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Position Control of Flexible Joint Carts Using Adaptive Generalized Dynamics Inversion

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Computers, Materials & Continua 2022年第3期70卷 4691-4705页

作者： Ibrahim M.Mehedi Mohd Heidir Mohd Shah Soon Xin Ng abdulah jeza aljohani Mohammed El-Hajjar Muhammad Moinuddin Department of Electrical and Computer Engineering(ECE) King Abdulaziz UniversityJeddah21589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddah21589Saudi Arabia Next Generation Wireless Research Group University of SouthamptonUK

This paper presents the design and implementation of Adaptive Generalized Dynamic Inversion(AGDI)to track the position of a Linear Flexible Joint Cart(LFJC)system along with vibration suppression of the flexible *** proposed AGDI control law will be comprised of two control *** baseline(continuous)control law is based on principle of conventional GDI approach and is established by prescribing the constraint dynamics of controlled state variables that reflect the control *** control law is realized by inverting the prescribed dynamics using dynamically scaledMoore-Penrose generalized *** boost the robust attributes against system nonlinearities,parametric uncertainties and external perturbations,a discontinuous control law will be augmented which is based on the concept of sliding mode *** discontinuous control law,the sliding mode gain is made adaptive in order to achieve improved tracking performance and chattering *** closed-loop stability of resultant control law is established by introducing a positive define Lyapunov candidate function such that semi-global asymptotic attitude tracking of LFJC system is *** computer simulations followed by experimental investigation will be performed on Quanser’s LFJC system to authenticate the feasibility of proposed control approach for its application to real world problems.

关键词： Adaptive control generalized dynamic inversion moore-penrose generalized inverse sliding mode control lyapunov stability semi-global asymptotic stability

Intelligent Dynamic Inversion Controller Design for Ball and Beam System

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Computers, Materials & Continua 2022年第8期72卷 2341-2355页

作者： Ibrahim M.Mehedi abdulah jeza aljohani Md Mottahir Alam Mohamed Mahmoud Mohammed J.Abdulaal Muhammad Bilal Waleed Alasmary Department of Electrical and Computer Engineering(ECE) King Abdulaziz UniversityJeddah21589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddah21589Saudi Arabia Electrical and Computer Engineering Electrical and Computer EngineeringTN38505United States Computer and Information Systems Umm Al-Qura UniversityMakkahSaudi Arabia

The Ball and beam system(BBS)is an attractive laboratory experimental tool because of its inherent nonlinear and open-loop unstable *** an effective ball and beam system controller is a real challenge for researchers and *** this paper,the control design technique is investigated by using Intelligent Dynamic Inversion(IDI)method for this nonlinear and unstable *** proposed control law is an enhanced version of conventional Dynamic Inversion control incorporating an intelligent control element in *** Moore-PenroseGeneralized Inverse(MPGI)is used to invert the prescribed constraint dynamics to realize the baseline control law.A sliding mode-based intelligent control element is further augmented with the baseline control to enhance the robustness against uncertainties,nonlinearities,and external *** semi-global asymptotic stability of IDI control is guaranteed in the sense of *** simulations and laboratory experiments are carried out on this ball and beam physical system to analyze the effectiveness of the *** addition to that,comparative analysis of RGDI control with classical Linear Quadratic Regulator and Fractional Order Controller are also presented on the experimental test bench.

关键词： Ball and beam system(BBS) unstable system internal model PD controllers IDI control robust control

Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System

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Computers, Materials & Continua 2022年第3期70卷 5133-5142页

作者： Ibrahim M.Mehedi Rachid Mansouri Ubaid M.Al-Saggaf Ahmed I.M.Iskanderani Maamar Bettayeb abdulah jeza aljohani Thangam Palaniswamy Shaikh Abdul Latif Abdul Latif Department of Electrical and Computer Engineering(ECE) King Abdulaziz UniversityJeddah21589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz UniversityJeddah21589Saudi Arabia L2CSP Laboratory Mouloud Mammeri UniversityTizi OuzouAlgeria Electrical&Computer Engineering Department University of SharjahUnited Arab Emirates Department of Nuclear Engineering King Abdulaziz UniversityJeddah21589Saudi Arabia Department of Mathematics King Abdulaziz UniversityJeddah21589Saudi Arabia

A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this *** this control scheme,the performance against disturbances,uncertainties,and attenuation is *** active disturbance rejection control(LADRC)is mainly based on an extended state observer(ESO)technology.A fractional integral(FOI)action is combined with the LADRC technique which proposes a hybrid control scheme like *** this FOI action improves the robustness of the standard *** set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function(BITF)based robust closed-loop concept,an appropriate pole placement *** effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system(LFJS).The results show the enhancement of the robustness with disturbance ***,a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.

关键词： Active disturbance rejection fractional calculus ADRC pole placement linear flexible joint system robust control

Control of Linear Servo Carts with Integral-Based Disturbance Rejection

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Computers, Materials & Continua 2022年第10期73卷 453-463页

作者： Ibrahim M.Mehedi abdulah jeza aljohani Ubaid M.Al-Saggaf Ahmed I.Iskanderani Thangam Palaniswamy Mohamed Mahmoud Mohammed J.Abdulaal Muhammad Bilal Waleed Alasmary Department of Electrical and Computer Engineering(ECE) King Abdulaziz University5521589Saudi Arabia Center of Excellence in Intelligent Engineering Systems(CEIES) King Abdulaziz University6521589Saudi Arabia Electrical and Computer Engineering TN38505United States Computer and Information Systems Umm Al-Qura UniversityMakkahSaudi Arabia

This paper describes a system designed for linear servo cart systems that employs an integral-based Linear Active Disturbance Rejection Control(ILADRC)scheme to detect and respond to *** upgrade in this control technique provides extensive immunity to uncertainties,attenuation,internal disturbances,and external sources of *** fundamental technology base of LADRC is Extended State Observer(ESO).LADRC,when combined with Integral action,becomes a hybrid control technique,namely *** tracking is based on Bode’s Ideal Transfer Function(BITF)in this proposed ILADRC *** proves to be a very robust and appropriate pole placement *** proposed LSC system has experimented with the hybrid ILADRC technique plotted the *** the results,it is evident that the proposed ILADRC scheme enhances the robustness of the LSC system with remarkable disturbance ***,the results of a linear quadratic regulator(LQR)and ILADRC schemes are comparatively *** analysis deduced the improved performance of ILADRC over the LQR control scheme.

关键词： Pole placement ADRC Active disturbance rejection robust control linear servo cart system