Observer-based receding horizon controller for position and force control of a pneumatic actuator

Pneumatic systems are widely used in automation industries and in the field of automatic control. Unfortunately, some nonlinearities are existed in these actuators. These nonlinearities have made controlling these actuators more difficult to get good dynamic performance. In this project, Receding ho...

Full description

Saved in:

Bibliographic Details
Main Author:	Hikmat, Omer F.
Format:	Thesis
Language:	English
Published:	2013
Subjects:	TK Electrical engineering Electronics Nuclear engineering
Online Access:	http://eprints.utm.my/id/eprint/39019/5/OmerFHikmatMFKE2013.pdf
Tags:	Add Tag No Tags, Be the first to tag this record!

id	my-utm-ep.39019
record_format	uketd_dc
spelling	my-utm-ep.390192017-07-13T07:02:41Z Observer-based receding horizon controller for position and force control of a pneumatic actuator 2013-06 Hikmat, Omer F. TK Electrical engineering. Electronics Nuclear engineering Pneumatic systems are widely used in automation industries and in the field of automatic control. Unfortunately, some nonlinearities are existed in these actuators. These nonlinearities have made controlling these actuators more difficult to get good dynamic performance. In this project, Receding horizon controller (RHC) is proposed to control the position and the force of a pneumatic actuator. RHC is a predictive controller that predicts the future output and decides the acting signal to reduce the future errors. The type of RHC used in this project is a state feedback controller. Three types of pole assignment observers are used in this project in order to estimate the states of the position and the force models. The observers are designed, incorporated with RHC and then compared in terms of their estimation errors. The implementations of RHC and the observers are carried out using MATLAB/Simulink. Using a data acquisition system (DAQ) real time control between the computer and the pneumatic actuator is established. The RHC shows good control performance both in controlling the position and the force. The experimental and the simulation results of RHC are compared to validate the controller. To further evaluate the RHC controller, its results are compared with other controllers done in previous works, and it is found that RHC has some advantages over these controllers in terms of the control performance criteria. 2013-06 Thesis http://eprints.utm.my/id/eprint/39019/ http://eprints.utm.my/id/eprint/39019/5/OmerFHikmatMFKE2013.pdf application/pdf en public masters Universiti Teknologi Malaysia, Faculty of Electrical Engineering Faculty of Electrical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TK Electrical engineering Electronics Nuclear engineering
spellingShingle	TK Electrical engineering Electronics Nuclear engineering Hikmat, Omer F. Observer-based receding horizon controller for position and force control of a pneumatic actuator
description	Pneumatic systems are widely used in automation industries and in the field of automatic control. Unfortunately, some nonlinearities are existed in these actuators. These nonlinearities have made controlling these actuators more difficult to get good dynamic performance. In this project, Receding horizon controller (RHC) is proposed to control the position and the force of a pneumatic actuator. RHC is a predictive controller that predicts the future output and decides the acting signal to reduce the future errors. The type of RHC used in this project is a state feedback controller. Three types of pole assignment observers are used in this project in order to estimate the states of the position and the force models. The observers are designed, incorporated with RHC and then compared in terms of their estimation errors. The implementations of RHC and the observers are carried out using MATLAB/Simulink. Using a data acquisition system (DAQ) real time control between the computer and the pneumatic actuator is established. The RHC shows good control performance both in controlling the position and the force. The experimental and the simulation results of RHC are compared to validate the controller. To further evaluate the RHC controller, its results are compared with other controllers done in previous works, and it is found that RHC has some advantages over these controllers in terms of the control performance criteria.
format	Thesis
qualification_level	Master's degree
author	Hikmat, Omer F.
author_facet	Hikmat, Omer F.
author_sort	Hikmat, Omer F.
title	Observer-based receding horizon controller for position and force control of a pneumatic actuator
title_short	Observer-based receding horizon controller for position and force control of a pneumatic actuator
title_full	Observer-based receding horizon controller for position and force control of a pneumatic actuator
title_fullStr	Observer-based receding horizon controller for position and force control of a pneumatic actuator
title_full_unstemmed	Observer-based receding horizon controller for position and force control of a pneumatic actuator
title_sort	observer-based receding horizon controller for position and force control of a pneumatic actuator
granting_institution	Universiti Teknologi Malaysia, Faculty of Electrical Engineering
granting_department	Faculty of Electrical Engineering
publishDate	2013
url	http://eprints.utm.my/id/eprint/39019/5/OmerFHikmatMFKE2013.pdf
_version_	1747816539978989568

Observer-based receding horizon controller for position and force control of a pneumatic actuator

Similar Items