.

Słowa kluczowe

EN

nonlinear systems; robustness control systems; kinematics; time varying system; parameter estimation; perturbation techniques; algorithms; computer simulation

• Wydawca: Oficyna Wydawnicza Politechniki Wrocławskiej
• Czasopismo: Systems Science
• Rocznik: 2003
• Tom: Vol. 29, nr 4
• Strony: 43--54
• Opis fizyczny: Bibliogr. 8 poz.,

Twórcy

autor

Osypiuk R.

• Institute of Control Engineering, Technical University of Szczecin, 70-313 Szczecin, Poland

Bibliografia

• [1] Craig J. J., Introduction to robotics: mechanics and control, Mass.: Addison-Wesley Reading, 1986
• [2] Li G., Tsang К. M., Ho S. L., A novel model following scheme with simple structure for electrical position servo systems. International Journal of Systems Science, 29, 1998, 959-969.
• [3] Mareels I., Polderman J. W„ Adaptive Systems: An Introduction, Birkhauser, Boston, 1996.
• [4] Skoczowski S., Domek S., Robust Model Following PID Control, Proc. 14th International Confer-ence on Systems Science, Vol. II, Wroclaw, Poland, 11-14 September 2001, 54-61.
• [5] Skoczowski S., Robust Model Following Control With Use of Plant Model, International Journal of Systems Science, 2001, Taylor & Francis LTD, Vol. 32, No 12, 1413-1427.
• [6] Spong, M. W.. Vidyasagar M.. Robot Dynamics and Control, John Wiley & Sons, New York 1989.
• [7] Osypiuk R., Finkemeyer В., Wahl F. M., Forward-Model-Based Control System for Robotic Manipulators, Robotica, Cambridge University Press. Vol. 22, Mar 2004.
• [8] Osypiuk R„ A Two-Loop Robust Control System Based on a Forward Process Model, MMAR' 2003 Międzyzdroje, 25-28 August 2003.