scholarly journals Experimental Results on Actuator/Sensor Failures in Adaptive GPC Position Control

Actuators ◽  
2021 ◽  
Vol 10 (3) ◽  
pp. 43
Author(s):  
Dariusz Horla

This work relates to the reliable generalized predictive control issues in the case when actuator or sensor failures take place. The experimental results that form the basis from which the conclusions are drawn from have been obtained in the position control of a servo drive task, and extend the results from the prior research of the author, dedicated to velocity control problems. On the basis of numerous experiments, it has been shown which configuration of prediction horizons is most advantageous from the control performance viewpoint in the adaptive generalized predictive control framework, to cope with the latter failures, and related to a minimum performance deterioration in comparison with the nominal, i.e., failure-free, case. This case study is the main novelty of the presented work, as the other papers available in the field rather focus on additional modifications of the predictive control framework, and not leaving possible room for optimization/alteration of prediction horizons’ values. The results are shown on the basis of the experiments conducted on the laboratory stand with the Modular Servo System of Inteco connected to a mechanical backlash module to cause actuator/sensor failure-like behavior, and with a magnetic brake module to show the performance in the case of an unexpected load.

Author(s):  
Antonio B. S. Junior ◽  
Francisco G. Sena ◽  
Bismark C. Torrico ◽  
Luiz H. S. C. Barreto ◽  
Samuel V. Dias ◽  
...  

2000 ◽  
Author(s):  
S. He ◽  
N. Sepehri

Abstract In this paper, multilayer feedforward neural networks (NNs) are used for modeling and force control of a hydraulic actuator. The predictability of the instantaneous linearized neural model is examined and is used along with the generalized predictive control (GPC) algorithm to control the force exerted on the environment. Experimental results show that the neural-based generalized predictive control can handle different contact environments despite high nonlinearity and uncertainty in the hydraulic functions.


2018 ◽  
Vol 198 ◽  
pp. 04007 ◽  
Author(s):  
Agus Ramelan ◽  
Arief Syaichu Rohman ◽  
Allen Kelana

This paper presents an implementation embedded system for position control of Permanent Magnet Synchronous Motor (PMSM). The control system consists of raspberry pi 3 as a microcontroller, ASDA-A2 servo drive, and Delta Servo ECMA type. The software design includes simulation tool and Python included on Raspbian OS. Communication between Raspberry Pi 3 and ASDA-A2 drivers using the ASCII Modbus communication protocol. Raspberry Pi 3 processes the reference data and the actual reading result and calculates the resulting error. The control algorithm used in this research is Model Predictive Control (MPC). As a Linear Quadratic Regulator, MPC aims to design and generate an optimal control signal with the ability to anticipate saturation, receding horizon, future event and take control accordingly In the design of the MPC technique to adjust the speed of the PMSM to take action of reference tracking, performance index optimization is done by adjusting the value of weighting horizon N, Q and R. The simulation and implementation results showed that the PMSM can reach the stability point on each desired setpoint and result in a near-zero steady-state error.


Author(s):  
Bo Yu ◽  
Yang Shi ◽  
Ji Huang

This paper is concerned with the design of networked control systems using the modified generalized predictive control (M-GPC) method. Both sensor-to-controller (S-C) and controller-to-actuator (C-A) network-induced delays are modeled by two Markov chains. M-GPC uses the available output and prediction control information at the controller node to obtain the future control sequences. Different from the conventional generalized predictive control in which only the first element in control sequences is used, M-GPC employs the whole control sequences to compensate for the time delays in S-C and C-A links. The closed-loop system is further formulated as a special jump linear system. The sufficient and necessary condition to guarantee the stochastic stability is derived. Simulation studies and experimental tests for an experimental hydraulic position control system are presented to verify the effectiveness of the proposed method.


2015 ◽  
Vol 97 (3) ◽  
pp. 195-204 ◽  
Author(s):  
Wellington A. Silva ◽  
Antonio B. S. Junior ◽  
Bismark C. Torrico ◽  
Dalton A. Honório ◽  
Tobias R. Fernandes Neto ◽  
...  

Robotica ◽  
2018 ◽  
Vol 36 (9) ◽  
pp. 1363-1385 ◽  
Author(s):  
José Luis Mendoza-Soto ◽  
Luis Alvarez-Icaza ◽  
H. Rodríguez-Cortés

SUMMARYThis work proposes a strategy for position control and obstacle avoidance in a quadcopter based on constrained generalized predictive control and geometric attitude control. The approach allows real-time trajectory tracking using optimal control actions and avoids collisions with static obstacles whose position is known. An experimental validation of the proposed controller is presented.


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