Article
Automation & Control Systems
Thong Ling Chiah, Choon Lih Hoo, Edwin Chin Yau Chung
Summary: This study proposed a robust non-switching anti-windup PI controller with semi-decoupling tuning gain, which shows faster response and no overshoot compared to conventional and other non-switching anti-windup PI controllers under certain loading conditions.
ASIAN JOURNAL OF CONTROL
(2022)
Article
Automation & Control Systems
Mizraim Martinez-Lopez, Javier Moreno-Valenzuela, Wei He
Summary: In this study, a novel Lyapunov function-based robust nonlinear proportional-integral (PI)-type controller is proposed for regulating the output voltage of a DC-DC inverting buck-boost power converter operating in continuous conduction mode (CCM). The control scheme ensures global asymptotic stability of the closed-loop system even with parameter uncertainty. The closed-loop trajectories are analyzed using the Lyapunov method and LaSalle's invariance principle. The proposed scheme demonstrates robustness to additive disturbances and provides simple gain tuning guidelines. Real-time experiments support the theoretical results, and experimental tests show that the proposed PI-type control design performs consistently well under line and load disturbances.
Article
Engineering, Electrical & Electronic
Yixin Su, Chenglong Gong, Danhong Zhang, Xin Hu
Summary: This brief proposes a simple DP control law to address the problem of surface vessels with input saturation and external disturbances. A saturation handling model and a dynamic compensation system are designed to deal with input saturation, while an exponentially convergent disturbance observer is constructed to approximate the external disturbances. In addition, a simple auxiliary control law is designed by combining the hyperbolic tangent function to guarantee the asymptotic stability of the DP closed-loop system and reduce the design complexity of the DP control law. By combining LaSalle's invariance principle, a DP system stability analysis strategy is constructed to ensure the asymptotic stability of the DP system.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2023)
Article
Automation & Control Systems
Fengjiang Wu, Shuai Fan, Suhua Luo
Summary: The bidirectional buck-boost current-fed isolated dc-dc converter has the advantages of low current stress, high efficiency, and wide power/voltage conversion range. The stability of both operation modes is ensured through parameter design and verification.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2021)
Article
Engineering, Electrical & Electronic
Yuning Bai, Sideng Hu, Zhi Yang, Zhengbin Zhu, Yongchang Zhang
Summary: The inherent limitations of the four-switch buck-boost converter in multimode control and smooth transition are analyzed in this article. A model predictive control method is proposed to achieve multimode control and smooth transition. Experimental results show the effectiveness of the method, and it improves the efficiency by 0.4% compared to traditional four-mode control.
IEEE JOURNAL OF EMERGING AND SELECTED TOPICS IN POWER ELECTRONICS
(2022)
Article
Engineering, Electrical & Electronic
Daniel Zhou, Youssef Elasser, Jaeil Baek, Minjie Chen
Summary: This article investigates reluctance-based dynamic models for multiphase coupled inductor buck converters. The authors derive a reluctance-based state-space model based on the inductance dual model of the coupled inductor and discuss the transfer functions and differential-mode current balancing mechanisms of multiphase coupled inductor buck converters. The dynamic models are verified by SPICE simulations and experimental results.
IEEE TRANSACTIONS ON POWER ELECTRONICS
(2022)
Article
Engineering, Electrical & Electronic
Niraj Rana, Santosh Sonar, Subrata Banerjee
Summary: In this work, the performance of a closed-loop dual phase Interleaved Buck-Boost converter controlled by Dragonfly Algorithm optimized Type-III compensator was investigated. The results show that the closed-loop IBBC with DA optimized Type-III controller outperforms the conventional Buck-Boost converter and IBBC with classical Type-III controller in terms of dynamic performance, efficiency, ripple in source current, and output voltage.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Engineering, Multidisciplinary
Shivam Chaturvedi, Deepak Fulwani
Summary: The proposed secondary controller based on ISMC adjusts the voltage reference and reduces uncertainties in the communicated data. Additionally, a sliding mode control based primary controller is proposed to regulate voltage during load transients and node plug-in and out.
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS
(2021)
Article
Automation & Control Systems
Shuichi Yahagi, Itsuro Kajiwara
Summary: This study proposes a direct tuning method based on a fictitious reference signal to achieve BIBO stability and model matching in controller parameter adjustment. By conducting only one experiment and utilizing measured data, effective control parameters for the system can be obtained without the need for repeated trials.
MEASUREMENT & CONTROL
(2021)
Article
Automation & Control Systems
Raul Rascon, Javier Moreno-Valenzuela
IET CONTROL THEORY AND APPLICATIONS
(2020)
Article
Computer Science, Artificial Intelligence
Jorge Montoya-Chairez, Fracisco G. Rossomando, Ricardo Carelli, Victor Santibanez, Javier Moreno-Valenzuela
Summary: Radial basis function (RBF) neural networks are effective in control systems for learning processes and resisting disturbances, making them suitable for robust trajectory tracking control of complex underactuated mechanical systems. This document presents a new method using an adaptive neural network with RBF to solve the problem of trajectory tracking of an underactuated control moment gyroscope, achieving convergence of trajectory tracking error to zero and bounded internal dynamics solutions. Experimental comparisons validate the proposed method against model-based controllers, cascade PID schemes, regressor-based controllers, and previously studied adaptive neural network-based controllers.
NEURAL COMPUTING & APPLICATIONS
(2021)
Article
Chemistry, Multidisciplinary
Xiaoyu Zhang, Mizraim Martinez-Lopez, Wei He, Yukai Shang, Chen Jiang, Javier Moreno-Valenzuela
Summary: This paper addresses the sensorless control problem of DC-DC boost converters by proposing a PI-PBC control method and a GPEBO observer. By utilizing these methods, a sensorless controller is developed, ensuring the exponential convergence of the overall closed-loop system.
APPLIED SCIENCES-BASEL
(2021)
Article
Automation & Control Systems
Jesus Sandoval, Jeronimo Moyron, Rafael Kelly, Victor Santibanez, Javier Moreno-Valenzuela
Summary: This paper addresses the energy regulation of a torque-driven vertical inertia wheel pendulum, which allows for oscillatory motion of the non-actuated pendulum around its upright position through the motion of the actuated inertia wheel. The proposed energy regulator is capable of inducing oscillations of the pendulum with a user-specified desired amplitude, achieving locally asymptotically an oscillatory motion of the pendulum around its upright position. Simulation and experimental results demonstrate the performance of the proposed controller on a torque-driven inertia wheel pendulum.
CONTROL ENGINEERING PRACTICE
(2021)
Article
Automation & Control Systems
Jorge Montoya-Chairez, Javier Moreno-Valenzuela, Victor Santibanez, Ricardo Carelli, Fracisco G. Rossomando, Ricardo Perez-Alcocer
Summary: A novel adaptive controller for flexible joint robots is proposed based on the input-output feedback linearization approach in this work. The controller is developed using adaptive neural network and dynamic regressor to stabilize the output function and define the desired rotor position, ensuring the differentiability of the controller.
IET CONTROL THEORY AND APPLICATIONS
(2022)
Article
Automation & Control Systems
Javier Moreno-Valenzuel, Luis Gonzalo Montoya-Villegas, Ricardo Perez-Alcocer, Raul Rascon
Summary: In this paper, a saturated proportional-integral (PI)-type controller for unicycle-type wheeled mobile robots (UWMRs) is designed, which is robust to external disturbances and keeps the control within admissible limits. Experimental results show that the proposed PI-type controller achieves the best trajectory tracking performance with bounded control action.
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
(2022)
Article
Automation & Control Systems
Mizraim Martinez-Lopez, Javier Moreno-Valenzuela, Wei He
Summary: In this study, a novel Lyapunov function-based robust nonlinear proportional-integral (PI)-type controller is proposed for regulating the output voltage of a DC-DC inverting buck-boost power converter operating in continuous conduction mode (CCM). The control scheme ensures global asymptotic stability of the closed-loop system even with parameter uncertainty. The closed-loop trajectories are analyzed using the Lyapunov method and LaSalle's invariance principle. The proposed scheme demonstrates robustness to additive disturbances and provides simple gain tuning guidelines. Real-time experiments support the theoretical results, and experimental tests show that the proposed PI-type control design performs consistently well under line and load disturbances.
Article
Engineering, Electrical & Electronic
J. Moreno-Valenzuela
Summary: This paper proposes a proportional plus limited integrator anti-windup (P+LIAW) scheme for constrained trajectory tracking control of mobile robots. A Lyapunov stability analysis is provided for the P+LIAW approach in trajectory tracking control of a mobile robot for the first time.
IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS
(2022)
Article
Automation & Control Systems
Javier Moreno-Valenzuela, Jeronimo Moyron, Mizraim Martinez-Lopez, Marco Jimenez-Quiroz
Summary: This manuscript addresses the regulation of one degree-of-freedom Euler-Lagrange systems subject to input saturation. It presents the design and analysis of a nonlinear static state feedback controller. The results show that the closed-loop equilibrium point is globally asymptotically stable with a strict Lyapunov function using Lyapunov's direct method. The proposed control law is unconstrained and can be simplified to a proportional-derivative with desired gravity compensation algorithm.
INTERNATIONAL JOURNAL OF CONTROL
(2023)
Article
Engineering, Aerospace
Ivan Lopez-Sanchez, Jeronimo Moyron, Javier Moreno-Valenzuela
Summary: This manuscript introduces a novel adaptive neural network-based controller for trajectory tracking of quadrotors. The controller is designed as an outer loop controller interacting with an inner loop controller in a two-loop configuration, ensuring robustness and convergence.
AEROSPACE SCIENCE AND TECHNOLOGY
(2022)
Article
Engineering, Mechanical
Jorge Villalobos-Chin, Jesus Sandoval, Rafael Kelly, Victor Santibanez, Javier Moreno-Valenzuela
Summary: This paper presents a novel approach to generating desired periodic motions for torque-driven fully actuated mechanical systems. The approach utilizes energy shaping plus damping injection and allows the user to specify a periodic motion with a time-varying offset. The stability of the closed-loop system is analyzed using LaSalle's Theorem and the Poincare-Bendixson criterion.
NONLINEAR DYNAMICS
(2022)
Article
Automation & Control Systems
Jeronimo Moyron, Javier Moreno-Valenzuela, Jesus Sandoval
Summary: This document discusses the important subject of the local or global asymptotic stability of the closed-loop system equilibrium point in the position control of robot manipulators, particularly when an integral action is added to the control loop. While global nonlinear proportional-integral-derivative (PID) controllers have been introduced for rigid joint robot manipulators, it is much more challenging to design and analyze such controllers for flexible joint robot manipulators, with only local asymptotic stability results reported. Thus, a novel global regulator for flexible joint robots is presented here, which considers a nonlinear integral action and uses a estimator subsystem to replace motor velocity measurements. The proposed nonlinear PID-type controller establishes conditions on the controller gains based on closed-loop system analysis, leading to global asymptotic stability. Experimental results on a two degrees-of-freedom serial flexible joint robot are also presented and discussed.
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
(2023)
Article
Automation & Control Systems
Jesus Sandoval, Luis Cervantes-Perez, Victor Santibanez, Javier Moreno-Valenzuela, Rafael Kelly
Summary: This paper presents a controller for joint position tracking of torque-driven robot manipulators affected by torque disturbances. The proposed approach achieves global exponential stability of the closed-loop system under constant disturbances and proves the boundedness of trajectories under time-varying disturbances. The control law and nonlinear observer based on an alternative energy shaping approach contribute to the compensation of unknown disturbances. The stability analysis based on Lyapunov theory and input-to-state stability is also provided. Real-time experiments on a manipulator arm demonstrate the performance of the proposed controller.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Engineering, Electrical & Electronic
Carlos Aguilar-Ibanez, Manuel A. Jimenez-Lizarraga, Isaac Gandarilla-Esparza, Javier Moreno-Valenzuela, Belem Saldivar, Miguel S. Suarez-Castanon, Jose de Jesus Rubio
Summary: This paper presents a design of a nonlinear observer for a rotatory machine with noise-affected output. The proposed observer reformulates the original linear model as a nonlinear system to incorporate the desired signals to be estimated, leveraging the algebraic state-dependent Riccati equation for robust estimation. Lyapunov analysis guarantees convergence of the estimation error. The effectiveness of the observer is validated through numerical simulations and real-time experiments.
Article
Computer Science, Information Systems
Ricardo Perez-Alcocer, Luis Gonzalo Montoya-Villegas, Angel Eduardo Lopez-Martinez, Javier Moreno-Valenzuela
Summary: The novel saturated visual control strategy for nonholonomic mobile robots presented focuses on the stabilization problem, using saturation bounds for control actions to avoid exceeding physical restrictions of the actuators. Analysis using the theory of non-autonomous cascade systems ensures global uniform asymptotic stability, with experimental validation showing the effectiveness of the approach.
