Chin-I Huang

Adaptive Approach to Motion Controller of Linear Induction Motor with Friction Compensation

In this paper, we propose a nonlinear adaptive controller and an adaptive backstepping controller for linear induction motors to achieve position tracking. A nonlinear transformation is proposed to facilitate controller design. In addition, the very unique end effect of the linear induction motor is also considered and is well taken care of in our controller design. We also consider the effect of friction dynamics and employ observer-based compensation to cope with the friction force. A stability analysis based on Lyapunov theory is also performed to guarantee that the controller design here can stabilize the system. Also, the computer simulations and experiments are conducted to demonstrate the performance of our various controller design.

Nonlinear adaptive backstepping motion control of linear induction motor

In this paper, we propose a nonlinear adaptive controller and an adaptive backstepping controller for linear induction motors (LIMs) to achieve speed/position tracking. A nonlinear transformation is proposed to facilitate controller design. Besides, the unique end effect of the LIM is also considered and is well taken care of in our controller design. Stability analysis based on Lyapunov theory is also performed to guarantee that the controller design is stable. Also, computer simulations and experiments are undertaken to demonstrate the performance of our controller designs.

Nonlinear control of a wheeled mobile robot with nonholonomic constraints

This paper proposed a novel way to design and analysis nonlinear controllers to deal with the tracking problem of a wheeled mobile robots (WMR) with nonholonomic constraints. One of the nonlinear controllers is adopted to control the system with position and torque tracking requirements simultaneously. Another one is chosen to follow the path considering with position, torque and actuator dynamics by backstepping control. Both of feedback systems are shown to be exponentially stable via Laypunov stability analysis. In order to guarantee the high performance operation of brushless DC motors (BLDCM) in such applications, the nonlinear model are accounted for increasing the precision actions through accuracy sketching nonlinear behaviours. The performances of controllers are verified through simulations.

Adaptive backstepping tracking control of the Stewart platform

This paper presents an adaptive backstepping control approach for the motion control of a Stewart platform. The control scheme is proposed given that the overall system parameters are subject to uncertainties while only the positions and velocities of links are measurable. To achieve high performance tracking control of a 6 DOF Stewart platform normally requires the full knowledge of the system dynamics. In this paper, some important properties of the dynamics of the Stewart platform have been derived and exploited to develop an adaptive backstepping controller which can drive the motion tracking error to zero asymptotically. Stability analysis based on Lyapunov theory is performed to guarantee that the controller design is stable. Finally, the experimental results confirm the effectiveness of our control design.

Applying a nonlinear observer to solve forward kinematics of a Stewart platform

A nonlinear observer based method is proposed to solve the forward kinematics problem of the 6-DOF parallel manipulator (Stewart platform). In this paper, the forward kinematics solution is achieved by using a nonlinear observer designed to estimate the system states including 3-axis translations and rotations. The forward kinematics problem of the Stewart platform is often solved using Newton-Raphson method which is an iterative process to approach the true solution. Another approach is to solve a high-order polynomial via the elimination-based method. Each method is difficult to practice because of the complexity of formulation and computational burden. The nonlinear observer based method avoids the complicated polynomial and iteration such that the calculation time can be greatly saved and the forward kinematics solution can work in real time.

Adaptive backstepping speed/position control with friction compensation for linear induction motor

We propose a nonlinear adaptive controller and an adaptive backstepping controller for a linear induction motor to achieve speed/position tracking. A nonlinear transformation is proposed to facilitate controller design. Besides, the very unique end effect of the linear induction motor is also considered and is well taken care of in our controller design. We also consider the friction dynamics effect and employ observer-based compensation which cope with friction force. Stability analysis based on Lyapunov theory is also performed to guarantee that the controller design is stable. Also, the computer simulations and experiments are done to demonstrate the performance of our various controller designs.

Senseless Maneuver Optimal Washout Filter Design with Human Vestibular Based (HVB) for VR-based Motion Simulator

Abstract In this paper, we propose a new approach “HVB senseless maneuver optimal washout filter” which is based on human vestibular system, senseless maneuver and motion platform limitation for designing washout filter such that a cost function constraining the pilot sensation error (between simulator and vehicle) is minimized. This approach can curtail over strong feelings of pilot reception and increase efficiency of platform workspace for task running. Finally, the experimental results confirm the effectiveness of our algorithm hereby proposed. Moreover, the results show that a better performance can be attained.

A Differential Game Based Guidance Law for the Interceptor Missiles

In this paper, a differential game based guidance law for intercepting missiles is proposed. This guidance law, named the zero-sliding guidance law, is combined with the differential game theory. Players in this differential game are the missile and the target, respectively. The cost function is the component of the relative velocity which is based on the zero-sliding guidance law. An optimal strategy pair of the missile and the target can be obtained from the differential game theory based guidance law. The interception can handle both the non-maneuvering target and the maneuvering target with the perfect information. The various simulation results can guarantee the performance and stability of our designed system.

Flight Controller Design for Intercepting Missiles with Multiple TVC Systems and DCS

In this paper, we propose a highly maneuverable autopilot system based on multiple Thrust Vector Control (TVC) mechanisms and Divert Control System (DCS). The strategy of the cooperation of multiple TVC mechanisms and DCS is discussed. Moreover, the decision and control part in missiles: guidance law (GL) and autopilot is presented. The GL is designed with dynamic sliding mode control (DSMC) to eliminate the chattering phenomenon caused by sliding mode control (SMC) and to minimize the distance between the missile and the target without the estimation of interception time. The autopilot controller based on quaternion representation is designed using backstepping control technique to execute the attitude command. The stability of the integrated guidance/autopilot (G/A) system is analyzed by Lyapunov stability theory. In addition, we advocate a wingless missile to reduce the nonlinear effect from the aerodynamics as much as possible. Extensive simulations including aerodynamic model are finally demonstrated to verify the validity of the proposed integrated G/A systems of missiles incorporating the highly maneuverable inputs.

Smooth sliding mode control for constrained manipulator with joint flexibility

Abstract This paper presents a smooth sliding mode control plus backstepping method for the motion/force control of a constrained robotic manipulator with flexible joints. The control scheme is presented based on that overall system parameters are with uncertainties whereas only the constrained force, positions and velocities of links and rotors are measurable. The smooth sliding controller can achieve zero motion and force tracking errors. The simulation results for a planar robot illustrate the expected satisfactory performance.