Endra Joelianto

Model predictive control for autonomous unmanned helicopters

Purpose – The purpose of this paper is to investigate the feasibility of controlling a small‐scale helicopter by using the model predictive control (MPC) method.Design/methodology/approach – The MPC control synthesis is employed by considering five linear models representing the flight of a small‐scale helicopter from hover to high‐speed cruise. The internal model principle is employed for the trajectory tracking design.Findings – It is found that the MPC handles well the transition problems between the models, yields satisfactory tracking control performance and produces a suitable control signal. The performance of the tracking control of the helicopter is considerably influenced by the parameter selection in the states and inputs weighting matrices of the MPC. Simulation results also showed that faster dynamics, coupling problems, input and output constraints and changing linearized multi‐inputs multi‐outputs dynamics models in the small‐scale helicopter can be handled simultaneously by the MPC control...

Switched Linear Control of a Model Helicopter

A mini scale helicopter poses a difficult control problem due to its complex dynamics. Compared to its full-size counterparts, the model helicopter exhibits not only increased sensitivity to control inputs and disturbances, but also higher bandwidth of its dynamics. We specifically investigate the control for transition dynamics between hover and cruise by formulating the phenomena as a hybrid system. We consider piecewise quadratic Lyapunov-like functions that leads to linear matrix inequalities (LMIs) characterization for performance analysis and controller synthesis. State jumps of the controller responding to switched of plant dynamics are exploited to improve control performance. The transition control performance is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach

Transient response improvement of feedback control systems using hybrid reference control

By means of the internal model principle, an approach to improve the performance of a stabilised closed-loop continuous time linear system based on manipulation of the reference signal is developed. A change in the reference signal is equivalent to implementing an instantaneous change via the choice of a decision vector in the state of the reference signal model, and the analysis of the proposed approach called hybrid reference control (HRC) system is then shown to be equivalent to the analysis of a linear impulsive dynamical system. Conditions for asymptotic stability and convergence of the output tracking error for a HRC system are expressed in term of conditions on the decision vectors. Conditions are then derived which guarantee that the HRC system leads to an improved transient performance compared to a conventional closed-loop control system. In particular, it is shown how decision vectors are chosen so that a HRC system results in a deadbeat response.

Performance of an industrial data communication protocol on ethernet network

One of the well known industrial data communication protocols is Modbus which is widely used in industrial automation due to its availability. Modbus protocol can be implemented in many ways according to its network. Performance metrics and tests for IT infrastructure equipment have been used for many years, but now with real-time communication being used more, users are asking whether their desktop, laptop, or palm computer can handle the performance requirements of these network intensive applications. In this paper, Ethernet communication called Modbus TCP/IP will be tested. An extension of the Ethernet network with serial RS485 network will also be considered in relation with two different network topologies.

Intelligent Unmanned Systems: Theory and Applications

What do you do to start reading intelligent unmanned systems theory and applications? Searching the book that you love to read first or find an interesting book that will make you want to read? Everybody has difference with their reason of reading a book. Actuary, reading habit must be from earlier. Many people may be love to read, but not a book. Its not fault. Someone will be bored to open the thick book with small words to read. In more, this is the real condition. So do happen probably with this intelligent unmanned systems theory and applications.

Controlled Switching Dynamical Systems Using Linear Impulsive Differential Equations

Switching controller for plants with changing modes is a complex problem. Many methods have been developed for this problem. The paper investigates a unified approach to the switching controller by formulating the phenomena as a hybrid system. State jumps and mode changing of the controller responding to switched of plant dynamics are exploited and discussed. To analysis the dynamics of the controlled linear switching plants with switching controller, a hybrid system representation using linear impulsive differential equation is developed to investigate the property of changing modes of the controllers. In this paper, the switching controller is designed by using LMI method that will guarantee H 2-type cost. A mini scale helicopter is considered as an example due to its complex dynamic and changing modes operation between hover and cruise. The performance of the switching controller is demonstrated by SIMULINK and STATEFLOW and compared to that of LQR approach.

Compensation of delay time uncertainties on industrial control ethernet networks using LMI based robust H ∞ PID controller

Industrial Ethernet and wireless network become a common platform to implement industrial control in industries. Network control systems are subjected to delay time uncertainties due to the load traffic in the networks. As the PID controller is a major control algorithm in industries, this paper proposes a LMI based robust Hinfin PID controller using robust integral backstepping method to compensate the delay time uncertainties. To design using robust integral backstepping method, the plant and the PID controller are represented as a full state feedback control system in state space representation. The obtained parameters can then be used in the installed PID controller in the network based industrial control systems.

Stabilization of Rotary Double Inverted Pendulum using robust gain-scheduling control

Development and application of linear parameter varying (LPV) controller for stabilization of upright position on rotary double inverted pendulum (RDIP) is presented. A robust gain scheduling approach is used for LPV controller synthesis. The stabilization problem of RDIP should handle three parameter uncertainties and one external disturbance. Lime-response evaluation shows that LPV controller outperform the LQR especially in terms of control performance and RMSE analysis.

The robust optimization based Model Predictive Control using box uncertainty set

The paper considers the application of Robust Optimization (RO) to Model Predictive Control (MPC). This optimization methodology incorporates the uncertain data, which means the data of an optimization problem is not known exactly at the time when its solution has to be determined. The robust optimization has been expanded and applied to various kinds of application, in this paper, it is shown the application in MPC. The RO based MPC is simulated to a waste heat boiler control.

An eddy brakes dynamometer control system design using state space based PID controller

Dynamometer is an automotive device that is used to perform engine testing. From this test, engine information such as power, torque, and emition can be obtained for design and analysis purposes. Eddy brakes dynamometer is considered because it is considerably more effective and controllable. In order to design a brakes control system based on state space approach, a state space model is required. ADALINE (Adaptive Linear Network) method is selected to identify state space model of the system from input-output data. The state space based PID controller is then applied by selecting the appropriate parameters using Ackerman pole placement method. Simulation and experimental results show that the closed loop responses satisfiy the design requirements.