{"title":"Novel Observer-Based Input-Constrained Control of Nonlinear Second-Order Systems with Stability Analysis: Experiment on Lever Arm","authors":"","doi":"10.1007/s40998-024-00713-1","DOIUrl":null,"url":null,"abstract":"<h3>Abstract</h3> <p>In this survey, the stability of input-constrained control for a widely used class of second-order systems is investigated. A continuous prediction-based approach is utilized to calculate the limited current control input by minimizing the next tracking error of nonlinear second-order system. The Karush–Kuhn–Tucker theorem is used to analytically solve the resulting constrained optimization problem. The constrained stability is analyzed by equating the constrained solution with the solution obtained from an optimal controller with time-varying weight on the control input. The proposed constrained controller adapts itself to real conditions by using information about the perturbations obtained from an extended state observer (ESO). Simulation studies for a lever arm indicates that the constrained controller presented in the closed form is much faster than the common nonlinear model predictive control method which requires an online dynamic optimization at each sampling time. Accordingly, experimental implementation of the proposed controller is conducted on a fabricated platform consisting of a lever arm. The results show that the proposed constrained controller can successfully track different time-varying positions for the arm by admissible torques generated by a DC motor. The comparative results with an adaptive backstepping controller indicate higher performance for the proposed ESO-based controller in compensating for the perturbations and external disturbance.</p>","PeriodicalId":49064,"journal":{"name":"Iranian Journal of Science and Technology-Transactions of Electrical Engineering","volume":"74 1","pages":""},"PeriodicalIF":1.5000,"publicationDate":"2024-03-25","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Iranian Journal of Science and Technology-Transactions of Electrical Engineering","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s40998-024-00713-1","RegionNum":4,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ELECTRICAL & ELECTRONIC","Score":null,"Total":0}
引用次数: 0
Abstract
In this survey, the stability of input-constrained control for a widely used class of second-order systems is investigated. A continuous prediction-based approach is utilized to calculate the limited current control input by minimizing the next tracking error of nonlinear second-order system. The Karush–Kuhn–Tucker theorem is used to analytically solve the resulting constrained optimization problem. The constrained stability is analyzed by equating the constrained solution with the solution obtained from an optimal controller with time-varying weight on the control input. The proposed constrained controller adapts itself to real conditions by using information about the perturbations obtained from an extended state observer (ESO). Simulation studies for a lever arm indicates that the constrained controller presented in the closed form is much faster than the common nonlinear model predictive control method which requires an online dynamic optimization at each sampling time. Accordingly, experimental implementation of the proposed controller is conducted on a fabricated platform consisting of a lever arm. The results show that the proposed constrained controller can successfully track different time-varying positions for the arm by admissible torques generated by a DC motor. The comparative results with an adaptive backstepping controller indicate higher performance for the proposed ESO-based controller in compensating for the perturbations and external disturbance.
期刊介绍：
Transactions of Electrical Engineering is to foster the growth of scientific research in all branches of electrical engineering and its related grounds and to provide a medium by means of which the fruits of these researches may be brought to the attentionof the world’s scientific communities.
The journal has the focus on the frontier topics in the theoretical, mathematical, numerical, experimental and scientific developments in electrical engineering as well
as applications of established techniques to new domains in various electical engineering disciplines such as:
Bio electric, Bio mechanics, Bio instrument, Microwaves, Wave Propagation, Communication Theory, Channel Estimation, radar & sonar system, Signal Processing, image processing, Artificial Neural Networks, Data Mining and Machine Learning, Fuzzy Logic and Systems, Fuzzy Control, Optimal & Robust ControlNavigation & Estimation Theory, Power Electronics & Drives, Power Generation & Management The editors will welcome papers from all professors and researchers from universities, research centers,
organizations, companies and industries from all over the world in the hope that this will advance the scientific standards of the journal and provide a channel of communication between Iranian Scholars and their colleague in other parts of the world.
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