• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.547-558
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• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.

• Smart Structures and Systems
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• v.25 no.6
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• pp.643-655
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• 2020

Active control of nonlinear vibration of stiffened functionally graded (SFG) cylindrical shell is studied in this paper. The system is subjected to axial and transverse periodic loads in the presence of thermal uncertainty. The material composition is considered to be continuously graded in the thickness direction, also these properties depend on temperature. The relations of strain-displacement are derived based on the classical shell theory and the von Kármán equations. For modeling the stiffeners on the cylindrical shell surface, the smeared stiffener technique is used. The Galerkin method is used to discretize the partial differential equations of motion. Some comparisons are made to validate the SFG model. For suppression of the nonlinear vibration, the linear and nonlinear control strategies are applied. For control objectives, the piezoelectric actuator is attached to the external surface of the shell and the thin ring piezoelectric sensor is attached to the middle internal surface of shell. The effect of PID, feedback linearization and sliding mode control on the suppression of vibration for SFG cylindrical shell is presented.

• Journal of Power Electronics
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• v.13 no.6
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• pp.955-963
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• 2013

To acquire a performed and practical solution that is free from chattering, this study proposes the use of an adaptive super-twisting algorithm to drive a single-phase induction motor. Partial feedback linearization is applied before using a super-twisting algorithm to control the speed and stator currents. The load torque is considered an unknown but bounded disturbance. Therefore, a time-varying switching gain that does not require prior knowledge of the disturbance boundary is proposed. A simple sliding surface is formulated as the difference between the real and desired trajectories obtained from the indirect rotor flux oriented control strategy. To illustrate the effectiveness of the proposed control structure, an experimental setup around a digital signal processor (dS1104) is developed and several tests are performed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.2
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• pp.141-149
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• 2018

This paper presents a neural network controller design for complex damage to a blended wing Unmanned Aerial Vehicle(UAV): partial loss of main wing and vertical tail. Longitudinal/lateral axis instability and the change of flight dynamics is investigated via numerical simulation. Based on this, neural network based adaptive controller combined with two types of feedback linearization are designed in order to compensate for the complex damage. Performance of two kinds of dynamic inversion controllers is analyzed against complex damage. According to the structure of the dynamic inversion controller, the performance difference is confirmed in normal situation and under damaged situation. Numerical simulation verifies that the instability from the complex damage of the UAV can be stabilized via the proposed adaptive controller.