Search results for " feedback linearization"
showing 10 items of 10 documents
Trajectory robust control of autonomous quadcopters based on model decoupling and disturbance estimation
2021
In this article, a systematic procedure is given for determining a robust motion control law for autonomous quadcopters, starting from an input–output linearizable model. In particular, the suggested technique can be considered as a robust feedback linearization (FL), where the nonlinear state-feedback terms, which contain the aerodynamic forces and moments and other unknown disturbances, are estimated online by means of extended state observers. Therefore, the control system is made robust against unmodelled dynamics and endogenous as well as exogenous disturbances. The desired closed-loop dynamics is obtained by means of pole assignment. To have a feasible control action, that is, the fo…
A Nonlinear Control of Synchronous Reluctance Motors (SynRM) Based on Feedback Linearization Considering the Self and Cross-Saturation Effects
2019
This paper proposes a nonlinear controller based on feedback linearization for Synchronous Reluctance Motors (SynRM) drives that takes into consideration the self and cross-saturation effects. Such control technique permits the dynamics of both the speed and flux loops to be maintained constant independently from the load and the saturation of the iron core. The proposed technique has been tested experimentally on a suitably developed test set-up.
Input-Output Feedback Linearizing Control of Linear Induction Motor Taking into Consideration the End-Effects. Part II: Simulation and Experimental R…
2015
This is the second part of a paper, divided in two parts, dealing with the application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). The first part has treated the theoretical formulation of the input–output feedback linearization control technique as to be applied to linear induction motors. This second part describes the set of tests, both in numerical simulations and experiments, performed to assess the validity of the control technique. In particular, it addresses the issues of the sensitivity of the FL control versus the LIM electrical parameters’ variations and the improvements achievable by considering the LIM dynamic end effects…
Feedback Linearizing Control of Induction Motor Considering Magnetic Saturation Effects
2015
This paper presents an input-output feedback linearization (FL) control technique for rotating induction motors, which takes into consideration the magnetic saturation of the iron core. Starting from a new formulation of the dynamic model taking into consideration the magnetic saturation expressed in a space-state form in the rotor-flux-oriented reference frame, the corresponding FL technique has been developed. To this aim, a particular care has been given to the choice of nonlinear functions interpolating the magnetic parameters versus the rotor magnetizing current and the corresponding magnetic characteristic. The proposed FL technique has been tested experimentally on a suitably develop…
Input-Output Feedback Linearization Control of Linear Induction Motors Including the dynamic End-Effects
2014
This paper proposes the theoretical framework and the consequent application of the input-output feedback linearization (FL) control technique to linear induction motors (LIM). LIM, additionally to RIM, presents other strong non-linearities caused by the dynamic end effects, leading to a space-vector dynamic model with time-varying inductance and resistance terms and a braking force term. This paper, starting from a recently developed dynamic model of the LIM taking into consideration its end effects, defines a FL technique suited for LIMs, since it inherently considers its dynamic end effects. The proposed approach has been validated experimentally on a suitably developed test set-up. Furt…
Input-Output Feedback Linearization Control with On-line MRAS Based Inductor Resistance Estimation of Linear Induction Motors Including the Dynamic E…
2016
This paper proposes the theoretical framework and the consequent application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). LIM, additionally to rotating induction motor, presents other strong nonlinearities caused by the dynamic end effects, leading to a space-vector dynamic model with time-varying inductance and resistance terms and a braking force term. This paper, starting from a recently developed dynamic model of the LIM taking into consideration its end effects, defines a FL technique suited for LIMs, since it inherently considers its dynamic end effects. Additionally, it proposes a technique for the on-line estimation of the indu…
Active Disturbance Rejection Control of Synchronous Reluctance Motors
2020
This paper describes how the ADRC (Active Disturbance Rejection Control) strategy can be successfully applied to SynRM (Synchronous Reluctance Motor) drives. The ADRC is an adaptive robust extension of the input-output Feedback Linearization Control (FLC). Its main feature is that the nonlinear transformation of the state is computed on-line and not by using the model. As a consequence, any unmodelled dynamics or uncertainty of the parameters can be addressed. The control strategy has been verified successfully with experimental tests confirming the high dynamic response of the drive.
Adaptive Feedback Linearization Control of SynRM Drives With On-Line Inductance Estimation
2023
This article proposes an adaptive input-output Feedback Linearization Control ( FLC ) techniques for Synchronous Reluctance Motor ( SynRM ) drives, taking into consideration the iron losses. As a main original content, this work proposes a control law based on a new dynamic model of the SynRM including iron losses as well as the on-line estimation of the static inductances. The on-line estimation of the SynRM static inductances permits to inherently take into consideration the magnetic saturation phenomena occuring on both axes. As a major result, it permits a null stator current steady state tracking error even with a proportional derivative controller. The estimation law is obtained thank…
Input-Output Feedback Linearization Control of a Linear Induction Motor Taking Into Consideration Its Dynamic End-Effects and Iron Losses
2020
This article proposes a new input-output feedback linearization control (FLC) technique of linear induction motors (LIMs), taking into consideration both the dynamic end-effects and the iron losses. Starting from a previously conceived dynamic model, including the dynamic end-effects and the iron losses, all the theoretical framework of the FLC has been developed. The proposed FLC improves a previous version of FLC in accounting also the iron losses, which in LIMs with fixed-secondary sheet play a pivotal role more than in rotating induction motors (RIMs). The proposed FLC has been experimentally tested on a suitably developed test setup, and experimental comparisons between the proposed FL…
Input-output feedback linearizing control of linear induction motor taking into consideration the end-effects. Part I: Theoretical analysis
2015
Abstract This first part of a paper, divided into two parts, deals with the theoretical formulation of the input–output feedback linearization (FL) control technique as to be applied to linear induction motors (LIMs). Linear induction motors, differently from rotating induction motors (RIMs), present other strong non-linearities caused by the so-called dynamic end effects, leading to a space-vector model with time-varying inductance and resistance terms and an additional braking force term. This paper, starting from a dynamic model of the LIM taking into consideration its dynamic end effects, previously developed by the same authors, defines a feedback linearization (FL) technique suited fo…