نتایج جستجو برای: non linear pid control
تعداد نتایج: 2848690 فیلتر نتایج به سال:
abstract: this paper presents dynamic modelling and control of a linear prismatic series of elastic actuator. the capability of generating large torques is why this actuator is increasingly used in human-assistive robotic systems. due to having human in the loop, the actuator requires precise control. a fractional pid controller known for its improved performance is used for the control, due to...
An enhanced nonlinear PID (EN-PID) controller that exhibits the improved performance than the conventional linear fixed-gain PID controller is proposed in this paper, by incorporating a sector-bounded nonlinear gain in cascade with a conventional PID control architecture. To achieve the high robustness against noise, two nonlinear tracking differentiators are used to select high-quality differe...
This paper focuses on a theoretical and experimental investigation on the control of a valve actuated hydraulic system driving a biologically inspired robotic leg. The study is part of a more complex project aiming at the design of a power and cognitive autonomous quadruped robot for outdoor operations called HyQ. The first leg prototype has currently two hydraulically activated degrees of free...
This paper presents an adaptive neuro-controller for intelligent control of non-linear dynamical system. The formed as the fuzzy selective neural net the adaptive neuro-controller on the basе of system’s state, creates the effective control signal under random perturbations. The validity and advantages of the proposed adaptive neuro-controller are demonstrated by numerical simulations. The simu...
At present, the cascade PID control is widely used to control the superheating temperature (main steam temperature). As Main Steam Temperature has the characteristics of large inertia, large time-delay and time varying, etc., conventional PID control strategy cannot achieve good control performance. In order to overcome the bad performance and deficiencies of main steam temperature control syst...
In this paper APM (Asymptotic Predictive Method) algorithm for real time control of LTI SISO (Linear Time Invariant Single Input Single Output) systems has been compared with PID algorithm on several statistically most common real SISO models in practice. APM is specific MPC (Model Predictive Control) algorithm which defines optimal control signal using trivial sequence of counter control signa...
Abstract — This paper describes the design and implementation of a self-balancing two-wheeled robot, the Equilibrist Robot. The system is similar to the classical unstable, non-linear mechanical control problem of an inverted pendulum on a cart. Using the Linear Quadratic Regulator method and PID for state feedback, this paper shows a control algorithm that solves this problem. This control is ...
The design problem of a static output feedback controller and multivariable proportional-integral-derivative (PID) controller is investigated for linear time-invariant systems (LTI). First, the static output feedback stabilization problem is taken into consideration and then an iterative linear matrix inequality (ILMI) algorithm is developed for the synthesis of the controller. Second, choosing...
In this paper, an MIMO boiler control problem of Benchmark PID 2012 is studied, and a multi-loop PID control system is designed by our data-driven loop-shaping method. Our method is applicable to non-minimum phase or time-delay SISO plants very easily especially for stable plants, and a good disturbance rejection can be attained with a specified stability margin. The boiler model has non-minimu...
Problem statement: Most of the control engineering problems are characterized by several, contradicting, conflicting objectives, which have to be satisfied simultaneously. Two widely used methods for finding the optimal solution to such problems are aggregating to a single criterion and using Pareto-optimal solutions. Approach: Non-Dominated Sorting Particle Swarm Optimization algorithm (NSPSO)...
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