Ollin Peñaloza-Mejía
ABSTRACT
The motion control problem for the double-integrator system subject to velocity constraint is addressed. A novel methodology, which consists of a two-stage process and regards a trade-off between natural and learned behaviors to develop a family of analytic controllers, is proposed. To this end, firstly, a natural behavior is designed to achieve asymptotic tracking of a desired continuous trajectory by using a Control-Theory approach. Secondly, learned behaviors are discovered by using a Genetic Programming approach to synthesize an analytic controller to ensure a bounded velocity of the system. The integration of these approaches allows the system to exhibit a good tracking performance while keeping the velocity bounded to a desired value, freely set by the user. Simulation results are provided to illustrate the effectiveness of the proposal, and a comparison with a traditional Control-Theory-Based solution is also given and discussed.
- S. Ding and W.X. Zheng. 2015. Robust control of multiple integrators subject to input saturation and disturbance. Internat. J. Control 88, 4 (2015), 844--856.Google Scholar
Cross Ref
- D. Gu and H. Hu. 2008. Using Fuzzy Logic to Design Separation Function in Flocking Algorithms. IEEE Transactions on Fuzzy Systems 16, 4 (Aug 2008), 826--838. Google ScholarDigital Library
- C. Knoll and K. Röbenack. 2011. Control of an underactuated manipulator using similarities to the double integrator. IFAC Proceedings Volumes 44, 1 (2011), 11501--11507.Google Scholar
- H.B. Oza, Y.V. Orlov, and S.K. Spurgeon. 2014. Finite time stabilization of a perturbed double integrator with unilateral constraints. Mathematics and Computers in Simulation 95 (2014), 200--212. Discontinuous Differential Systems: Theory and Numerical Methods. Google ScholarDigital Library
- E. Serpelloni, M. Maggiore, and C. Damaren. 2016. Bang-bang hybrid stabilization of perturbed double-integrators. Automatica 69 (2016), 315--323. Google ScholarDigital Library
Recommendations
Challenging simulation practice (failure and success) on implicit tracking control of double-integrator system via Zhang-gradient method
Zhang-gradient (ZG) method is a combination of Zhang dynamics (ZD) and gradient dynamics (GD) methods which are two powerful methods for online time-varying problems solving. ZG controllers are designed using the ZG method to solve the tracking control ...
Double Inverted Pendulum System Control Based on Servo Compensator
CACRE2019: Proceedings of the 2019 4th International Conference on Automation, Control and Robotics EngineeringControl of rotary double inverted pendulum system is studied with the internal model principle. Based on the dynamic characteristics of the given signal variable and the internal model principle, the servo compensator is established. The servo ...
Stabilization Control of Double Inverted Pendulum System
ICICIC '08: Proceedings of the 2008 3rd International Conference on Innovative Computing Information and ControlThe work deal with the stabilization control of double inverted Pendulum system .Inverted Pendulum system is a complicated, nonlinear, unstable system of high order. Fuzzy control research for stabilization a double inverted pendulum at an upright ...
Comments