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Some types of polymer actuators have been focused. These actuators are sometimes called artificial muscle. IPMC - ionic polymer and metal composite is one of the notable actuator. The characteristics of IPMC actuation is highly dependent on the type of dopant ion. This phenomenon is called 'doping effect'. It is expected that performance of the actuation can be improved by combining multiple IPMC...
This paper considers a robust decentralized H∞ control problem for uncertain multi-channel descriptor systems with time-delay. The uncertainties are assumed to be time invariant, norm-bounded, and exist in the system, time-delay and output matrices. Our interest is focused on dynamic output feedback. A sufficient condition for the uncertain multi-channel time-delay system to be admissible with a specified...
A generalized Prandtl-Ishlinskii model is proposed for characterizing the rate dependent hysteresis. A rate dependent play and stop operators are formulated and integrated to the Prandtl-Ishlinskii model together with a rate dependent density function to predict hysteresis properties as a function of rate of change of the input. The fundamental properties of the proposed rate dependent play and stop...
In this paper, we propose a method of continuous-time sliding mode control(SMC) system design so as not to violate state and control constraints. To circumvent chattering problem, we use continuous control law. And, we employ the inner approximation of maximal admissible set for a nonlinear continuous-time system to guarantee the satisfaction of constraints. This approach has the advantages that it...
In this paper, a complete dynamical model for a bioprocess in pharmaceutical industry is proposed. The obtained model is bilinear and hybrid. Thus, the process forms a good application example for both, the field of bilinear systems and the field of hybrid systems. It is therefore possible to improve the control system performance by using nonlinear hybrid control techniques. Validation of the model...
In this paper, we discuss the fault detection with unknown inputs for a class of discrete-time piecewise linear systems. Piecewise linear systems are mostly partitioned based on their state variables. Due to the system noise and estimation errors, the transitions of actual state and its estimate may not be synchronized, as well as the system modes. Motivated by the recent works [31], [29], [32], [30],...
In this paper, the implementation and usage of a so-called Derivative Estimation Toolbox is demonstrated. By means of this toolbox, time derivatives of sampled, noisy time signals may be determined in realtime, all based on a recently presented algebraic derivative estimation method. The main contribution is a possible implementation on a prototyping control unit. The performance of the Derivative...
This paper presents a control design approach for sheet control in a printer paper path. By splitting up the control problem in two levels, i.e. low level motor control loops and a high level sheet control loop, a hierarchical control structure is obtained. The high level sheet dynamics are formulated in the piecewise linear modeling formalism. Given this model, together with models of the controlled...
In this paper, we discuss the problem of adaptive control of autonomous switched systems. Classical adaptive control for continuous systems has properties such as bounded signals and or convergence of the output error. Here, we derive similar results for switched systems with adaptive control using stability theory of switched systems. Zero output tracking error and bounded signals are shown for a...
The static magnetic force model is very different from the dynamic one in magnetic suspension system. This is because some dynamic factors such as eddy current and mutual inductance disturb the magnetic force. In this paper, an experimental table is firstly established. Then, the static and dynamic magnetic force models are derived and compared. Based on these models, robust controllers of the armature...
In this paper, we discuss the fault detection with unknown inputs for a class of continuous-time piecewise linear systems. Piecewise linear systems are mostly partitioned based on their state variables. Due to the system noise and estimation errors, the transitions of actual state and its estimate may not be synchronized, as well as the system modes. Hence, we consider the fault detection problem...
The style of agriculture practiced in Japan and other countries in Asia is small scale compared to that in North America. While systematic production and management systems have been maintained in Europe and America, Japanese agricultural style tends to depend on past experiences, and application of agricultural chemicals is guided by the calendar and past experiences. Japan is also advanced in the...
This paper presents a generalized Q-learning method termed dynamic fuzzy continuous-action Q-learning (DFCAQ) that works in continuous domains. It can be regarded as an extension of Millan's work in continuous-action Q-learning. In the DFCAQ approach, continuous states and actions are generated via a fuzzy structure. Instead of considering actions selected by the nearest unit only in the original...
In this paper, a new on-line neural identification method is presented. The identified nonlinear systems are partial-state measurement. Their inner states, parameters and structures are unknown. The design is based on the combination of a sliding mode observer and a neuro identifier. First, a sliding mode observer, which does not need any information of the nonlinear system, is applied to get the...
This paper discusses the application of piezo-actuator in intra-cytoplasmic sperm injection (ICSI). Specifically, it presents a comparative study of two techniques in the penetration of oocyte (egg cell) : linear-reciprocating and partially-rotating techniques. The other conditions during penetration, including media preparation, installation, and controller, are maintained the same during the operation...
An autonomous surveillance blimp system is provided with only one camera as a sensor. Motion segmentation is used to improve automatic detection and tracking of point features on a target object. Inverse optimal tracking control is applied to an aerial blimp which is one of the underactuated systems. The controller minimizes some meaningful cost dependent on the controller, which is not given in advance,...
In this paper, the design and flight testing of a H∞ Stability Augmentation System to improve the lateral handling qualities of a remotely controlled Unmanned Air Vehicle is presented. The problem of decoupling the roll response and the sideslip response using model-matching approach is considered along with control sensitivity minimization. In contrast to the conventional two degree of freedom controller...
In this paper, formation flight is modeled as a mixed logical dynamical (MLD) system, which is described by linear equations subject to linear inequalities involving real and integer variables. This model is built by discretizing the continuous-time nonlinear kinematical equations of formation flight system through the Euler method, quantizing its physical input variables, and integrating operating...
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