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Academic literature on the topic 'Actuators Saturation'

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Published: 1 June 2024

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Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers
  6. Reports

Journal articles on the topic "Actuators Saturation":

1

Lindner, D. K., T. P. Celano, and E. N. Ide. "Vibration Suppression Using a Proofmass Actuator Operating in Stroke/Force Saturation." Journal of Vibration and Acoustics 113, no. 4 (October 1, 1991): 423–33. http://dx.doi.org/10.1115/1.2930203.

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We consider proofmass actuators for vibration suppression in flexible structures. Proofmass actuators appear to have a significant force-to-weight ratio over other types of actuators; hence, there has been considerable interest in them recently. These actuators, however, have a maximum force capability imposed in part by the stroke length of the proofmass. This nonlinearity is difficult to handle because this constraint cannot be violated (unlike saturation of electronic devices). Furthermore, this constraint is peculiar to this type of actuator. In this paper we consider the control loop structure of a feedback control system which contains a proofmass actuator for vibration suppression. This loop structure is decomposed into inner control loops directly related to the actuator and outer loops which add damping to the structure. The inner loops determine the frequency response of the actuator. Evidently, when the frequency response of the actuator is matched to the stroke/force saturation curve, the actuator is most effective in the vibration suppression loops. Since the stroke/force saturation curve is characterized by the stroke length, mass of the proofmass, and the maximum current delivered by motor electronics, this actuator can be easily sized for a particular application. We also discuss the interaction between the inner loops around the actuator and the structure (with the vibration loops open). To illustrate our results, we consider linear DC motors as proofmass actuators for the COFS-I Mast. To discuss the interaction the actuator and the structure, we develop a simple result based on classical control theory. This result is of independent interest since it leads to a simple procedure for designing low order compensators for single-input-single-output systems with poles near the imaginary axis.
2

Zhang, Shaojie, Han Zhang, and Kun Ji. "Incremental Nonlinear Dynamic Inversion Attitude Control for Helicopter with Actuator Delay and Saturation." Aerospace 10, no. 6 (June 1, 2023): 521. http://dx.doi.org/10.3390/aerospace10060521.

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In this paper, an incremental nonlinear dynamic inversion (INDI) control scheme is proposed for the attitude tracking of a helicopter with model uncertainties, and actuator delay and saturation constraints. A finite integral compensation based on model reduction is used to compensate the actuator delay, and the proposed scheme can guarantee the semi-globally uniformly ultimately bounded tracking. The overall attitude controller is separated into a rate, an attitude, and a collective pitch controller. The rate and collective pitch controllers combine the proposed method and INDI to enhance the robustness to actuator delay and model uncertainties. Considering the dynamic of physical actuators, pseudo-control hedging (PCH) is introduced both in the rate and attitude controller to improve tracking performance. By using the proposed controller, the helicopter shows good dynamics under the multiple restrictions of the actuators.
3

Macatangay, Xan, Reza Hoseinnezhad, Anthony Fowler, Sharmila Kayastha, and Alireza Bab-Hadiashar. "Addressing Actuator Saturation during Fault Compensation in Model-Based Underwater Vehicle Control." Electronics 12, no. 21 (November 1, 2023): 4495. http://dx.doi.org/10.3390/electronics12214495.

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Robust control systems are a necessity for autonomous underwater vehicle (AUV) systems due to the challenges they face during operation. Many AUV control-design methods have been developed for different actuator configurations, with robustness against model parameter uncertainties, environmental disturbances, and system faults. Actuator faults can reduce the physical capabilities of a system, which can be compensated for through control re-allocation. However, the increased control allocation to the remaining actuators may cause actuator saturation and reduce controller performance. In this work, we present a depth-pitch model-based nonlinear control law that directly considers actuator saturation, and a fault-tolerant control allocation method for a hybrid AUV actuator configuration. Two types of actuator faults are considered for an underwater vehicle with a hybrid actuator configuration. The proposed controller is implemented in a simulated system, and its trajectory tracking performance is compared with a baseline system without fault or saturation tolerance. To determine the utility of the proposed saturation and fault tolerance control methods, the tracking performance in these simulations is quantified in terms of the settling time, post-fault peak values, and root mean square of the depth and pitch errors.
4

Wang, Man, Jianying Yang, and Nan Li. "Adaptive Fault-Tolerant Control for Flight Systems with Input Saturation and Model Mismatch." Discrete Dynamics in Nature and Society 2013 (2013): 1–9. http://dx.doi.org/10.1155/2013/712486.

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A novel scheme for fault-tolerant control is proposed in this paper, in which model reference adaptive control method is incorporated with control allocation to cope with simultaneous actuator failures, input saturation, and model mismatch in the flight system. In order to reduce performance degradation caused by actuator failures, the proposed scheme redistributes the control signal to healthy actuators and updates the weighting matrix based on actuator effectiveness. Because of saturation errors resulting from actuator constraints and model mismatch caused by abnormal changes in the system, the original reference model may not be appropriate. Under this circumstance, an adaptive reference model which can also provide satisfactory performance is designed. Simulations of a flight control example are given to illustrate the effectiveness of the proposed scheme.
5

Guo, Jishu, Junmei Guo, and Zhongjun Xiao. "Robust tracking control for two classes of variable stiffness actuators based on linear extended state observer with estimation error compensation." International Journal of Advanced Robotic Systems 17, no. 2 (March 1, 2020): 172988142091177. http://dx.doi.org/10.1177/1729881420911774.

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In this article, a novel robust tracking control scheme based on linear extended state observer with estimation error compensation is proposed for the tracking control of the antagonistic variable stiffness actuator based on equivalent nonlinear torsion spring and the serial variable stiffness actuator based on lever mechanism. For the dynamic models of these two classes of variable stiffness actuators, considering the parametric uncertainties, the unknown friction torques acting on the driving units, the unknown external disturbances acting on the output links and the input saturation constraints, an integral chain pseudo-linear system with input saturation constraints and matched lumped disturbances is established by coordinate transformation. Subsequently, the matched lumped disturbances in the pseudo-linear system are extended to the new system states, and we obtain an extended integral chain pseudo-linear system. Then, we design the linear extended state observer to estimate the unknown states of the extended pseudo-linear system. Considering the input saturation constraints in the extended pseudo-linear system and the estimation errors of the linear extended state observer with fixed preset observation gains, the adaptive input saturation compensation laws and the novel estimation error compensators are designed. Finally, a robust tracking controller based on linear extended state observer, sliding mode control, adaptive input saturation compensation laws, and estimating error compensators is designed to achieve simultaneous position and stiffness tracking control of these two classes of variable stiffness actuators. Under the action of the designed controller, the semi-global uniformly ultimately bounded stability of the closed-loop system is proved by the stability analysis of the candidate Lyapunov function. The simulation results show the effectiveness, robustness, and adaptability of the designed controller in the tracking control of these two classes of variable stiffness actuators. Furthermore, the simulation comparisons show the effectiveness of the proposed estimation error compensation measures in reducing the tracking errors and improving the disturbance rejection performance of the controller.
6

Ijaz, Salman, Mirza T. Hamayun, Lin Yan, and Cun Shi. "Active fault-tolerant control for vertical tail damaged aircraft with dissimilar redundant actuation system using integral sliding mode control." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 7 (September 15, 2018): 2361–78. http://dx.doi.org/10.1177/0954406218790280.

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The research about the dissimilar redundant actuation system has indicated the potential fault-tolerant capability in modern aircraft. This paper proposed a new design methodology to achieve fault-tolerant control of an aircraft equipped with dissimilar actuators and is suffered from vertical tail damage. The proposed design is based on the concept of online control allocation to redistribute the control signals among healthy actuators and integral sliding mode controller is designed to achieve the closed-loop stability in the presence of both component and actuator faults. To cope with severe damage condition, the aircraft is equipped with dissimilar actuators (hydraulic and electrohydraulic actuators). In this paper, the performance degradation due to slower dynamics of electrohydraulic actuator is taken in account. Therefore, the feed-forward compensator is designed for electrohydraulic actuator based on fractional-order control strategy. In case of failure of hydraulic actuator subject to severe damage of vertical tail, an active switching mechanism is developed based on the information of fault estimation unit. Additionally, a severe type of actuator failure so-called actuator saturation or actuator lock in place is also taken into account in this work. The proposed strategy is compared with the existing control strategies in the literature. Simulation results indicate the dominant performance of the proposed scheme. Moreover, the proposed controller is found robust with a certain level of mismatch between the actuator effectiveness level and its estimate.
7

Shojaei, Khoshnam. "Saturated output feedback control of uncertain nonholonomic wheeled mobile robots." Robotica 33, no. 1 (January 31, 2014): 87–105. http://dx.doi.org/10.1017/s0263574714000046.

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SUMMARYMany research works on the control of nonholonomic wheeled mobile robots (WMRs) do not consider the actuator saturation problem and the absence of velocity sensors in practice. The actuator saturation deteriorates the tracking performance of the controller, and the use of velocity sensors increases the cost and weight of WMR systems. This paper simultaneously addresses these problems by designing a saturated output feedback controller for uncertain nonholonomic WMRs. First, a second-order input–output model of nonholonomic WMRs is developed by defining a suitable set of output equations. Then a saturated adaptive robust tracking controller is proposed without velocity measurements. For this purpose, a nonlinear saturated observer is used to estimate robot velocities. The risk of actuator saturation is effectively reduced by utilizing saturation functions in the design of the observer–controller scheme. Semi-global uniform ultimate boundedness of error signals is guarantied by the Lyapunov stability analyses. Finally, simulation results are provided to show the effectiveness of the proposed controller. Compared with one recent work of the author, a comparative study is also presented to illustrate that the proposed saturated controller is more effective when WMR actuators are subjected to saturation.
8

Tsiakmakis, Kyriakos, Vasileios Delimaras, Argyrios T. Hatzopoulos, and Maria S. Papadopoulou. "Displacement Measurement System and Control of Ionic Polymer Metal Composite Actuator." WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL 18 (June 12, 2023): 144–53. http://dx.doi.org/10.37394/23203.2023.18.15.

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This work presents a study comparing two control methods used in IPMC actuators. The position of the free end of the actuator is extracted using low-frequency signals, and the driving voltage is limited to ±3 V. This paper also proposes a new image sensor-based method for measuring displacement, which uses the actuator's route and applied current to predict the direction and detect the free edge using small areas of interest. The algorithm detects the area of the moving route, reduces the searching area of the IPMC's free edge, and predicts the edge direction. An experimental setup was established using a laser sensor and camera system. The results of simple computer usage reveal that the new technique is 17% faster. The paper also discusses model identification using a black-box approach. A major objective is to find the optimal control settings for various methods to highlight the issue of saturation and define the duration in which the IPMC actuator can be controlled.
9

Yaqubi, Sadeq, Morteza Dardel, and Hamidreza Mohammadi Daniali. "Nonlinear dynamics and control of crank–slider mechanism with link flexibility and joint clearance." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 230, no. 5 (June 29, 2015): 737–55. http://dx.doi.org/10.1177/0954406215593773.

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Dynamical behaviors and control of planar crank–slider mechanism considering the effects of joint clearance and link flexibility are studied. A control scheme for maintaining continuous contact is proposed. It was observed that using one actuator for control scheme might cause the actuator to reach its saturation limit, a problem that was bypassed by installing an additional actuator on connecting rod. In one actuator case, only continuous contact can be obtained, while with the aid of two actuators, point contact can be achieved. Great improvements in the performance of mechanism and reduction of vibrations are observed in the case of using an additional actuator.
10

Wang, Guoliang, and Bo Feng. "Finite-Time Stabilization for Discrete-Time Delayed Markovian Jump Systems with Partially Delayed Actuator Saturation." Discrete Dynamics in Nature and Society 2016 (2016): 1–12. http://dx.doi.org/10.1155/2016/1304379.

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The finite-time control problem of discrete-time delayed Markovian jump systems with partially delayed actuator saturation is considered by a mode-dependent parameter approach. Different from the traditionally saturated actuators, a kind of saturated actuator being partially delay-dependent is firstly proposed, where both nondelay and delay states are included and occur asynchronously. Moreover, the probability distributions of such two terms are described by the Bernoulli variable and are taken into account in the controller design. Sufficient conditions for the existence of the desired controller are presented with LMIs. Finally, a numerical example is provided to show the effectiveness and superiority of the obtained results.
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Journal articles Dissertations / Theses Books

Dissertations / Theses on the topic "Actuators Saturation":

1

許強 and Keung Hui. "A unified approach to controller saturation." Thesis, The University of Hong Kong (Pokfulam, Hong Kong), 1995. http://hub.hku.hk/bib/B4257447X.

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Hui, Keung. "A unified approach to controller saturation." Click to view the E-thesis via HKUTO, 1995. http://sunzi.lib.hku.hk/hkuto/record/B4257447X.

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3

Bui-Tuan, Viet Long. "Stability and stabilization of linear parameter-varying and time-varying delay systems with actuators saturation." Electronic Thesis or Diss., Amiens, 2022. http://www.theses.fr/2022AMIE0082.

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La thèse est consacrée au développement d'une méthodologie de stabilité et de stabilisation pour les systèmes linéaires paramètres-dépendants et à retard soumis à la saturation de la commande. Dans le processus industriel, l'amplitude du signal de commande est généralement limitée par les contraintes de sécurité, les limites du cycle physique, etc. Pour cette raison, un outil de synthèse et d'analyse approprié est nécessaire pour décrire avec précision les caractéristiques des systèmes saturés à paramètres linéaires variables. Dans la première partie, une forme dépendante des paramètres de la condition de secteur généralisée (GSC) est considérée pour résoudre le problème de stabilisation saturée. Plusieurs stratégies de contrôle de rétroaction sont étudiées pour stabiliser les systèmes LPV/qLPV saturés. Conditions de stabilisation nécessaires et suffisantes via la formulation d'inégalité matricielle linéaire paramétrée proposée pour les contrôleurs de retour d'état conformes aux exigences de conception (c'est-à-dire l'ensemble admissible des conditions initiales, la région estimée du domaine de convergence asymptotique, la stabilité et les performances robustes sous l'influence des perturbations, etc.). La relaxation des PLMI conçus est illustrée par les résultats de comparaison à l'aide d'une fonction de Lyapunov dépendante des paramètres. Dans la deuxième partie, les développements de stabilité dépendant du délai basés sur la fonctionnelle de Lyapunov-Krasovskii (LKF) sont présentés. Les techniques modernes de limitation avancées sont utilisées avec un équilibre entre conservatisme et complexité de calcul. Ensuite, des analyses de stabilisation de saturation pour les contrôleurs d'ordonnancement de gain. Inspirée des méthodes de système à retard incertain, une nouvelle condition de stabilisation est dérivée de l'analyse de stabilisation dépendante du retard pour le système à retard LPV soumis à des contraintes de saturation. Dans cet aspect, les contrôleurs de rétroaction à programmation de gain stabilisants améliorent les performances et la stabilité du système saturé et fournissent un grand domaine d'attraction. On peut souligner que la formulation dérivée est générale et peut être utilisée pour le contrôle de la conception de nombreux systèmes dynamiques. Enfin, pour maximiser la région d'attraction tout en garantissant la stabilité asymptotique du système en boucle fermée, un problème d'optimisation est inclus dans la stratégie de conception de commande proposée
The dissertation is devoted to developing a methodology of stability and stabilization for the linear parameter-dependent (PD) and time-delay systems (TDSs) subject to control saturation. In the industrial process, control signal magnitude is usually bounded by the safety constraints, the physical cycle limits, and so on. For this reason, a suitable synthesis and analysis tool is needed to accurately describe the characteristics of the saturated linear parameter-varying (LPV) systems. In the part one, a parameter-dependent form of the generalized sector condition (GSC) is considered to solve the saturated stabilization problem. Several feedback control strategies are investigated to stabilize the saturated LPV/qLPV systems. Necessary and sufficient stabilization conditions via the parameterized linear matrix inequality (PLMI) formulation proposed for the feedback controllers conforming to the design requirements (i.e., the admissible set of the initial conditions, the estimated region of the asymptotic convergence domain, the robust stability and performance with the influence of perturbations, Etc.). The relaxation of the designed PLMIs is shown through the comparison results using a parameter-dependent Lyapunov function (PDLF). In the second part, the delay-dependent stability developments based on Lyapunov-Krasovskii functional (LKF) are presented. The modern advanced bounding techniques are utilized with a balance between conservatism and computational complexity. Then, saturation stabilization analyzes for the gain-scheduling controllers. Inspired by uncertain delay system methods, a novel stabilization condition is derived from the delay-dependent stabilizing analysis for the LPV time-delay system subject to saturation constraints. In this aspect, the stabilizing gain-scheduling feedback controllers improve the performance and stability of the saturated system and provide a large attraction domain. It can be emphasized that the derived formulation is general and can be used for the design control of many dynamic systems. Finally, to maximize the attraction region while guaranteeing the asymptotic stability of the closed-loop system, an optimization problem is included to the proposed control design strategy
4

Wen, Zheng. "On the external stability of linear systems with actuator saturation constraints, and the decentralized control of communicating-agent networks with security constraints." Online access for everyone, 2007. http://www.dissertations.wsu.edu/Thesis/Summer2007/z_wen_072307.pdf.

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5

Kiener, Georg Alexander. "Event-triggered control subject to actuator saturation." Thesis, KTH, Reglerteknik, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-98840.

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Event-triggered control is a recent approach in control theory which aims at reducing the communication load in networked control systems by adapting the communication among the components to the current needs. In more detail, the information exchange over the feedback link only takes place if certain event conditions, that guarantee a desired control performance, are satisfied. This thesis analyzes the consequences of actuator saturation on the stability of the event-triggered control loop. Based on linear matrix inequalities, stability criteria have been derived which can be used to determine regions in the state space that guarantee a stable behavior. Furthermore, the existence of a lower bound on the minimum inter-event time is shown. Due to integrator windup, actuator saturation may severely degrade the performance of the event-triggered closed-loop system. In order to overcome this problem, the stability criteria have been extended by incorporating a static anti-windup structure. Finally, the effects of transmission delays in the feedback link are analyzed and a procedure to deal with their consequences is proposed. The results are illustrated by simulations and by experiments with a wirelessly controlled first-order tank system.
6

Kannan, Suresh Kumar. "Adaptive Control of Systems in Cascade with Saturation." Diss., Georgia Institute of Technology, 2005. http://hdl.handle.net/1853/7566.

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This thesis extends the use of neural-network-based model reference adaptive control to systems that occur as cascades. In general, these systems are not feedback linearizable. The approach taken is that of approximate feedback linearization of upper subsystems whilst treating the lower-subsystem states as virtual actuators. Similarly, lower-subsystems are also feedback linearized. Typically, approximate inverses are used for linearization purposes. Model error arising from the use of an approximate inverse is minimized using a neural-network as an adaptive element. Incorrect adaptation due to (virtual) actuator saturation and dynamics is avoided using the Pseudocontrol Hedging method. Using linear approximate inverses and linear reference models generally result in large desired pseudocontrol for large external commands. Even if the provided external command is feasible (null-controllable), there is no guarantee that the reference model trajectory is feasible. In order to mitigate this, nonlinear reference models based on nested-saturation methods are used to constrain the evolution of the reference model and thus the plant states. The method presented in this thesis lends itself to the inner-outer loop control of air vehicles, where the inner-loop controls attitude dynamics and the outer-loop controls the translational dynamics of the vehicle. The outer-loop treats the closed loop attitude dynamics as an actuator. Adaptation to uncertainty in the attitude, as well as the translational dynamics, is introduced, thus minimizing the effects of model error in all six degrees of freedom and leading to more accurate position tracking. A pole-placement approach is used to choose compensator gains for the tracking error dynamics. This alleviates timescale separation requirements, allowing the outer loop bandwidth to be closer to that of the inner loop, thus increasing position tracking performance. A poor model of the attitude dynamics and a basic kinematics model is shown to be sufficient for accurate position tracking. In particular, the inner-outer loop method was used to control an unmanned helicopter and has subsequently been applied to a ducted-fan, a fixed-wing aircraft that transitions in and out of hover, and a full-scale rotorcraft. Experimental flight test results are also provided for a subset of these vehicles.
7

Browne, Michael John. "A unified strategy for windup prevention in control systems with multiple saturating actuators." Thesis, Stellenbosch : Stellenbosch University, 2000. http://hdl.handle.net/10019.1/51629.

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Thesis (MScEng)--University of Stellenbosch, 2000.
ENGLISH ABSTRACT: A unified method is proposed to treat saturation in both Multi-Input-Multi-Output MIMO and Single-Input-Single-Output controllers. This method offers superior performance over existing MIM 0 anti-saturation schemes. The anti-saturation problem is posed as a linear programming problem. A practical and efficient implementation of the algorithm is developed by transforming the problem into its dual linear programming form. The problem, in dual form, is then solved using the dual simplex method rather than the primal simplex method. The nature of the problem when expressed in dual form and the properties of the dual simplex method are harmonised to guarantee an initial basic feasible solution and an optimal bounded final solution in a finite, predictable and minimal number of iterations. The resultant controller never saturates, hence cannot windup. Furthermore the resultant controller always applies the optimal control effort to the plant to minimise the error signal input as follows: • The controller is governed such that while the future free response combined with the present forced response of the controller results in no saturation limits being exceeded, now or at some time in the future, the normal linear response of the controller prevails. • When the future free response combined with the present forced response of the controller will result in a saturation limit being reached, now or at some time in the future, the present time input signal into the controller is optimally governed to prevent the saturation limit from being exceeded at any future time.
AFRIKAANSE OPSOMMING: 'n Metode word voorgestel waarmee versadiging in enkel-inset enkel-uitset en meer-inset meeruitset (MIMU) stelsels beheer kan word. Die metode presteer beter as ander huidige teenversadiging- maatreels vir (MIMU) beheerders. Die teen-versadigings-probleem word as 'n lineere programmeringsprobleem herformuleer. 'n Praktiese en effektiewe implementering van die algoritme word verkry deur die probleem na die duale vorm te transformeer. Die probleem, in duale vorm, word opgelos met die duale simplex metode, in plaas van die direkte metode. Die eienskappe van hierdie formulering is 'n gewaarborgde, aanvanklike, bereikbare oplossing en 'n optimale, begrensde, finale oplossing in 'n eindige, voorspelbare en minimum aantal stappe. Die uiteindelike beheerder versadig nooit nie, en wen gevolglik nie op nie. Die beheerder wend altyd die optimale aanleg-inset aan om die foutsein te minimeer soos volg: • Wanneer die nul-inset gedrag saam met die huidige inset-gedrag geen beperkings nou of in die toekoms saloorskry nie, word geen beperkende aksie geneem nie, en tree die beheerder dus lineer op. • Sodra die toekomstige nul-inset gedrag saam met die huidige inset-gedrag, nou of later versadiging sou veroorsaak, word die huidige inset tot die beheerder optimaal begrens om latere versadiging te voorkom.
8

Ljudén, Erik. "Actuator Saturation Analysis of a Fly-By-Wire Control System for a Delta-Canard Aircraft." Thesis, KTH, Flygdynamik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-276461.

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Actuator saturation is a well studied subject regarding control theory. However, little research exist regarding aircraft behavior during actuator saturation. This paper aims to identify flight mechanical parameters that can be useful when analyzing actuator saturation. The studied aircraft is an unstable delta-canard aircraft. By varying the aircraft’s center-of-gravity and applying a square wave input in pitch, saturated actuators have been found and investigated closer using moment coeÿcients as well as other flight mechanical parameters. The studied flight mechanical parameters has proven to be highly relevant when analyzing actuator saturation, and a simple connection between saturated actuators and moment coeÿcients has been found. One can for example look for sudden changes in the moment coeÿcients during saturated actuators in order to find potentially dangerous flight cases. In addition, the studied parameters can be used for robustness analysis, but needs to be further investigated. Lastly, the studied pitch square wave input shows no risk of aircraft departure with saturated elevons during flight, provided non-saturated canards, and that the free-stream velocity is high enough to be flyable.
Styrdonsmättning är ett välstuderat ämne inom kontrollteorin. Däremot existerar det lite forskning gällande flygplansbeteende vid styrdonsmättning. Syftet med den här rap-porten är att identifiera flygmekaniska parametrar som kan vara användbara vid analys av styrdonsmättning av ett instabilt delta-canard flygplan. Genom att variera flygplan-ets tyngdpunkt och applicera en pulsinmatning i tippled har styrdonsmättning hittats och undersökts närmare med momentkoeÿcienter, men även med andra flygmekaniska parametrar. De studerade parametrarna har visat sig vara mycket relevanta vid analys av styrdonsmättning och ett enkelt samband mellan mättade styrdon och momentcoeÿcienter har hittats. Det går till exempel att leta efter plötsliga ändringar i momentkoeÿcienterna under mättning av styrdon för att hitta potentiellt farliga flygsituationer. De studerade parametrarna kan användas i en robusthetsanalys, men vidare forskning krävs. Den studerade pulsinmatningen i tippled visar även att så länge canarderna inte ligger i mät-tning, trots att elevonerna ligger i mättning, så är det ingen fara att flyga, förutsatt att flyghastigheten är tillräckligt hög.
9

Carniato, Leonardo Ataide. "Robust H∞ switched static output feedback control design for linear switched systems subject to actuator saturation /." Ilha Solteira, 2019. http://hdl.handle.net/11449/183007.

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Orientador: Marcelo Carvalho Minhoto Teixeira
Resumo: Este trabalho dedica-se ao estudo do problema de controle robusto envolvendo custo H∞ para sistemas lineares chaveados no tempo contínuo, sujeitos à saturação no atuador e com incertezas politópicas, considerando leis de chaveamento e controladores chaveados dependentes da saída da planta. Os métodos propostos oferecem novas condições baseadas em Desigualdades Matriciais Lineares (LMIs - do inglês, Linear Matrix Inequalities) para o projeto de controladores chaveados utilizando funções de Lyapunov dependentes de parâmetros. O método é baseado em um resultado recentemente introduzido na literatura para o projeto de controle H∞ de saída o qual evita igualdades matriciais lineares (LMEs - do inglês, Linear Matrix Equalities) e a necessidade de impor restrições nas matrizes de saída do sistema, isto é, as matrizes de saída do sistema podem ser de posto linha incompleto. Com o objetivo de estender estes resultados, a restrição de saturação no atuador é estudada. Análises teóricas e resultados de simulações mostram que os novos procedimentos são menos conservativos quando comparados a métodos publicados recentemente na literatura. No método proposto, as condições são uma classe particular de desigualdades matriciais bilineares (BMIs - do inglês, Bilinear Matrix Inequalities), as quais contêm alguns termos bilineares devido à multiplicação de matrizes por escalares. Estes termos estão relacionados à combinação convexa das matrizes de chaveamento bem como a outros parâmetros escalare... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: This thesis is devoted to the study of the robust H∞ control problem of continuous-time switched linear systems subject to actuator saturation with polytopic uncertainties, considering an output-dependent switching law and a switched static output feedback controller. The proposed method offers new sufficient conditions based on linear matrix inequalities (LMIs) for designing the switched controllers using parameter-dependent Lyapunov functions. The method is based on a static output feedback H∞ control design recently presented in the literature that avoids linear matrices equalities (LMEs) and the need to impose any constraints on output system matrices, that is, the output matrices of the system are allowed to be of non-full row rank. In order to extend those results, the actuator saturation constraint is also studied. Theoretical analyses and simulation results show that these new procedures are less conservative than recent methods available in the literature. The conditions of the proposed methods are a particular class of Bilinear Matrix Inequalities (BMIs), which contain some bilinear terms as the product of a matrix and a scalar, related to a suitable convex combination and scalars parameters to provide extra free dimensions in the solution space. The hybrid algorithm Differential Evolution-Linear Matrix Inequality (DE-LMI), is proposed for obtaining feasible solutions of this particular NP-hard problem. Examples show that the proposed methodologies reduce the design ... (Complete abstract click electronic access below)
Doutor
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Ts`oeu, M. S. "Proton beam steering control system for high precision radiotherapy at iThemba LABS : an investigation on actuator saturation constraints." Master's thesis, University of Cape Town, 2008. http://hdl.handle.net/11427/5095.

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Abstract:
Includes abstract.
Includes bibliographical references (leaves 101-106).
This thesis aims at studying some of the techniques used to deal with constraints with special application to the Proton beam steering control at iThemba LABS. The steering of charged particles occurring in research plants is one of the interests of control systems. In this work an investigation of the algorithm for the control of the proton beam steering system in the radiotherapy treatment facility at iThemba LABS is conducted. This algorithm is intended to autonomously maintain the beam centered with reference to the axis of the beamline, and keep the beam front parallel to the central axis of the beamline as stated by van Tubbergh and De Kock, 2006. Furthermore, the algorithm is responsible for monitoring the distribution of the proton beam, in a plane normal to the beam travel direction.
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Books on the topic "Actuators Saturation":

1

Vikram, Kapila, and Grigoriadis Karolos M, eds. Actuator saturation control. New York: M. Dekker, 2002.

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Litt, John. A method for exploiting redundancy to accommodate actuator limits in multivariable systems. [Washington, DC]: National Aeronautics and Space Administration, 1995.

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Greg, Roulette, and United States. National Aeronautics and Space Administration., eds. A method for exploiting redundancy to accommodate actuator limits in multivariable systems. [Washington, DC]: National Aeronautics and Space Administration, 1995.

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Hu, Tingshu, and Zongli Lin. Control Systems with Actuator Saturation. Boston, MA: Birkhäuser Boston, 2001. http://dx.doi.org/10.1007/978-1-4612-0205-9.

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Li, Yuanlong, and Zongli Lin. Stability and Performance of Control Systems with Actuator Saturation. Cham: Springer International Publishing, 2018. http://dx.doi.org/10.1007/978-3-319-64246-8.

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A, Snell S., and United States. National Aeronautics and Space Administration., eds. Flight control system design with rate saturating actuators. Reston, VA: American Institute of Aeronautics and Astronautics, 1997.

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Yang, Hongjiu, Yuanqing Xia, and Qing Geng. Analysis and Synthesis of Delta Operator Systems with Actuator Saturation. Singapore: Springer Singapore, 2019. http://dx.doi.org/10.1007/978-981-13-3660-7.

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Tarbouriech, Sophie, Germain Garcia, João Manoel Gomes da Silva, and Isabelle Queinnec. Stability and Stabilization of Linear Systems with Saturating Actuators. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-941-3.

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Michael, Athans, and United States. National Aeronautics and Space Administration, eds. Multivariable control systems with saturating actuators antireset windup strategies. Cambridge, Mass: Laboratory for Information and Decision Systems, Massachusetts Institute of Technology, 1985.

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Tarbouriech, Sophie. Stability and Stabilization of Linear Systems with Saturating Actuators. London: Springer-Verlag London Limited, 2011.

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Book chapters on the topic "Actuators Saturation":

1

Wu, Yuanqing, Renquan Lu, Hongye Su, Peng Shi, and Zheng-Guang Wu. "Sampled-Data Control with Actuators Saturation." In Synchronization Control for Large-Scale Network Systems, 21–42. Cham: Springer International Publishing, 2016. http://dx.doi.org/10.1007/978-3-319-45150-3_2.

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Hippe, Peter. "Prevention of Windup Caused by Saturating Sensors and Actuators (With Saturation Indicator)." In Windup in Control Owing to Sensor Saturation, 17–27. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-73133-5_2.

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Tarbouriech, Sophie, Germain Garcia, João Manoel Gomes da Silva, and Isabelle Queinnec. "Analysis via the Regions of Saturation Model." In Stability and Stabilization of Linear Systems with Saturating Actuators, 185–208. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-941-3_4.

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Tarbouriech, Sophie, Germain Garcia, João Manoel Gomes da Silva, and Isabelle Queinnec. "Linear Systems Subject to Control Saturation—Problems and Modeling." In Stability and Stabilization of Linear Systems with Saturating Actuators, 3–48. London: Springer London, 2011. http://dx.doi.org/10.1007/978-0-85729-941-3_1.

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Saberi, A., A. Stoorvogel, and P. Sannuti. "Output regulation with actuators subject to amplitude and rate saturation." In Communications and Control Engineering, 177–211. London: Springer London, 2000. http://dx.doi.org/10.1007/978-1-4471-0727-9_5.

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Saberi, A., A. Stoorvogel, and P. Sannuti. "Generalized output regulation with actuators subject to amplitude and rate saturation." In Communications and Control Engineering, 431–40. London: Springer London, 2000. http://dx.doi.org/10.1007/978-1-4471-0727-9_16.

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Saberi, A., A. Stoorvogel, and P. Sannuti. "Classical output regulation with actuators subject to amplitude saturation — continuous-time systems." In Communications and Control Engineering, 69–127. London: Springer London, 2000. http://dx.doi.org/10.1007/978-1-4471-0727-9_3.

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Saberi, A., A. Stoorvogel, and P. Sannuti. "Classical output regulation with actuators subject to amplitude saturation—discrete-time systems." In Communications and Control Engineering, 129–76. London: Springer London, 2000. http://dx.doi.org/10.1007/978-1-4471-0727-9_4.

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Hu, Tingshu, and Zongli Lin. "Introduction." In Control Systems with Actuator Saturation, 1–9. Boston, MA: Birkhäuser Boston, 2001. http://dx.doi.org/10.1007/978-1-4612-0205-9_1.

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Hu, Tingshu, and Zongli Lin. "Disturbance Rejection with Stability." In Control Systems with Actuator Saturation, 211–28. Boston, MA: Birkhäuser Boston, 2001. http://dx.doi.org/10.1007/978-1-4612-0205-9_10.

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Conference papers on the topic "Actuators Saturation":

1

Jayasuriya, Suhada. "Control of Linear Systems Under Actuator Saturation." In ASME 1998 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1998. http://dx.doi.org/10.1115/imece1998-0269.

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Abstract Presented in this paper are some preliminary ideas on the role of actuator saturation in linear systems that are under study. Real actuators have limited bandwidth and they saturate upon receipt of overly large inputs. Such actuator saturation can have catastrophic consequences especially in feedback control of open-loop unstable plants. It is well known that even when used with stable plants, actuator saturation can lead to undesirable limit cycle behavior. Actuator saturation can also easily occur when integrations are used within a control loop. Integrator anti-windup schemes have been proposed for overcoming that situation. One obvious but almost unresearched idea for eliminating wind up would be to get rid of the need to use integral action inside the feedback loop. So the crucial question is whether or not it is possible to get good steady state accuracy without using integral control? One idea could be to delegate the tracking responsibility to a carefully designed pre-filter.
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Ma, Haifeng, Jianhua Wu, and Zhenhua Xiong. "PID saturation function sliding mode control for piezoelectric actuators." In 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM). IEEE, 2014. http://dx.doi.org/10.1109/aim.2014.6878088.

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Chung Seng Ling, M. D. Brown, P. F. Weston, and C. Roberts. "Gain tuned internal model control for handling saturation in actuators." In Proceedings of the 2004 American Control Conference. IEEE, 2004. http://dx.doi.org/10.23919/acc.2004.1384053.

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Khallouk, Hamza, and Fouad Mesquine. "Output feedback control for discrete-time systems with actuators saturation." In 2019 8th International Conference on Systems and Control (ICSC). IEEE, 2019. http://dx.doi.org/10.1109/icsc47195.2019.8950542.

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Tan, Honghao, and Mohammad H. Elahinia. "Modeling and Control of Ferromagnetic Shape Memory Alloys (FSMA) Actuators." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14951.

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FSMAs like Ni-Mn-Ga have attracted significant attention over the last few years. As actuators, these materials offer high energy density, large stroke, and high bandwidth. These properties make FSMAs potential candidates for the new generation of actuators. The preliminary dynamic characterization of Ni-Mn-Ga illustrates evident nonlinear behaviors including hysteresis, saturation, first cycle effects, and dead zone. In order to control precisely the position output, a dynamic model is presented for a Ni-Mn-Ga actuator. The actuator model consists of the dynamics of the actuator, kinematics of the actuator, constitutive model of the material, and reorientation kinetics. Simulations results are presented to demonstrate the dynamic behavior of the actuator. Then, a Proportional-Integral-Derivative (PID) control algorithm is developed based on the simulation model. The simulation results of step response reveal that the controllable position is between the residual displacement and the maximum stroke. This range is determined by the properties of materials and the stiffness of the spring. The tracking are achieved with the PID controller when the reference are with the valid range.
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Goldfarb, Michael, and Taweedej Sirithanapipat. "Performance-Based Selection of PD Control Gains for Servo Systems With Actuator Saturation." In ASME 1997 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1997. http://dx.doi.org/10.1115/imece1997-0434.

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Abstract Servo-control is a common control problem that typically involves a system characterized by torque input and angular position output. A direct-drive robot, for example, is a coupled and typically nonlinear servo-control problem. One means of closed-loop control of a servo-system is proportional-derivative (PD) control. PD control is passive in character and thus stable, and since it can be easily implemented in analog form, the stability is not compromised by computational time delays. A significant issue in implementing PD control on a servo-system is the selection of the control gains. Linearizing a nonlinear servo-system and utilizing linear analysis methods suggests best performance is achieved at maximum possible gain. Maximum gain, however, drives the actuators into saturation, which renders the system nonlinear and the linear analysis invalid. This paper investigates the effect of actuator saturation on servo-system tracking performance by formulating a frequency-based equivalent to the linear system -3dB bandwidth. The proposed method utilizes a series of band-limited pseudo-random tracking inputs to characterize the “bandwidth” of a nonlinear system. Numerical analysis based on this method shows that, for a servo-system that exhibits actuator saturation, the optimal tracking performance is not achieved at maximum gain. Instead, performance improves up to a given gain, then begins to recede as the gain is increased further. The analysis also shows that avoiding actuator saturation to ensure linear behavior significantly sacrifices system performance. The performance characterization scheme is illustrated by an example of a servo system with actuator saturation. The methodology is also compared with linear analysis techniques, and the two shown to be well-correlated for a linear system.
7

Zuo, Lei, and Samir A. Nayfeh. "Adaptive Least-Mean Square Feed-Forward Control With Actuator Saturation by Direct Minimization." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85494.

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The least-mean squares (LMS) adaptive feedforward algorithm is used widely for vibration and noise cancellation. If reference signals become large enough to saturate that actuators, the filter coefficients in such algorithms can diverge. The leaky LMS method limits the controller effort by augmenting the objective function by a weighted control effort, and is known to attain good performance and avoid growth of filter coefficients for well-chosen weights. We propose an algorithm that seeks to directly minimize the mean-square cost in the presence of saturation. We derive the true stochastic gradient of the cost for systems with saturation with respect to the filter coefficients and obtain an adaptation rule very close to that of the filtered-x algorithm, but in the proposed algorithm, the reference filter is a time-varying modification of the secondary channel. In simulations of an active vibration isolation system with actuator limits subject to random ground vibration, the leaky LMS algorithm attains its best performance with actuation weights small enough to allow significant actuator saturation but large enough to prevent divergence. The proposed algorithm attains performance better that attained by the leaky LMS algorithm, and does not require the selection of weights.
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Xiao, Jin-zhuang, Hong-rui Wang, Wei Zhang, and Hui-ran Wei. "Adaptive Robotic Control Based on a Filter Function Under the Saturation of Actuators." In 2006 International Conference on Machine Learning and Cybernetics. IEEE, 2006. http://dx.doi.org/10.1109/icmlc.2006.259024.

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Chen, Jing. "Robust H∞ control for a nonlinear singular time-delay system with saturation actuators." In 2011 23rd Chinese Control and Decision Conference (CCDC). IEEE, 2011. http://dx.doi.org/10.1109/ccdc.2011.5968360.

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Wang, Hong-rui, Jin-zhuang Xiao, and Fang Wang. "Force Optimization of Robotic Control Based on Fuzzy Rules Against the Saturation of Actuators." In 2006 International Conference on Machine Learning and Cybernetics. IEEE, 2006. http://dx.doi.org/10.1109/icmlc.2006.258454.

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Reports on the topic "Actuators Saturation":

1

Lin, Zongli. Exponentially Unstable Plants With Saturating Actuators. Fort Belvoir, VA: Defense Technical Information Center, June 2002. http://dx.doi.org/10.21236/ada403409.

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