Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 30172
Design and Instrumentation of a Benchmark Multivariable Nonlinear Control Laboratory

Authors: S. H. Teh, S. Malawaraarachci, W. P. Chan, A. Nassirharand

Abstract:

The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.

Keywords: Nonlinear control, describing functions, AdjustableCoulomb friction, Adjustable backlash.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1085195

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1420

References:


[1] J. J. Slotine, and W. Li, Applied Nonlinear Control, Prentice Hall, Englewood Cliffs, New Jersey, 1991.
[2] V. Utkin, J. Guldner, J. Shi, J., Sliding Mode Control in Electromechanical Systems," CRC Press: Boca Raton, Florida, USA, 1999.
[3] L. R. Hunt, R. Su, and G. Meyer, "Global transformation of nonlinear systems," IEEE Transactions on Automatic Control, 1987, v. 28, no. 1, pp. 24-30.
[4] C. Elmas, O. Ustun, and H. H. Sayan, "A neuro-fuzzy controller for speed control of a permanent magnet synchronous motor drive," Expert Systems with Applications, 2008, vol. 34, Issue 1, pp. 657-664.
[5] J-S Lin, M-L Hung, J-J Yan, and T-L Liao, "Decentralized control for synchronization of delayed neural networks subject to dead-zone nonlinearity," Nonlinear Analysis: Theory, Methods & Applications, 2007, vol. 67, Issue 6, pp. 1980-1987.
[6] R. Xu, and U. Ozguner, "Sliding mode control of a class of underactuated systems," Automatica, 2008, v. 44, pp. 233-241.
[7] J. H. Taylor, "A systematic nonlinear controller design approach based on qusailinear models," Proceedings of American Control Conference, San Francisco, CA, 1983, pp. 141-145.
[8] J. H. Taylor and K. L. Strobel, "Nonlinear control system design based on quasilinear system models," American Control Conference, Boston, MA, 1985, pp. 1242-1247.
[9] J. H. Taylor and J. R. O-Donnell, "Synthesis of nonlinear controllers with rate feedback via sinusoidal input describing function methods," in Proc. American Control Conference, San Diego, 1990, pp. 2217-2222.
[10] A. Nassirharand, and H. Karimi, "Nonlinear controller synthesis based on inverse describing function technique in the MATLAB environment," Advances in Engineering Software, 2006, v. 37, no. 6, pp. 370-374.
[11] A. Nassirharand, "Nonlinear controller synthesis for SIMO systems with application to cruise missile," ASCE Journal of Aerospace Engineering, accepted.
[12] A. Nassirharand, and H. Karimi, "Controller synthesis methodology for multivariable nonlinear systems with application to aerospace," ASME J. of Dynamic Systems, Measurement, and Control, 2004, v. 126, pp. 598-607.
[13] A. Nassirharand, S. A. Housseini, "Tracking and decoupling of multivariable nonlinear systems," International Journal of Modelling, Identification, and Control, 2009, v. 6, no. 4, pp. 341-348.
[14] G. Song, and A. Song, "A Novel Distributed Architecture for Building Web-Enabled Remote Robotic Laboratories," IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005.
[15] J. Hauser, S. Sastry, P. Kokotovic, "Nonlinear Control Via Approximate Input-Output Linearization: The Ball and Beam Example," IEEE Transactions on Automatic Control, 1992, vol. 37, no.3, pp. 392 - 398.
[16] M. López-Martínez, M.G. Ortega, C. Vivas, F.R. Rubio, "Nonlinear L2 control of a laboratory helicopter with variable speed rotors," ScienceDirect Automatica, 2007, 43, pp. 655 - 661.
[17] P. Horάček, "Laboratory experiments for control theory courses: A survey," Annual Reviews in Control, 2000, vol. 24, pp. 151 - 162.
[18] Alberto Leva, "A simple and flexible experimental laboratory for automatic control courses," Control Engineering Practice, 2004, vol. 14, pp. 167 - 176.
[19] K. Yeung, and J. Huang, "Development of a remote-access laboratory: a dc motor control experiment," Computers in industry, 2003, vol. 52, pp. 305 - 311.
[20] C. Chandrasekara, and A. Davari, "Experiments for the undergraduate control laboratory," Proceedings of the Thirty-Sixth Southeastern Symposium on System Theory, 2004, pp. 488 - 491.
[21] A. Davari, and D. Shen, "Simple and inexpensive control laboratory," Proceedings of the Twenty-Ninth Southeastern Symposium on System Theory, 1997, pp. 145 - 147.
[22] A. Zilouchian, "A novel intelligent control laboratory for undergraduate students in engineering," Proceedings of the American Control Conference, 2003, vol.1, pp. 633 - 638.
[23] R. Paul, Robot Manipulators: Mathematics, Programming, and Control, The MIT Press, Massachusetts, 1981.
[24] M. F. Ashby, "Materials Selection in Mechanical Design" 2nd Ed, Butterworth-Heinemann, 1999.
[25] J. M. Gere, "Mechanics of Materials," 6th Ed, Brooks/Cole - Thompson Learning, 2004
[26] A. P. Boresi, and R. J. Schmidt, "Advanced Mechanics of Materials," 6th Ed, John Wiley & Sons, Inc, 2003