The book presents recent applications and developments in the field of control of industrial systems, covering a wide range of modeling and feedback control using various robust approaches such as fuzzy systems, sliding mode control, and H-infinity. This book provides insights into theory, applications, and perspectives relevant to the field of robotic systems, exoskeletons, power systems, photovoltaic systems, etc., as well as general methodologies and paradigms around them. Each chapter provides an enriched understanding of a research topic along with a balanced treatment of the relevant theories, methods, or applications. It reports on the latest advances in the field. This book is a good reference for graduate students, researchers, educators, engineers, and scientists and contains a total of 15 chapters divided into five parts as follows. The first part of this book focuses on the application of fuzzy control to robotic systems and consists of three chapters. The second part of this book proposes the control of lower and upper limb exoskeletons and includes two chapters. The third part is dedicated to the control of power systems and comprises three chapters. The fourth part deals with various approaches to the modeling and control of industrial processes and comprises four chapters. The fifth and final part describes observers and fault-tolerant control systems and comprises five chapters.
Author(s): Nabil Derbel, Ahmed Said Nouri, Quanmin Zhu
Series: Studies in Systems, Decision and Control
Publisher: CRC Press
Year: 1940
Language: English
Pages: 629
Preface
Contents
An Integrated Exoskeleton-Upper Limb System: Modeling, Control, Stability Study and Robustness Analysis
1 Introduction
2 Modelling of the Integrated Exoskeleton-Upper Limb System
2.1 Human Upper Limb Anatomy
2.2 Modeling of the Integrated Exoskeleton-Upper Limb System
3 Control of the Integrated Exoskeleton-Upper Limb System
3.1 Control Strategy
3.2 Model Free Terminal Sliding Mode with Gravity Compensation (MFTSMGC)
4 Input-to-State Stability of the Integrated Exoskeleton-Upper Limb System
4.1 Preliminary
4.2 ISS Application to the Integrated Exoskeleton-Upper Limb System
5 Robustness Analysis
5.1 Disturbances and Parametric Uncertainties
6 Monte Carlo Analysis
7 Simulation and Results
8 Conclusion
References
Control of Lower Limb Rehabilitation Exoskeleton for Stroke Patients in Contact Environments
1 Introduction
2 Modeling of Lower Limb Rehabilitation Exoskeleton
2.1 Phases of Human Gait Cycle
3 Modeling of Lower Limb Rehabilitation Exoskeleton in Free Motion
3.1 Modeling of Lower Limb Exoskeleton in Constraint Motion
4 Proposed Control Solution
4.1 Classical Computed Torque Controller (CTC)
4.2 Robust Computed Torque Controller (RCTC)
5 Simulation Results
6 Conclusion
References
SOS-Based Robust Control Design Subject to Actuator Saturation for Maximum Power Point Tracking of Photovoltaic System
1 Introduction
2 PV System Modelling
2.1 Mathematical Modeling of PV Panel
2.2 Boost Converter Modeling
2.3 Reference Model
3 T-S Fuzzy Modeling
3.1 Sector Nonlinearity
3.2 TS Fuzzy Model of PV-Boost System
3.3 TS Fuzzy Model of Reference System
4 script upper H Subscript normal infinitymathcalHinfty Tracking Control Design Under Input Constraint
4.1 Actuator Saturation
5 LMI-Based Robust Control Design
5.1 Analysis and Reduction Techniques
5.2 Robust PDC Control Design for PV System
5.3 Robust SOF Control Design for PV System
6 SOS-Based Robust Control Design
6.1 Polynomial Fuzzy Model
6.2 Polynomial Model of the PV System
6.3 Sum of Squares
6.4 Robust PSF Control Design
6.5 Robust PSOF Control Design
7 Simulation
8 Conclusion
References
Nonlinear Optimal Control for Residential Microgrids with Wind Generators, Fuel Cells and PVs
1 Introduction
2 Dynamic Model of the Hybrid Residential Microgrid
2.1 The Components of the Residential Microgrid
2.2 State-Space Description of the Hybrid Residential Microgrid
2.3 A Concise Description of the PEM Fuel Cells' Dynamics
2.4 Dynamic Model of the Hybrid Residential Microgrid in Matrix Form
3 Approximate Linearization of the Dynamics of the Residential Microgrid
3.1 The Linearized State-Space Model of the Microgrid
3.2 Computation of Jacobian Matrices
3.3 Stabilizing Feedback Control
4 Lyapunov Stability Analysis
4.1 Stability Proof
4.2 Robust State Estimation with the Use of the ps: [/EMC pdfmark [/objdef Equ /Subtype /Span /ActualText (upper H Subscript normal infinity) /StPNE pdfmark [/StBMC pdfmarkto.ps: [/EMC pdfmark [/Artifact <> /BDC pdfmark Hinftyps: [/EMC pdfmark [/StBMC pdfmark ps: [/EMC pdfmark [/StPop pdfmark [/StBMC pdfmark Kalman Filter
5 Differential Flatness Properties of the Hybrid Residential Microgrid
6 Simulation Tests
7 Conclusions
References
Nonlinear Optimal Control for VSI-fed Three-phase Asynchronous Motors
1 Introduction
2 Dynamic Model of the Induction Motor
2.1 Mathematical Model of the Induction Motor
2.2 Field Orientation
3 Dynamic Model of the Three-phase Voltage Source Inverter
4 Dynamic Model of the VSI-fed Induction Motor
4.1 State-space Description of the VSI-fed Induction Motor
4.2 Proof of Differential Flatness Properties of the VSI-fed Induction Motor
5 Linearization and Control of the VSI-fed Induction Motor
5.1 Linearized Model of the Induction Motor
5.2 Stabilizing Feedback Control
6 Lyapunov Stability Analysis
6.1 Global Stability Proof
6.2 Robust State Estimation with Kalman Filtering
7 Simulation Tests
8 Conclusions
References
Photovoltaic Energy Fed DC Motor for Water Pump
1 Introduction
2 Photovoltaic Pumping System
2.1 Design of PV Array and MPPT Approach
2.2 Modeling of Direct Current Motor
2.3 Modelling of Centrifugal Pump
3 Simulation Results and Discussions
4 Conclusion
References
A Robust Linear Feedback Control of PEMFC's Air Feed System
1 Introduction
2 Dynamic Modelling
2.1 Cathode Flow
2.2 Air Compressor
2.3 Supply Manifold
2.4 Full State Space Model
3 Fuel Cell Air Feed System Control
3.1 System Linearization
3.2 Linear Feedback Control
4 Simulation Result
5 Conclusion
References
Robust Saturated Control Based Static Output Feedback for Steering Control of the Autonomous Vehicle via Non Quadratic Lyapunov Function
1 Introduction
2 Notation
3 System Modeling
3.1 Vehicle Movements
3.2 Basic Principle of Autonomous Vehicle Control
3.3 Nonlinear Model of the Lateral Dynamics of a Vehicle
3.4 Bicycle Model: Structure and Hypotheses
3.5 Lane Keeping Dynamics
4 System Control Model
5 Takagi-Sugeno Fuzzy Model of Vehicle Lateral Dynamics
6 T-S Multi-model Validation
7 Reduction in the Number of Local Models
8 Robust upper H Subscript normal infinity Hinfty Static Output Feedback Stabilization
8.1 Simulation Results
9 Robust Saturated Nonlinear Output Feedback Control (SOF)
9.1 Saturated Effect Modeling
9.2 Simulation Results
10 Conclusion
References
Robust Constrained Gain-Scheduled Static Output Feedback Controller for NLPV Descriptor Systems Subject to State and Input Constraints
1 Introduction
2 System Modeling
3 Polytopic LPV System Descriptions
4 LMI Based Gain-Scheduled SOF Controller
5 Illustrative Examples
6 Conclusion
References
A Constrained Optimal Control Strategy for Switched Nonlinear Systems Based on Metaheuristic Algorithms
1 Introduction
2 Switched Nonlinear Systems: Problem Formulation
3 Constrained Optimal Control for Switched Nonlinear Systems
4 Overview: Metaheuristic Algorithms
4.1 Genetic algorithm
4.2 Particle Swarm Optimization
4.3 Cuckoo Search
4.4 Crow Search Algorithm
5 Optimal Control for Switched Nonlinear Systems: Proposed Optimization Algorithms
5.1 Proposed Genetic Algorithm
5.2 Proposed PSO Algorithm
5.3 Proposed Cuckoo Search Algorithm
5.4 Proposed Crow Search Algorithm
6 Illustrative Example
7 Conclusions
References
Robustness Analysis of a Discrete Integral Sliding Mode Controller for DC-DC Buck Converter Using Input-Output Measurement
1 Introduction
2 Mathematical Model of the DC-DC Buck Converter
3 Discrete-Time Integral Sliding Mode Control Using Input-Output Model
4 Simulation Results
5 Conclusion
References
Fault Tolerant Control for Uncertain Neutral Time-Delay System
1 Introduction
2 Preliminaries
3 Uncertain Neutral Time-Delay System with Not Delayed Input
3.1 Fault Detection
3.2 Fault Estimation
4 Uncertain Neutral Time-Delay Systems with Delayed Input
4.1 Robust Stabilization
4.2 Fault Compensation
5 Obtained Results
6 Conclusion
References
Observability Bound of Discrete-Time Linear Multivariable Singularly Perturbed System
1 Introduction
2 System Description
3 Preliminary
4 Stability Bound Analysis
5 Observability Bound Analysis
6 Numerical Example
7 Conclusion
References
Type-1 and Type-2 Fuzzy Techniques: Application to Robotic Systems
1 Introduction
2 Type-1 and Type-2 Fuzzy Logic Systems
2.1 Type-1 and Type-2 Fuzzy Sets
2.2 Type-1 and Type-2 Fuzzy Logic Controllers
3 Model of the Wheeled Mobile Robot
3.1 Coordinate Systems
3.2 Mobile Robot Parameters
4 Proposed Type-1 and Type-2 Robot Behaviours
4.1 Goal Seeking Task (GS)
4.2 Obstacle Avoidance Task (OA)
4.3 Wall-Following Task (WF)
5 Simulation Results
5.1 Results of the Goal Seeking Behavior
5.2 Results of the Obstacle Avoidance Behaviour
5.3 Results of the Wall-Following Behaviour
6 Conclusion
References
Design of Interval Type 2 Fuzzy Adaptive Sliding Mode Control
1 Introduction
2 Problem Formulation
3 Proposed Control Synthesis
4 Simulation Results
5 Conclusion
References
Robust Nonfragile Control Strategies for Bilinear Uncertain Fuzzy Systems Based on Proportional PDC Approach
1 Introduction
2 Problem Formulation and Preliminaries
3 Robust Nonfragile Stabilization Problem
4 Robust Nonfragile Tracking Control Design
5 Illustrative Example
5.1 Mathematical Model
5.2 Stabilization Result
5.3 Tracking Result
6 Conclusion
References
