Advanced Modelling and Control of Complex Nonlinear Mechatronic Systems–Volume II

A special issue of Electronics (ISSN 2079-9292). This special issue belongs to the section "Systems & Control Engineering".

Deadline for manuscript submissions: closed (15 April 2023) | Viewed by 24455

Special Issue Editors


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Guest Editor
Mechanical Engineering, Newcastle University Singapore, Singapore
Interests: virtual environments; AR & VR; robotics; smart sensing and human-machine interface

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Guest Editor
Department of Industrial Engineering, University of Salerno, via Giovanni Paolo II, 132, 84084 Fisciano, SA, Italy
Interests: mechatronic systems; frictional modeling and model-based control in automotive transmissions; lubrication in internal combustion engines and journal bearings; effects of nanoparticles as friction reducer additives; vibration measurement methods
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Guest Editor
WMG, University of Warwick, Coventry CV4 7AL, UK
Interests: systems engineering; real-time control; systems modelling; design optimization; design of energy management control systems
Special Issues, Collections and Topics in MDPI journals

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Guest Editor
WMG, University of Warwick, Coventry CV4 7AL, UK
Interests: component sizing; batteries; systems modelling; powertrain modelling; supervisory control; powertrain usage cases
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

With the rapid development of computer-based technologies, a wide variety of complex mechatronic systems are used in different fields of application, such as robotic systems, manufacturing systems, heavy-duty equipment, and transportation systems. The control technology is therefore considered as the key enabler for high-performance mechatronic applications. However, there are always larger numbers of nonlinearities and uncertainties existing in complex mechatronic systems (such as material properties, system parameters, noises, and disturbances). These factors could significantly impact control system performance, leading to system instability. Hence, it is necessary to develop advanced and accurate models based on effective dynamic analysis and identification methods to have a better understanding of complex mechatronic systems. The developed models could be used to either design advanced control approaches (such as sliding mode control, H-infinity control, model predictive control, and robust adaptive control) or verify the control systems.

The International Conference on Mechatronics Technology (ICMT) is recognized as one of the foremost and world-renowned conference series in the fields of Mechatronics. This year, the 24th ICMT2021 is held at the Newcastle University in Singapore, Singapore on December 18th – 22nd, 2021, and will gather contributions from the broad research community, to present and discuss breakthroughs in the latest developments in Mechatronics and its applications. For further information about the 24th ICMT2021, please see: www.icmt2021.org   

Following the success of Volume I of this Special Issue, in this Volume II we continue to publish the highest quality articles, including, but not limited to, selected papers from the ICMT2021, to contribute to the main theme ‘Advanced Modelling and Control of Complex Nonlinear Mechatronic Systems’. This Special Issue will therefore introduce the most recent research findings, the progress, and the advancements of mechatronic systems empowered by advanced modelling and control technology, from both theoretical and practical perspectives.

Therefore, the Special Issue welcomes new studies of advanced mechatronic systems in the following fields (but not limited to these fields):

  • Advanced modelling techniques for complex mechatronic systems
  • Dynamic analysis and innovative identification methods
  • Model-based advanced simulation platforms for complex mechatronic systems
  • Model-based advanced mechatronic system prediction and predictive control
  • Advanced observer design and observer-based control for complex mechatronic systems
  • Model-based advanced control of complex mechatronic systems
  • Precision control of complex mechatronic systems
  • Robust and adaptive control of complex mechatronic systems
  • Fault diagnosis and fault-tolerant control in complex mechatronic systems
  • Real-time simulation and verification of complex mechatronic systems and control

Dr. Truong Quang Dinh
Dr. Junjie Chong
Prof. Dr. Adolfo Senatore
Prof. Dr. James Marco
Dr. Andrew McGordon
Guest Editors

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Electronics is an international peer-reviewed open access semimonthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • complex mechatronic system
  • nonlinearity and uncertainty
  • system modelling
  • system identification
  • observer
  • model-based control
  • observer-based control
  • prediction and predictive control
  • precision control
  • adaptive control
  • robust control
  • fault-tolerant control
  • Real-time simulation and verification

Published Papers (13 papers)

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Research

20 pages, 15201 KiB  
Article
The Hybrid Brake Model and Its Validation
by Christoph Holtmann, Christoph Köhler, Christian Weber and Frank Rinderknecht
Electronics 2023, 12(12), 2632; https://doi.org/10.3390/electronics12122632 - 11 Jun 2023
Viewed by 1173
Abstract
As an extension of a paper published at the 24th International Conference on Mechatronics Technology, ICMT 2021 conference, this paper shows the concept, design method, and model of a hybrid brake with additional validation. An eddy current brake cannot be used to decelerate [...] Read more.
As an extension of a paper published at the 24th International Conference on Mechatronics Technology, ICMT 2021 conference, this paper shows the concept, design method, and model of a hybrid brake with additional validation. An eddy current brake cannot be used to decelerate a vehicle to a standstill. However, the magnetic attraction force between the rotor and stator of an eddy current brake can be used to generate an additional mechanical friction torque. By using a disc spring between the rotor and stator, the eddy current brake is extended to a so-called hybrid brake. In particular, the model and design method of the disc spring are the focus of this work. Using a system model that includes the electromagnetic and mechanical domains, the wear reduction compared to a conventional friction brake and the dynamic behaviour depending on the spring parameters are investigated. Finally, a disc spring is designed in FEM with the desired force–displacement curve. In addition, a working demonstrator of a hybrid brake is constructed, and the electromagnetic and mechanical system models are compared with the experimental results. For the first time, it is shown that the concept of using the magnetic attraction force between the rotor and stator of an eddy current brake for braking to a stop is working. In a speed range of 0–7500 rpm, it is possible to generate a torque of 100 Nm, whereby at speeds higher than 3500 rpm, the torque is generated in a wear-free manner by eddy currents. However, in order to be valid, the model must be extended to represent the deformation of the rotor. Full article
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25 pages, 4636 KiB  
Article
Failure Propagation Prediction of Complex Electromechanical Systems Based on Interdependence
by Yu Xia, Nan Yang, Hu Wang, Xiaoli Wang, Mengzhen Cui and Man Li
Electronics 2023, 12(12), 2600; https://doi.org/10.3390/electronics12122600 - 9 Jun 2023
Viewed by 1006
Abstract
Interdependence is an inherent feature of the cyber-physical system. Small damage to one component in the system may affect several other components, leading to a series of failures, thus collapsing the entire system. Therefore, the system failure is often caused by the failure [...] Read more.
Interdependence is an inherent feature of the cyber-physical system. Small damage to one component in the system may affect several other components, leading to a series of failures, thus collapsing the entire system. Therefore, the system failure is often caused by the failure of one or more components. In order to solve this problem, this paper focuses on a failure propagation probability prediction method for complex electromechanical systems, considering component states and dependencies between components. Firstly, the key component set in the system is determined based on the reliability measure. Considering the three coupling mechanisms of mechanical, electrical, and information, a topology network model of the system is constructed. Secondly, based on the topology network model and fault data, the calculation method of influence degree between components is proposed. Three state parameters are used to express the risk point state of each component in the system through mathematical representation, and the correlation coefficient between the risk point state parameters is calculated and measured based on the uncertainty evaluation. Then, the influence matrix between the system risk points is constructed, and the fault sequence is predicted by using the prediction function of an Artificial Neural Network (ANN) to obtain the fault propagation probability. Finally, the method is applied to the rail train braking system, which verifies that the proposed method is feasible and effective. Full article
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15 pages, 3452 KiB  
Article
A Comparative Analysis of Cross-Validation Techniques for a Smart and Lean Pick-and-Place Solution with Deep Learning
by Elven Kee, Jun Jie Chong, Zi Jie Choong and Michael Lau
Electronics 2023, 12(11), 2371; https://doi.org/10.3390/electronics12112371 - 24 May 2023
Cited by 5 | Viewed by 2184
Abstract
As one of the core applications of computer vision, object detection has become more important in scenarios requiring high accuracy but with limited computational resources such as robotics and autonomous vehicles. Object detection using machine learning running on embedded device such as Raspberry [...] Read more.
As one of the core applications of computer vision, object detection has become more important in scenarios requiring high accuracy but with limited computational resources such as robotics and autonomous vehicles. Object detection using machine learning running on embedded device such as Raspberry Pi provides the high possibility to detect any custom objects without the recalibration of camera. In this work, we developed a smart and lean object detection model for shipping containers by using the state-of-the-art deep learning TensorFlow model and deployed it to a Raspberry Pi. Using EfficientDet-Lite2, we explored the different cross-validation strategies (Hold-out and K-Fold). The experimental results show that compared with the baseline EfficientDet-Lite2 algorithm, our model improved the mean average precision (mAP) by 44.73% for the Hold-out dataset and 6.26% for K-Fold cross-validation. We achieved Average Precision (AP) of more than 80% and best detection scores of more than 93% for the Hold-out dataset. For the 5-Fold lean dataset, the results show the Average Precision across the three lightweight models are generally high as the models achieved more than 50% average precision, with YOLOv4 Tiny performing better than EfficientDet-Lite2 and Single Shot Detector (SSD) MobileNet V2 Feature Pyramid Network (FPN) 320 as a lightweight model. Full article
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25 pages, 6661 KiB  
Article
Cascade Synthesis of Observers of Mixed Variables for Flexible Joint Manipulators Tracking Systems under Parametric and External Disturbances
by Svetlana A. Krasnova, Aleksey S. Antipov, Dmitry V. Krasnov and Anton V. Utkin
Electronics 2023, 12(8), 1930; https://doi.org/10.3390/electronics12081930 - 19 Apr 2023
Cited by 3 | Viewed by 759
Abstract
This paper considers a tracking system developed for a full-actuated manipulator with flexible joints under the following assumptions: torques are control actions, and current loop dynamics are not considered; the mass-inertial characteristics of the manipulator and other parameters are not exactly known; the [...] Read more.
This paper considers a tracking system developed for a full-actuated manipulator with flexible joints under the following assumptions: torques are control actions, and current loop dynamics are not considered; the mass-inertial characteristics of the manipulator and other parameters are not exactly known; the external matched and unmatched disturbances act on the system, and matched disturbances are not smooth; the derivatives of the reference actions are achievable but are unknown functions of time; the set of sensors is not complete. Based on the representation of the control plant model in a block form of input–output with respect to mixed variables (functions of state variables, external influences and their derivatives), we have developed a combined control law for the case where the control matrix contains additive uncertain elements. In addition, we have designed the mixed variable observers of the smallest possible dimension with piecewise linear corrective actions for two cases: (i) only the generalized coordinates of the manipulator are measured; (ii) only the angular positions and velocities of the motors are measured. It is shown that in a closed-loop system with dynamic feedback, a given tracking error stabilization accuracy is provided in the conditions of incomplete information. We presented the results of numerical simulation of these algorithms for a single-link manipulator. Full article
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24 pages, 2926 KiB  
Article
High Precision Sinusoidal Position Tracking of a Voice-Coil Linear Servomotor Using Resonant Control
by Rached Dhaouadi, Mohannad Takrouri and Ishaq Hafez
Electronics 2023, 12(4), 977; https://doi.org/10.3390/electronics12040977 - 15 Feb 2023
Cited by 1 | Viewed by 1406
Abstract
This paper presents a new sinusoidal position-tracking control scheme with a resonant controller for linear motor drive systems. The sinusoidal tracking controller is designed without any added algorithm for system identification and requires only approximate values of the mechanical parameters. Therefore, the controller [...] Read more.
This paper presents a new sinusoidal position-tracking control scheme with a resonant controller for linear motor drive systems. The sinusoidal tracking controller is designed without any added algorithm for system identification and requires only approximate values of the mechanical parameters. Therefore, the controller is simple and robust to parameter variations. The proposed sinusoidal tracking resonant-based controller (STRC) is designed to track reference positions using a cascade control structure with an inner current/force control with hysteresis current control followed by a speed control loop with a resonant controller, and an outer position loop with a proportional and velocity-feedforward controller. The stability of the cascade feedback scheme and its parameter tuning are analyzed using the Routh–Hurwitz criterion. The performance of the proposed control scheme is validated using simulations and experiments on a voice-coil linear stage. The proposed STRC strategy is characterized by ease of implementation and shows excellent performance with fast response and high accuracy at different frequencies with a maximum error of 0.58% at 0.25 Hz. Full article
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13 pages, 1614 KiB  
Article
Examination of a Method for Estimating Solid Fraction at Flow Cessation from Flow Velocity of Mushy Formation Molten Alloys
by Kuiyuan Mu, Makoto Nikawa and Minoru Yamashita
Electronics 2023, 12(2), 365; https://doi.org/10.3390/electronics12020365 - 10 Jan 2023
Viewed by 971
Abstract
The purpose of this study was to experimentally estimate the solid fraction at which the cessation of the flow of a molten Al–7%Si–0.3%Mg alloy and Cu–8%Sn alloy occurs in casting. The flow cessation mechanism of two alloys is known as the “mushy” formation [...] Read more.
The purpose of this study was to experimentally estimate the solid fraction at which the cessation of the flow of a molten Al–7%Si–0.3%Mg alloy and Cu–8%Sn alloy occurs in casting. The flow cessation mechanism of two alloys is known as the “mushy” formation type, which means that the flow ceases when the solid fraction at the molten metal tip reaches a certain critical value. Therefore, the flow velocity at the molten metal tip is assumed to decrease gradually. Thus, a new method for calculating the solid fraction at flow cessation based on computer simulations was examined using experimental measurements of the flow velocity and flow length. The result of the experiment shows the experimental flow length is consistent with the simulation results, the calculated solid fraction at flow cessation. The flow velocity gradually decreased from the initial stage, but there was a region where the velocity was almost constant after the initial stage. The molten metal temperature became lower from the root side to the tip side, and the solid fraction at the time of flow cessation was calculated from the measurement results, for the Al–7%Si–0.3%Mg alloy it was 0.35–0.4 near the tip, and for the Cu–8%Sn alloy it was 0.25. Computer simulations were performed by tuning the heat transfer coefficient so that the flow length and flow velocity would match the experimental results. Computer simulations were performed by tuning the heat transfer coefficients so that the flow length and flow velocity would match the experimental results and could simulate the changes in flow velocity obtained from the experiments. The solid fraction at the tip of the molten metal was almost the same as the experimental results. These results show that it is possible to estimate the solid fraction at the flow cessation from the flow velocity at the tip. Full article
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12 pages, 2539 KiB  
Article
An Integrated Approach for the Determination of Young’s Modulus of a Cantilever Beam Using Finite Element Analysis and the Digital Image Correlation (DIC) Technique
by Tick Boon Loh, Yutong Wu, Siang Huat Goh, Kian Hau Kong, Kheng Lim Goh and Jun Jie Chong
Electronics 2022, 11(18), 2826; https://doi.org/10.3390/electronics11182826 - 7 Sep 2022
Cited by 1 | Viewed by 2611
Abstract
This paper is an extended paper from the 24th International Conference on Mechatronics Technology, ICMT 2021. The basic mechanical characteristic that gauges the stiffness of a solid material is known as the Young’s modulus. To evaluate the Young’s modulus, destructive material testing is [...] Read more.
This paper is an extended paper from the 24th International Conference on Mechatronics Technology, ICMT 2021. The basic mechanical characteristic that gauges the stiffness of a solid material is known as the Young’s modulus. To evaluate the Young’s modulus, destructive material testing is frequently used. This paper describes how to determine a material’s dynamic Young’s modulus using Digital Image Correlation (DIC) in conjunction with numerical back-analysis. Three different materials (brass, aluminum, and steel) were examined for their static and dynamic reactions. A static transverse displacement was first applied at the free end of the beam before it was released and the beam was allowed to vibrate freely. The resulting vibrations at the free end were monitored using the DIC method, following which the natural frequencies of the beam were derived by applying the Fast Fourier Transform (FFT) to the DIC measured time history. The Young’s modulus corresponding to the fundamental natural frequency of the beam was then obtained via modal back-analysis using the finite element program Ansys 2022 R1. In this way, the Young’s modulus of the material may be calculated using a combination of numerical and DIC techniques, thus allowing for the non-contact evaluation of the structural integrity without subjecting the material to destructive testing. Potential applications of this method include bridge and building assessments, and structural health monitoring (SHM). Full article
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25 pages, 6140 KiB  
Article
Energy Management Strategy for PEM Fuel Cell Hybrid Power System Considering DC Bus Voltage Regulation
by Hoai-An Trinh, Van-Du Phan, Hoai-Vu-Anh Truong and Kyoung Kwan Ahn
Electronics 2022, 11(17), 2722; https://doi.org/10.3390/electronics11172722 - 30 Aug 2022
Cited by 9 | Viewed by 2244
Abstract
Developing an energy management strategy (EMS) is an important requirement to satisfy the load power demand for a proton-exchange membrane fuel cell (PEMFC) hybrid system under different working conditions. For this objective, this paper proposes an EMS to control the power distribution between [...] Read more.
Developing an energy management strategy (EMS) is an important requirement to satisfy the load power demand for a proton-exchange membrane fuel cell (PEMFC) hybrid system under different working conditions. For this objective, this paper proposes an EMS to control the power distribution between the PEMFC, battery (BAT), and supercapacitor (SC) and regulate the DC bus voltage for matching the load power demand. In this strategy, fuzzy logic rules (FLRs) and low-pass filters (LPFs) are utilized to determine the reference currents for energy sources based on their dynamic response. In addition, current and voltage control loops are designed to provide the appropriate gains for compensators that can maintain a stable voltage on the DC bus. Finally, simulations are conducted in the MATLAB/Simulink environment to validate and compare the effectiveness of the proposed strategy with others. The simulation results present that the proposed EMS achieves the highest distributed power accuracy with an error of (2.12.6) W, while reducing the DC bus voltage ripple by 1% under various load working conditions in comparison to the other approaches. Full article
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19 pages, 8403 KiB  
Article
Adaptive Fuzzy Observer Control for Half-Car Active Suspension Systems with Prescribed Performance and Actuator Fault
by Cong Minh Ho, Cong Hung Nguyen and Kyoung Kwan Ahn
Electronics 2022, 11(11), 1733; https://doi.org/10.3390/electronics11111733 - 30 May 2022
Cited by 5 | Viewed by 1492
Abstract
In this paper, an adaptive fuzzy observer-based fault-tolerant controller is designed for a half-car active suspension system under the presence of uncertain parameters, unknown masses of passengers, and actuator failures. To improve the control performance, fuzzy logic systems (FLSs) are employed to approximate [...] Read more.
In this paper, an adaptive fuzzy observer-based fault-tolerant controller is designed for a half-car active suspension system under the presence of uncertain parameters, unknown masses of passengers, and actuator failures. To improve the control performance, fuzzy logic systems (FLSs) are employed to approximate the unknown functions caused by uncertain dynamics of the suspension system. Then, an adaptive control design is developed to compensate for the effects of a non-ideal actuator. To improve passenger comfort, both vertical and angular motions are guaranteed simultaneously under the predefined boundaries by the prescribed performance function (PPF) method. Besides, the objectives of handling stability and driving safety are also considered to enhance the suspension performance. The system stability is proved according to the Lyapunov theory. Finally, the effectiveness of the developed approach is evaluated by comparative simulation examples on the half-car model. The simulation results show that the proposed control can improve the suspension performance as the RMS acceleration value is decreased by 68.1%. Full article
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19 pages, 4705 KiB  
Article
Study on the Compact Balance Control Mechanism for Guinea Fowl Jumping Robot
by Myeongjin Kim, Bongsub Song and Dongwon Yun
Electronics 2022, 11(8), 1191; https://doi.org/10.3390/electronics11081191 - 8 Apr 2022
Viewed by 2251
Abstract
We developed a guinea fowl jumping robot with a one-axis momentum wheel mechanism with a passive hallux model. The Guinea fowl jumping robot was able to perform stable vertical jumping due to the linkage structure designed as a passive hallux model. Furthermore, we [...] Read more.
We developed a guinea fowl jumping robot with a one-axis momentum wheel mechanism with a passive hallux model. The Guinea fowl jumping robot was able to perform stable vertical jumping due to the linkage structure designed as a passive hallux model. Furthermore, we used the one-axis momentum wheel mechanism in the jumping robot for making the compact balance control mechanism that can control the body angle of the robot. Through the experiment, the conventional jumping robot uses the inertial tail to adjust the body angle in the air for stable landing and jumping. However, in the case of an inertial tail, it has a large volume and has a disadvantage in that stability is highly reduced when it collides with obstacles due to the shape of the inertial tail. Moreover, we performed a theoretical analysis, simulation, and experiment to verify the performance of the momentum wheel mechanism, and we confirmed that the passive hallux structure contributed to the jumping stability. Besides, we proved that the momentum wheel could adequately land on the ground by adjusting the body angle after vertical jumping. In addition, we demonstrated that the stability of the momentum wheel is higher than the inertial tail through collision simulation. Full article
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28 pages, 6282 KiB  
Article
Development and Real-Time Performance Evaluation of Energy Management Strategy for a Dynamic Positioning Hybrid Electric Marine Vessel
by Truong M. N. Bui, Truong Q. Dinh, James Marco and Chris Watts
Electronics 2021, 10(11), 1280; https://doi.org/10.3390/electronics10111280 - 27 May 2021
Cited by 12 | Viewed by 2675
Abstract
Hybridisation of energy sources in marine vessels has been recognized as one of the feasible solutions to improve fuel economy and achieve global emission reduction targets in the maritime sector. However, the overall performance of a hybrid vessel system is strongly dependent on [...] Read more.
Hybridisation of energy sources in marine vessels has been recognized as one of the feasible solutions to improve fuel economy and achieve global emission reduction targets in the maritime sector. However, the overall performance of a hybrid vessel system is strongly dependent on the efficiency of the energy management system (EMS) that regulates the power-flow amongst the propulsion sources and the energy storage system (ESS). This study develops a simple but production-feasible and efficient EMS for a dynamic positioning (DP) hybrid electric marine vessel (HEMV) and real-time experimental evaluation within a hardware-in-the-loop (HIL) simulation environment. To support the development and evaluation, map-based performance models of HEMVs’ key components are developed. Control logics that underpin the EMS are then designed and verified. Real-time performance evaluation to assess the performance and applicability of the proposed EMS is conducted, showing the improvement over those of the conventional control strategies. The comparison using key performance indicators (KPIs) demonstrates that the proposed EMS could achieve up to 4.8% fuel saving per voyage, while the overall system performance remains unchanged as compared to that of the conventional vessel. Full article
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12 pages, 5110 KiB  
Article
Integral Sliding Control Approach for Generalized Cyclic Pursuit Formation Maintenance
by Antoine Ansart and Jyh-Ching Juang
Electronics 2021, 10(10), 1217; https://doi.org/10.3390/electronics10101217 - 20 May 2021
Cited by 4 | Viewed by 2063
Abstract
This paper is concerned with the formation maintenance of a group of autonomous agents under generalized cyclic pursuit (GCP) law. The described pattern for agents under such formation is epicycle-like. For a network of agents to achieve such a formation, marginal stability of [...] Read more.
This paper is concerned with the formation maintenance of a group of autonomous agents under generalized cyclic pursuit (GCP) law. The described pattern for agents under such formation is epicycle-like. For a network of agents to achieve such a formation, marginal stability of the overall network is required. The desired marginal stability of the network relies on each agents’ gain values, and uncertainties in these gains can occur. Previous studies have used fixed gains, we enhance the stability of the gains via a dynamic approach using an integral sliding controller (ISC). An ISC can ensure sliding behavior of the gains throughout the entire response, and it is shown that the gains are robust toward variations and thus make the network keep its marginal stability and its formation. Full article
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19 pages, 7842 KiB  
Article
An Advanced Angular Velocity Error Prediction Horizon Self-Tuning Nonlinear Model Predictive Speed Control Strategy for PMSM System
by Yao Wei, Yanjun Wei, Yening Sun, Hanhong Qi and Mengyuan Li
Electronics 2021, 10(9), 1123; https://doi.org/10.3390/electronics10091123 - 10 May 2021
Cited by 7 | Viewed by 1827
Abstract
In nonlinear model predictive control (NMPC), higher accuracy can be obtained with a shorter prediction horizon in steady-state, better dynamics can be obtained with a longer prediction horizon in a transient state, and calculation burden is proportional to the prediction horizon which is [...] Read more.
In nonlinear model predictive control (NMPC), higher accuracy can be obtained with a shorter prediction horizon in steady-state, better dynamics can be obtained with a longer prediction horizon in a transient state, and calculation burden is proportional to the prediction horizon which is usually pre-selected as a constant according to dynamics of the system with NMPC. The minimum calculation and prediction accuracy are hard to ensure for all operating states. This can be improved by an online changing prediction horizon. A nonlinear model predictive speed control (NMPSC) with advanced angular velocity error (AAVE) prediction horizon self-tuning method has been proposed in which the prediction horizon is improved as a discrete-time integer variable and can be adjusted during each sampling period. A permanent magnet synchronous motor (PMSM) rotor position control system with the proposed strategy is accomplished. Tracking performances including rotor position Integral of Time-weighted Absolute value of the Error (ITAE), the maximal delay time, and static error are improved about 15.033%, 23.077%, and 10.294% respectively comparing with the conventional NMPSC strategy with a certain prediction horizon. Better disturbance resisting performance, lower weighting factor sensitivities, and higher servo stiffness are achieved. Simulation and experimental results are given to demonstrate the effectiveness and correctness. Full article
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