Design and Instrumentation of a Benchmark Multivariable Nonlinear Control Laboratory
The purpose of this paper is to present the design and
instrumentation of a new benchmark multivariable nonlinear control
laboratory. The mathematical model of this system may be used to
test the applicability and performance of various nonlinear control
procedures. The system is a two degree-of-freedom robotic arm with
soft and hard (discontinuous) nonlinear terms. Two novel
mechanisms are designed to allow the implementation of adjustable
Coulomb friction and backlash.
[1] J. J. Slotine, and W. Li, Applied Nonlinear Control, Prentice Hall,
Englewood Cliffs, New Jersey, 1991.
[2] V. Utkin, J. Guldner, J. Shi, J., Sliding Mode Control in
Electromechanical Systems," CRC Press: Boca Raton, Florida, USA,
1999.
[3] L. R. Hunt, R. Su, and G. Meyer, "Global transformation of nonlinear
systems," IEEE Transactions on Automatic Control, 1987, v. 28, no. 1,
pp. 24-30.
[4] C. Elmas, O. Ustun, and H. H. Sayan, "A neuro-fuzzy controller for
speed control of a permanent magnet synchronous motor drive," Expert
Systems with Applications, 2008, vol. 34, Issue 1, pp. 657-664.
[5] J-S Lin, M-L Hung, J-J Yan, and T-L Liao, "Decentralized control for
synchronization of delayed neural networks subject to dead-zone
nonlinearity," Nonlinear Analysis: Theory, Methods &
Applications, 2007, vol. 67, Issue 6, pp. 1980-1987.
[6] R. Xu, and U. Ozguner, "Sliding mode control of a class of
underactuated systems," Automatica, 2008, v. 44, pp. 233-241.
[7] J. H. Taylor, "A systematic nonlinear controller design approach based
on qusailinear models," Proceedings of American Control Conference,
San Francisco, CA, 1983, pp. 141-145.
[8] J. H. Taylor and K. L. Strobel, "Nonlinear control system design based
on quasilinear system models," American Control Conference, Boston,
MA, 1985, pp. 1242-1247.
[9] J. H. Taylor and J. R. O-Donnell, "Synthesis of nonlinear controllers
with rate feedback via sinusoidal input describing function methods," in
Proc. American Control Conference, San Diego, 1990, pp. 2217-2222.
[10] A. Nassirharand, and H. Karimi, "Nonlinear controller synthesis based
on inverse describing function technique in the MATLAB environment,"
Advances in Engineering Software, 2006, v. 37, no. 6, pp. 370-374.
[11] A. Nassirharand, "Nonlinear controller synthesis for SIMO systems with
application to cruise missile," ASCE Journal of Aerospace Engineering,
accepted.
[12] A. Nassirharand, and H. Karimi, "Controller synthesis methodology for
multivariable nonlinear systems with application to aerospace," ASME
J. of Dynamic Systems, Measurement, and Control, 2004, v. 126, pp.
598-607.
[13] A. Nassirharand, S. A. Housseini, "Tracking and decoupling of
multivariable nonlinear systems," International Journal of Modelling,
Identification, and Control, 2009, v. 6, no. 4, pp. 341-348.
[14] G. Song, and A. Song, "A Novel Distributed Architecture for Building
Web-Enabled Remote Robotic Laboratories," IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2005.
[15] J. Hauser, S. Sastry, P. Kokotovic, "Nonlinear Control Via Approximate
Input-Output Linearization: The Ball and Beam Example," IEEE
Transactions on Automatic Control, 1992, vol. 37, no.3, pp. 392 - 398.
[16] M. López-Martínez, M.G. Ortega, C. Vivas, F.R. Rubio, "Nonlinear L2
control of a laboratory helicopter with variable speed rotors,"
ScienceDirect Automatica, 2007, 43, pp. 655 - 661.
[17] P. Horάček, "Laboratory experiments for control theory courses: A
survey," Annual Reviews in Control, 2000, vol. 24, pp. 151 - 162.
[18] Alberto Leva, "A simple and flexible experimental laboratory for
automatic control courses," Control Engineering Practice, 2004, vol. 14,
pp. 167 - 176.
[19] K. Yeung, and J. Huang, "Development of a remote-access laboratory: a
dc motor control experiment," Computers in industry, 2003, vol. 52, pp.
305 - 311.
[20] C. Chandrasekara, and A. Davari, "Experiments for the undergraduate
control laboratory," Proceedings of the Thirty-Sixth Southeastern
Symposium on System Theory, 2004, pp. 488 - 491.
[21] A. Davari, and D. Shen, "Simple and inexpensive control laboratory,"
Proceedings of the Twenty-Ninth Southeastern Symposium on System
Theory, 1997, pp. 145 - 147.
[22] A. Zilouchian, "A novel intelligent control laboratory for undergraduate
students in engineering," Proceedings of the American Control
Conference, 2003, vol.1, pp. 633 - 638.
[23] R. Paul, Robot Manipulators: Mathematics, Programming, and Control,
The MIT Press, Massachusetts, 1981.
[24] M. F. Ashby, "Materials Selection in Mechanical Design" 2nd Ed,
Butterworth-Heinemann, 1999.
[25] J. M. Gere, "Mechanics of Materials," 6th Ed, Brooks/Cole - Thompson
Learning, 2004
[26] A. P. Boresi, and R. J. Schmidt, "Advanced Mechanics of Materials,"
6th Ed, John Wiley & Sons, Inc, 2003
[1] J. J. Slotine, and W. Li, Applied Nonlinear Control, Prentice Hall,
Englewood Cliffs, New Jersey, 1991.
[2] V. Utkin, J. Guldner, J. Shi, J., Sliding Mode Control in
Electromechanical Systems," CRC Press: Boca Raton, Florida, USA,
1999.
[3] L. R. Hunt, R. Su, and G. Meyer, "Global transformation of nonlinear
systems," IEEE Transactions on Automatic Control, 1987, v. 28, no. 1,
pp. 24-30.
[4] C. Elmas, O. Ustun, and H. H. Sayan, "A neuro-fuzzy controller for
speed control of a permanent magnet synchronous motor drive," Expert
Systems with Applications, 2008, vol. 34, Issue 1, pp. 657-664.
[5] J-S Lin, M-L Hung, J-J Yan, and T-L Liao, "Decentralized control for
synchronization of delayed neural networks subject to dead-zone
nonlinearity," Nonlinear Analysis: Theory, Methods &
Applications, 2007, vol. 67, Issue 6, pp. 1980-1987.
[6] R. Xu, and U. Ozguner, "Sliding mode control of a class of
underactuated systems," Automatica, 2008, v. 44, pp. 233-241.
[7] J. H. Taylor, "A systematic nonlinear controller design approach based
on qusailinear models," Proceedings of American Control Conference,
San Francisco, CA, 1983, pp. 141-145.
[8] J. H. Taylor and K. L. Strobel, "Nonlinear control system design based
on quasilinear system models," American Control Conference, Boston,
MA, 1985, pp. 1242-1247.
[9] J. H. Taylor and J. R. O-Donnell, "Synthesis of nonlinear controllers
with rate feedback via sinusoidal input describing function methods," in
Proc. American Control Conference, San Diego, 1990, pp. 2217-2222.
[10] A. Nassirharand, and H. Karimi, "Nonlinear controller synthesis based
on inverse describing function technique in the MATLAB environment,"
Advances in Engineering Software, 2006, v. 37, no. 6, pp. 370-374.
[11] A. Nassirharand, "Nonlinear controller synthesis for SIMO systems with
application to cruise missile," ASCE Journal of Aerospace Engineering,
accepted.
[12] A. Nassirharand, and H. Karimi, "Controller synthesis methodology for
multivariable nonlinear systems with application to aerospace," ASME
J. of Dynamic Systems, Measurement, and Control, 2004, v. 126, pp.
598-607.
[13] A. Nassirharand, S. A. Housseini, "Tracking and decoupling of
multivariable nonlinear systems," International Journal of Modelling,
Identification, and Control, 2009, v. 6, no. 4, pp. 341-348.
[14] G. Song, and A. Song, "A Novel Distributed Architecture for Building
Web-Enabled Remote Robotic Laboratories," IEEE/RSJ International
Conference on Intelligent Robots and Systems, 2005.
[15] J. Hauser, S. Sastry, P. Kokotovic, "Nonlinear Control Via Approximate
Input-Output Linearization: The Ball and Beam Example," IEEE
Transactions on Automatic Control, 1992, vol. 37, no.3, pp. 392 - 398.
[16] M. López-Martínez, M.G. Ortega, C. Vivas, F.R. Rubio, "Nonlinear L2
control of a laboratory helicopter with variable speed rotors,"
ScienceDirect Automatica, 2007, 43, pp. 655 - 661.
[17] P. Horάček, "Laboratory experiments for control theory courses: A
survey," Annual Reviews in Control, 2000, vol. 24, pp. 151 - 162.
[18] Alberto Leva, "A simple and flexible experimental laboratory for
automatic control courses," Control Engineering Practice, 2004, vol. 14,
pp. 167 - 176.
[19] K. Yeung, and J. Huang, "Development of a remote-access laboratory: a
dc motor control experiment," Computers in industry, 2003, vol. 52, pp.
305 - 311.
[20] C. Chandrasekara, and A. Davari, "Experiments for the undergraduate
control laboratory," Proceedings of the Thirty-Sixth Southeastern
Symposium on System Theory, 2004, pp. 488 - 491.
[21] A. Davari, and D. Shen, "Simple and inexpensive control laboratory,"
Proceedings of the Twenty-Ninth Southeastern Symposium on System
Theory, 1997, pp. 145 - 147.
[22] A. Zilouchian, "A novel intelligent control laboratory for undergraduate
students in engineering," Proceedings of the American Control
Conference, 2003, vol.1, pp. 633 - 638.
[23] R. Paul, Robot Manipulators: Mathematics, Programming, and Control,
The MIT Press, Massachusetts, 1981.
[24] M. F. Ashby, "Materials Selection in Mechanical Design" 2nd Ed,
Butterworth-Heinemann, 1999.
[25] J. M. Gere, "Mechanics of Materials," 6th Ed, Brooks/Cole - Thompson
Learning, 2004
[26] A. P. Boresi, and R. J. Schmidt, "Advanced Mechanics of Materials,"
6th Ed, John Wiley & Sons, Inc, 2003
@article{"International Journal of Mechanical, Industrial and Aerospace Sciences:64514", author = "S. H. Teh and S. Malawaraarachci and W. P. Chan and A. Nassirharand", title = "Design and Instrumentation of a Benchmark Multivariable Nonlinear Control Laboratory", abstract = "The purpose of this paper is to present the design and
instrumentation of a new benchmark multivariable nonlinear control
laboratory. The mathematical model of this system may be used to
test the applicability and performance of various nonlinear control
procedures. The system is a two degree-of-freedom robotic arm with
soft and hard (discontinuous) nonlinear terms. Two novel
mechanisms are designed to allow the implementation of adjustable
Coulomb friction and backlash.", keywords = "Nonlinear control, describing functions, AdjustableCoulomb friction, Adjustable backlash.", volume = "4", number = "2", pages = "275-7", }
