Robust Control of Nonlinear Systems Using the Approach of Iterative Approximations

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haghpanah Reyhaneh; SHAFIEI MOHAMMAD HOSSEIN

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Paper Information

Journal: JOURNAL OF MECHANICAL ENGINEERING Year:2020 | Volume:50 | Issue:3 (92) Page(s): 41-45

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Title

Robust Control of Nonlinear Systems Using the Approach of Iterative Approximations

Author(s)

haghpanah Reyhaneh | SHAFIEI MOHAMMAD HOSSEIN | Issue Writer Certificate

Keywords

Robust control

Nonlinear iterative approximation systems

Sliding mode

Robot arm

Abstract

This paper presents a new approach to design a controller for nonlinear systems using the iterative approximation method. In the proposed approach, the nonlinear system is first approximated by several linear time-varying systems. Then, for each of the linear systems, a control law is designed and the calculated control law for the last system is applied to the nonlinear system. This paper shows that the conventional method in the iterative approximations is practically open-loop and becomes unstable after a short time. Then, the maximum duration of the stability in conventional controllers called T is evaluated using simulations in the case of a Robot arm. In this paper, to establish a relationship between the controller and the nonlinear system, the process of approximation and design of the controller is repeated every T seconds. In this way, the control system is closed-loop, and every T second, using the updated feedback signal form the nonlinear system the control signal is updated. Finally, the efficiency of the proposed method is shown through a simulation.

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APA: Copy

haghpanah, Reyhaneh, & SHAFIEI, MOHAMMAD HOSSEIN. (2020). Robust Control of Nonlinear Systems Using the Approach of Iterative Approximations. JOURNAL OF MECHANICAL ENGINEERING, 50(3 (92) ), 41-45. SID. https://sid.ir/paper/269870/en

Vancouver: Copy

haghpanah Reyhaneh, SHAFIEI MOHAMMAD HOSSEIN. Robust Control of Nonlinear Systems Using the Approach of Iterative Approximations. JOURNAL OF MECHANICAL ENGINEERING[Internet]. 2020;50(3 (92) ):41-45. Available from: https://sid.ir/paper/269870/en

IEEE: Copy

Reyhaneh haghpanah, and MOHAMMAD HOSSEIN SHAFIEI, “Robust Control of Nonlinear Systems Using the Approach of Iterative Approximations,” JOURNAL OF MECHANICAL ENGINEERING, vol. 50, no. 3 (92) , pp. 41–45, 2020, [Online]. Available: https://sid.ir/paper/269870/en

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