Nonlinear model-based parameter estimation and stability analysis of an aero-pendulum subject to digital delayed control

Giuseppe Habib, Akos Miklos, Eniko T Enikov, Gabor Stepan, Giuseppe Rega

Research output: Contribution to journalArticle

8 Citations (Scopus)

Abstract

Digitization and time delay are known to modify the stability properties of feedback controlled systems. Although their effects have been widely investigated and they occur in most of the systems equipped with digital processors, they are usually neglected in industrial approaches, by virtue of the high sampling frequencies of modern processors. However, these approaches are not conservative with respect to stability. In this work, we investigate, first analytically, then numerically and experimentally, the stability properties of the so-called Aeropendulum. The Aeropendulum is a mechanical pendulum with a propeller at its free end. A motor, activating the propeller, allows an active control of the pendulum in a feedback loop. The system exhibits most of the difficulties encountered in more involved industrial robotic systems. The estimation of the parameter values is performed through a model-based estimation, which allows to successfully define damping coefficients of order zero, one and two. Stability charts obtained with different controllers are compared, showing the larger stability region obtainable with the act-and-wait controller under proper conditions, as predicted by the theory.

Original languageEnglish (US)
Pages (from-to)629-643
Number of pages15
JournalInternational Journal of Dynamics and Control
Volume5
Issue number3
DOIs
StatePublished - Sep 1 2017

Fingerprint

Pendulum
Pendulums
Parameter estimation
Nonlinear Model
Parameter Estimation
Stability Analysis
Model-based
Propellers
Controller
Digitization
Stability Region
Active Control
Feedback Loop
Feedback
Controllers
Chart
Analog to digital conversion
Robotics
Time Delay
Damping

Keywords

  • Act-and-wait
  • Aeropendulum
  • Digital control
  • Position control
  • Stability
  • Time delay

ASJC Scopus subject areas

  • Civil and Structural Engineering
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering
  • Control and Optimization
  • Modeling and Simulation

Cite this

Nonlinear model-based parameter estimation and stability analysis of an aero-pendulum subject to digital delayed control. / Habib, Giuseppe; Miklos, Akos; Enikov, Eniko T; Stepan, Gabor; Rega, Giuseppe.

In: International Journal of Dynamics and Control, Vol. 5, No. 3, 01.09.2017, p. 629-643.

Research output: Contribution to journalArticle

@article{a0d1687f39c4416caf5d9f1c8fa15105,
title = "Nonlinear model-based parameter estimation and stability analysis of an aero-pendulum subject to digital delayed control",
abstract = "Digitization and time delay are known to modify the stability properties of feedback controlled systems. Although their effects have been widely investigated and they occur in most of the systems equipped with digital processors, they are usually neglected in industrial approaches, by virtue of the high sampling frequencies of modern processors. However, these approaches are not conservative with respect to stability. In this work, we investigate, first analytically, then numerically and experimentally, the stability properties of the so-called Aeropendulum. The Aeropendulum is a mechanical pendulum with a propeller at its free end. A motor, activating the propeller, allows an active control of the pendulum in a feedback loop. The system exhibits most of the difficulties encountered in more involved industrial robotic systems. The estimation of the parameter values is performed through a model-based estimation, which allows to successfully define damping coefficients of order zero, one and two. Stability charts obtained with different controllers are compared, showing the larger stability region obtainable with the act-and-wait controller under proper conditions, as predicted by the theory.",
keywords = "Act-and-wait, Aeropendulum, Digital control, Position control, Stability, Time delay",
author = "Giuseppe Habib and Akos Miklos and Enikov, {Eniko T} and Gabor Stepan and Giuseppe Rega",
year = "2017",
month = "9",
day = "1",
doi = "10.1007/s40435-015-0203-0",
language = "English (US)",
volume = "5",
pages = "629--643",
journal = "International Journal of Dynamics and Control",
issn = "2195-268X",
publisher = "Springer International Publishing AG",
number = "3",

}

TY - JOUR

T1 - Nonlinear model-based parameter estimation and stability analysis of an aero-pendulum subject to digital delayed control

AU - Habib, Giuseppe

AU - Miklos, Akos

AU - Enikov, Eniko T

AU - Stepan, Gabor

AU - Rega, Giuseppe

PY - 2017/9/1

Y1 - 2017/9/1

N2 - Digitization and time delay are known to modify the stability properties of feedback controlled systems. Although their effects have been widely investigated and they occur in most of the systems equipped with digital processors, they are usually neglected in industrial approaches, by virtue of the high sampling frequencies of modern processors. However, these approaches are not conservative with respect to stability. In this work, we investigate, first analytically, then numerically and experimentally, the stability properties of the so-called Aeropendulum. The Aeropendulum is a mechanical pendulum with a propeller at its free end. A motor, activating the propeller, allows an active control of the pendulum in a feedback loop. The system exhibits most of the difficulties encountered in more involved industrial robotic systems. The estimation of the parameter values is performed through a model-based estimation, which allows to successfully define damping coefficients of order zero, one and two. Stability charts obtained with different controllers are compared, showing the larger stability region obtainable with the act-and-wait controller under proper conditions, as predicted by the theory.

AB - Digitization and time delay are known to modify the stability properties of feedback controlled systems. Although their effects have been widely investigated and they occur in most of the systems equipped with digital processors, they are usually neglected in industrial approaches, by virtue of the high sampling frequencies of modern processors. However, these approaches are not conservative with respect to stability. In this work, we investigate, first analytically, then numerically and experimentally, the stability properties of the so-called Aeropendulum. The Aeropendulum is a mechanical pendulum with a propeller at its free end. A motor, activating the propeller, allows an active control of the pendulum in a feedback loop. The system exhibits most of the difficulties encountered in more involved industrial robotic systems. The estimation of the parameter values is performed through a model-based estimation, which allows to successfully define damping coefficients of order zero, one and two. Stability charts obtained with different controllers are compared, showing the larger stability region obtainable with the act-and-wait controller under proper conditions, as predicted by the theory.

KW - Act-and-wait

KW - Aeropendulum

KW - Digital control

KW - Position control

KW - Stability

KW - Time delay

UR - http://www.scopus.com/inward/record.url?scp=85029223839&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85029223839&partnerID=8YFLogxK

U2 - 10.1007/s40435-015-0203-0

DO - 10.1007/s40435-015-0203-0

M3 - Article

AN - SCOPUS:85029223839

VL - 5

SP - 629

EP - 643

JO - International Journal of Dynamics and Control

JF - International Journal of Dynamics and Control

SN - 2195-268X

IS - 3

ER -