Prof. Mayra Antonio-Cruz

Hierarchical Velocity Control Based on Differential Flatness for a DC/DC Buck Converter‐DC Motor System

Daniel Munoz-Carrillo

In this paper a smooth starter, based on a dc/dc Buck power converter, for the angular velocity trajectory tracking task of a dc permanent magnet motor is presented. To this end, a hierarchical controller is designed, which is integrated by a control associated with the dc motor based on differential flatness at the high level, and a control related with the dc/dc Buck converter based on a cascade control scheme at the low level. The control at the high level allows the dc motor angular velocity to track a desired trajectory and also provides the desired voltage profile that must be tracked by the output voltage of the dc/dc Buck power converter. In order to assure the latter, a cascade control at the low level is designed, considering a sliding mode control for the inner current loop and a proportional-integral control for the outer voltage loop. The hierarchical controller is tested through experiments using MATLAB-Simulink and the DS1104 board from dSPACE. The obtained results show that the desired angular velocity trajectory is well tracked under abrupt variations in the system parameters and that the controller is robust in such operation conditions, confirming the validity of the proposed controller.

1 January 2014 in Mathematical Problems in Engineering

Journal Article

Celso Márquez-Sánchez

F Carrizosacorral

Linear State Feedback Regulation of a Furuta Pendulum: Design Based on Differential Flatness and Root Locus

J M Albamartinez

G Saldanagonzalez

This paper presents a hierarchical controller that carries out the angular velocity trajectory tracking task for a DC motor driven by a DC/DC Buck converter. The high level control is related to the DC motor and the low level control is dedicated to the DC/DC Buck converter; both controls are designed via differential flatness. The high level control provides a desired voltage profile for the DC motor to achieve the tracking of a desired angular velocity trajectory. Then, a low level control is designed to ensure that the output voltage of the DC/DC Buck converter tracks the voltage profile imposed by the high level control. In order to experimentally verify the hierarchical controller performance, a DS1104 electronic board from dSPACE and Matlab‐Simulink are used. The switched implementation of the hierarchical average controller is accomplished by means of pulse width modulation. Experimental results of the hierarchical controller for the velocity trajectory tracking task show good performance and robustness against the uncertainties associated with different system parameters.

8 December 2016 in IEEE Access

Journal Article

Tracking Control for Mobile Robots Considering the Dynamics of All Their Subsystems: Experimental Implementation

Different educational and didactic papers that allow students to experimentally validate linear controllers have been reported. However, generally, in those papers, procedure followed to select controller gains is not discussed. This lack of information renders difficult experimental implementation of controllers by students who, in general, do not have enough experience on controller tuning. Motivated by this situation, this paper introduces a methodology that provides important information on how to select controller gains for regulation in a Furuta pendulum. This methodology allows improving closed-loop system performance in a desired direction. Differential flatness is the Furuta pendulum property that is exploited. The main idea is to translate a linear state feedback control design problem into a scenario, where classical tools such as root locus can be used. As an example, controller design is directed toward reduction or even elimination of limit cycle effects. The proposal is experimentally tested on a built Furuta pendulum. These experimental results show that the closed-loop system performance is improved, and hence, the proposed methodology is successfully validated.

7 December 2017 in Complexity

Journal Article

José Rafael García-Sánchez

Salvador Tavera-Mosqueda

Celso Márquez-Sánchez

Bidirectional Tracking Robust Controls for a DC/DC Buck Converter‐DC Motor System

Hind Taud

The trajectory tracking task in a wheeled mobile robot (WMR) is solved by proposing a three-level hierarchical controller that considers the mathematical model of the mechanical structure (differential drive WMR), actuators (DC motors), and power stage (DC/DC Buck power converters). The highest hierarchical level is a kinematic control for the mechanical structure; the medium level includes two controllers based on differential flatness for the actuators; and the lowest hierarchical level consists of two average controllers also based on differential flatness for the power stage. In order to experimentally validate the feasibility of the proposed control scheme, the hierarchical controller is implemented via a

Σ

–

Δ

-modulator in a differential drive WMR prototype that we have built. Such an implementation is achieved by using MATLAB-Simulink and the real-time interface ControlDesk together with a DS1104 board. The experimental results show the effectiveness and robustness of the proposed control scheme.

1 January 2018 in Complexity

Journal Article

Eduardo Hernández-Márquez

José Rafael García-Sánchez

Assessment of an Average Tracking Controller that Considers all the Subsystems Involved in a WMR: Implementation via PWM or Sigma-Delta Modulation

Mariana Marcelino-Aranda

Two differential flatness‐based bidirectional tracking robust controls for a DC/DC Buck converter‐DC motor system are designed. To achieve such a bidirectional tracking, an inverter is used in the system. First control considers the complete dynamics of the system, that is, it considers the DC/DC Buck converter‐inverter‐DC motor connection as a whole. Whereas the second separates the dynamics of the Buck converter from the one of the inverter‐DC motor, so that a hierarchical controller is generated. The experimental implementation of both controls is performed via MATLAB‐Simulink and a DS1104 board in a built prototype of the DC/DC Buck converter‐inverter‐DC motor connection. Controls show a good performance even when system parameters are subjected to abrupt uncertainties. Thus, robustness of such controls is verified.

26 April 2016 in IEEE Latin America Transactions

Journal Article

José Rafael García-Sánchez

Salvador Tavera-Mosqueda