PDE modelling and switch strategy controller design for a flexible detection system with output constraint and actuator failure

نویسندگان

چکیده

Abstract A novel approach for modelling a mine detection robot system is presented in this paper using partial differential equations and Hamilton’s principle. The comprises rigid arm, detecting sensor module, flexible string. addresses the challenges of boundary deflection constraint actuator fault. To overcome these challenges, unique controller developed Barrier Lyapunov function switching strategy. This enables to achieve desired position eliminate vibration superiority designed control law demonstrated through simulation results. Furthermore, asymptotic stability closed-loop established by use extending LaSalle’s Invariance principle an infinite dimensional system. ensures that will eventually reach stable state over time.

برای دانلود رایگان متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

simulation and design of electronic processing circuit for restaurants e-procurement system

the poor orientation of the restaurants toward the information technology has yet many unsolved issues in regards to the customers. one of these problems which lead the appeal list of later, and have a negative impact on the prestige of the restaurant is the case when the later does not respond on time to the customers’ needs, and which causes their dissatisfaction. this issue is really sensiti...

15 صفحه اول

H∞ Robust Controller Design and Experimental Analysis of Active Magnetic Bearings with Flexible Rotor System

H∞ controller for active magnetic bearings (AMBs) with flexible rotor system was designed in this paper. The motion equations of AMBs and flexible rotor system are built based on finite element methods (FEM). Weighting function matrices of H∞ controller for AMBs are studied for both the sensitivity and the complementary sensitivity of H∞ control theory. The simulation shows that the H∞ control ...

متن کامل

designing and validating a textbook evaluation questionnaire for reading comprehension ii and exploring its relationship with achievement

در هر برنامه آموزشی، مهم ترین فاکتور موثر بر موفقیت دانش آموزان کتاب درسی است (مک دونو و شاو 2003). در حقیقت ، کتاب قلب آموزش زبان انگلیسی است( شلدن 1988). به دلیل اهمیت والای کتاب به عنوان عنصر ضروری کلاس های آموزش زبان ، کتب باید به دقت ارزیابی و انتخاب شده تا از هرگونه تاثیر منفی بر دانش آموزان جلوگیری شود( لیتز). این تحقیق با طراحی پرسش نامه ارزیابی کتاب که فرصت ارزیابی معتبر را به اساتید د...

15 صفحه اول

Design of Nonlinear Robust Controller and Observer for Control of a Flexible Spacecraft

Two robust nonlinear controllers along with a nonlinear observer have been developed in this study to control a 1D nonlinear flexible spacecraft. The first controller is based on dynamic inversion, while the second one is composed of dynamic inversion and µ-synthesis controllers. The extension of dynamic inversion approach to flexible spacecraft is impeded by the non-minimum phase characteristi...

متن کامل

Design of PID Controller for Teleopration System with Genetic Algorithm

This paper presents a novel teleoperation controller for a nonlinear master–slave robotic system with constant time delay in communication channel. The proposed controller enables the teleoperation system to compensate human and environmental disturbances, while achieving master and slave position coordination in both free motion and contact situation. The current work basically extends the pas...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Journal of physics

سال: 2023

ISSN: ['0022-3700', '1747-3721', '0368-3508', '1747-3713']

DOI: https://doi.org/10.1088/1742-6596/2591/1/012032