Control Refinement Using Particle Methods
The paper presents a control scheme for the real-time tracking problem of nonlinear systems subjected to hard nonlinearities. The proposed tracking controller introduces a refining component in the control input designed for the nominal plant model. The refining component compensates for tracking pe...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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IEEE
2022-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9698211/ |
| _version_ | 1828890022969868288 |
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| author | Saba Zia Atif Qayyum Fahad Mumtaz Malik Mohammad Bilal Malik |
| author_facet | Saba Zia Atif Qayyum Fahad Mumtaz Malik Mohammad Bilal Malik |
| author_sort | Saba Zia |
| collection | DOAJ |
| description | The paper presents a control scheme for the real-time tracking problem of nonlinear systems subjected to hard nonlinearities. The proposed tracking controller introduces a refining component in the control input designed for the nominal plant model. The refining component compensates for tracking performance degradation caused by modelling uncertainties and external disturbances. The refining component is modelled as a random signal, the probability density function is expressed as a combination of finite weights typical of particle methods. The weights are updated based on sequential tracking error data. The proposed algorithm is simulated for an inverted pendulum affected by Coulomb friction. Comparison with existing techniques exhibits remarkably superior tracking performance. |
| first_indexed | 2024-12-13T12:51:23Z |
| format | Article |
| id | doaj.art-5de9c4298ef847d9a2237e404218194c |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-13T12:51:23Z |
| publishDate | 2022-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-5de9c4298ef847d9a2237e404218194c2022-12-21T23:45:19ZengIEEEIEEE Access2169-35362022-01-0110191241913210.1109/ACCESS.2022.31483069698211Control Refinement Using Particle MethodsSaba Zia0https://orcid.org/0000-0001-5727-6065Atif Qayyum1https://orcid.org/0000-0003-4812-1285Fahad Mumtaz Malik2Mohammad Bilal Malik3https://orcid.org/0000-0003-2850-7412Department of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Islamabad, PakistanDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Islamabad, PakistanDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Islamabad, PakistanDepartment of Electrical Engineering, College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Islamabad, PakistanThe paper presents a control scheme for the real-time tracking problem of nonlinear systems subjected to hard nonlinearities. The proposed tracking controller introduces a refining component in the control input designed for the nominal plant model. The refining component compensates for tracking performance degradation caused by modelling uncertainties and external disturbances. The refining component is modelled as a random signal, the probability density function is expressed as a combination of finite weights typical of particle methods. The weights are updated based on sequential tracking error data. The proposed algorithm is simulated for an inverted pendulum affected by Coulomb friction. Comparison with existing techniques exhibits remarkably superior tracking performance.https://ieeexplore.ieee.org/document/9698211/Control designcontrol refinementparticle filterssampled data systems |
| spellingShingle | Saba Zia Atif Qayyum Fahad Mumtaz Malik Mohammad Bilal Malik Control Refinement Using Particle Methods IEEE Access Control design control refinement particle filters sampled data systems |
| title | Control Refinement Using Particle Methods |
| title_full | Control Refinement Using Particle Methods |
| title_fullStr | Control Refinement Using Particle Methods |
| title_full_unstemmed | Control Refinement Using Particle Methods |
| title_short | Control Refinement Using Particle Methods |
| title_sort | control refinement using particle methods |
| topic | Control design control refinement particle filters sampled data systems |
| url | https://ieeexplore.ieee.org/document/9698211/ |
| work_keys_str_mv | AT sabazia controlrefinementusingparticlemethods AT atifqayyum controlrefinementusingparticlemethods AT fahadmumtazmalik controlrefinementusingparticlemethods AT mohammadbilalmalik controlrefinementusingparticlemethods |