Internal model control for underactuated systems based on novel virtual inputs method

• Autorzy: Touati Nahla , Said Imen

Identyfikatory

DOI

10.15199/48.2021.09.20

Warianty tytułu

PL

Kontrola modelu wewnętrznego dla systemów niedostatecznie aktywowanych w oparciu o nową metodę wirtualnych wejść

• Języki publikacji: EN

Abstrakty

EN

An internal model control strategy is proposed in this paper for underactuated linear systems. Their associated models are non-square. When applying internal model control strategy, a specific inversion of a square model is needed to design the controller. For that reason, squaring the model of underactuated system by adding virtual control inputs is proposed in this paper. The obtained internal model structure is then modified in order to eliminate the excess inputs. Simulation results on a three inputs/four outputs system is considered to prove the effectiveness and reliability of the proposed method.

PL

W artykule zaproponowano strategię kontroli modelu wewnętrznego dla niedostatecznie dostosowanych systemów liniowych. Powiązane z nimi modele nie są kwadratowe. Przy stosowaniu strategii kontroli modelu wewnętrznego do zaprojektowania regulatora potrzebna jest specyficzna inwersja modelu kwadratowego. Z tego powodu w niniejszym artykule zaproponowano podniesienie do kwadratu modelu niedostatecznie uruchomionego systemu poprzez dodanie wirtualnych wejść sterujących. Uzyskana struktura modelu wewnętrznego jest następnie modyfikowana w celu wyeliminowania nadmiernych nakładów. Uważa się, że wyniki symulacji w systemie trzech wejść / czterech wyjść potwierdzają skuteczność i niezawodność proponowanej metody.

Słowa kluczowe

EN

internal model control; virtual control; underactuated linear system; NERGA; ETF

PL

wewnętrzna kontrola modelu; kontrola wirtualna; niedostatecznie uruchamiane systemy liniowe; NERGA; ETF

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2021
• Tom: R. 97, nr 9
• Strony: 95--99
• Opis fizyczny: Bibliogr. 22 poz., rys.

Twórcy

autor

Touati Nahla

• ESPRIT, School of Engineering, Department of Electromechanical Engineering, Z.I. Chotrana II B.P. 160 Pôle Technologique El Ghazela - Ariana 2083, TUNISIA

autor

Said Imen

• University of Tunis El Manar Tunis, Tunisia. Automatic Research Laboratory, LA.R. A, National Engineering School of Tunis

• https://orcid.org/0000-0001-7366-3022

Bibliografia

• [1] Manai N.H., Saidi I., Soudani D., Predictive control of an under-actuated System, The 3rd International Conference on Advanced Systems and Emergent Technologies, Tunisia (2019), 90-95.
• [2] Touati N., Chemori A., Predictive Control for the Stabilization of a Fast Mechatronic System: from Simulation to Real-time Experiments, The International Federation of Automatic Control, 6th IFAC Symposium on Mechatronic Systems, Hangzhou, China, (2013), 237-242.
• [3] Saidi I., Touati N., Nonlinear predictive control for trajectory tracking of underactuated mechanical systems, Przegląd Elektrotechniczny, 97 (2021), nr. 6, 30-33.
• [4] Saidi I., N. Touati N., Sliding mode control to stabilization of nonlinear Underactuated mechanical systems, Przegląd Elektrotechniczny, 97 (2021), nr. 7.
• [5] Din S. U., Khan Q., Rehman F. U., Akmeliawati R., Robust Control of Underactuated Systems: Higher Order Integral Sliding Mode Approach, Mathematical Problems in Engineering, (2016).
• [6] Saidi I., N. Touati, Dhahri A., Soudani D., A comparative study on existing and new methods to design internal model controllers for non-square systems, Transactions of the Institute of Measurement and Control, 41 (2019), No.13, 3637- 3650.
• [7] Dhahri A., Saidi I., Soudani D., Internal model control for multivariable over-actuated systems with multiple time delay, 4th International Conference on control Engineering & Information Technology, Tunisia, (2016), 623-626.
• [8] Touati N., Saidi I., Dhahri A., Soudani D., Internal multimodel control for nonlinear overactuated systems, Arabian Journal for Science and Engineering, (2018), 1-9.
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• [20] Jin Q., Jiang B, Wang Q., Shan G., Decoupling internal model control for non-square processes based on equivalent transfer function, Transactions of the institute of Measurement and Control, 36(2014), nr 8, 1114-1131.
• [21] Chen P. Y., Ou L. L., Modified internal model control and its application in non-square processes, Control and decision, 23(2008), nr5, 581-584.
• [22] Bejaoui I., Saidi I., Xibilia M. G., Soudani D., Internal Model Control of Discrete Non-Minimum Phase Over-Actuated Systems with Multiple Time Delays and Uncertain Parameters, Journal of Engineering Science and Technology Review, vol. 12, no. 2, pp. 111-118, Juillet 2019.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).