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In this paper, an optimization method of the multivariable PID controller for H∞ control is proposed. This method uses only the frequency response of the plant and it does not need the state space representation. The linear matrix inequality restrictions can be imposed on the PID gain matrices. Starting from a stabilizing gain, this method gives a sequence of PID gains for which the H∞ norm performance...
This paper deals with the problem of reliable guaranteed cost control for linear time-delay systems via state feedback against actuator faults. Based on adaptive method, a delay-dependent memory controller is established, whose gains are affinely dependent on the estimations of fault parameters. In the framework of linear matrix inequalities (LMIs), sufficient conditions with less conservativeness...
Reset control was studied for enhanced performance that can not be obtained by linear controllers. The conventional reset control is simple for implementation by resetting some of its controller states to zero when its input is zero. However, we find that in some cases the performance of conventional reset control is still limited such as only partial reduction of the overshoot. Thus, this paper presents...
This paper presents fault-tolerant control (FTC) architecture for vehicle lateral dynamics described by Takagi-Sugeno (TS) fuzzy model with parametric uncertainties and sensor faults. Using the LMI formulation, the T-S uncertain fuzzy model of vehicle dynamics is used to design an output feedback observer-based controller, a method based on observer bank is then investigated for detection, isolation...
This paper presents the development of the modeling of human driving behavior based on an expression as a hybrid dynamical system (HDS) focusing on the driver's vehicle following task. The driving data are collected by using a driving simulator which can provide a stereoscopic immersive vision to the driver. In our modeling, the relationship between the measured sensory information and the output...
Sometimes a driver deviates from his natural or normal driving style due to inadequate attention or faces abnormal situation caused by a number of psychological and physical factors. Such abnormalities often lead a driver to a mistake that may cause an accident. This paper presents a novel approach called driver-adaptive assist system to avoid such abnormalities in driving scenario as a preventive...
Near-field optical disk drives represent a novel technique for optical data recording, so as to achieve large storage density and capacity. Since the pickup head is very close to the optical disk, air bearing disturbance has significant effect on flying height control. The effect is not constant and dependent on various parameters. The previous method can not effectively cancel air bearing disturbance...
In this work a Vehicle Dynamics Control (VDC) system for tracking desired vehicle behavior is developed. A two degrees of freedom control structure is proposed to prevent vehicle skidding during critical maneuvers through the application of differential braking between right and left wheels in order to control yaw motion. The feed-forward filter is a reference generator which compute the desired yaw...
The main focus of this paper is on the design and implementation of an antilock brake control system (ABS) for brake-by-wire (BBW) system using a generic model predictive control (MPC) scheme. The advent of BBW system offers a more accurate and continuous braking control, hence poses the possibility of introducing an advanced control algorithm for ABS system. The proposed algorithm aims to utilize...
In the future, automotive steering system will be based on by-wire technology for many reasons. Then, a force feedback system is necessary to provide a virtual steering feel to the driver. In a previous paper, we have optimised the electrical and mechanical architecture of such a system. Because the control law did not guarantee robustness, we are now presenting a new control law that fits this safety...
This paper invests in the potentiality of transmission capability flexibilization of power system to improve the margin of stability system. Series compensation is using to change the transmission line reactance by means of controlled switching strategy. Switching follows the concepts of variable structure control to force the system stabilization. The control strategies perform sliding mode operation,...
The main purposes of this paper concern: fault generation of nonlinear analytical redundancy for actuator faults of electric vehicle. These relations are used to detect and isolate actuator fault based on the elimination of the unknown variables of the system. Each residual, obtained by elimination theory, is sensitive to only one actuator fault thanks decentralization of the electric vehicle known...
This work concerns output trajectory tracking for the McDonnell Dougglas YAV68B Harrier VSTOL aircraft. This system can perform three distinct flight modes, and is modelled with a Lagrangian nonlinear hybrid non-minimum phase dynamics. Output tracking is solved using classical input/output linearization scheme associated to an internal dynamics stable inversion for each flight mode dynamics. The performance...
We study the deployment and configuration of the next generation of network traffic filters within a quantitative framework. Graph-theoretic and optimization methods are utilized to find optimal network traffic filtering strategies that achieve various security or cost objectives subject to hardware or security level constraints. We rely on graph-theoretic concepts such as centrality measures to assess...
Rotary kiln process is a strongly coupled multivariable nonlinear system with large lag. It has complex control target with less manipulate variables than controlled variables, and the boundary conditions vary frequently and severely during operation. Most rotary kilns are still under manual control such that the burning status cannot be maintained stable, the product quality is hard to be kept consistent...
The main objective involved with this paper consists of presenting the results obtained from the application of artificial neural networks and statistical tools in the automatic identification and classification process of faults in electric power distribution systems. The developed techniques to treat the proposed problem have used, in an integrated way, several approaches that can contribute to...
Reliable decentralized stabilization is considered for general multi-channel plants, where the objective is to maintain stability of the closed-loop system when all of decentralized controllers work together and when one of the controllers is extracted due to a failure. A dilated LMI technique is employed for deriving reliable state feedback design, while a version of unknown disturbance observer...
The contribution is focused on brief description of proposed control design process and primarily on practical application of obtained simple robust control algorithms. The synthesis is based on general solutions of Diophantine equations in the ring of proper and stable rational functions, Youla-Kucera parameterization and divisibility conditions and one of its main advantages can be seen in existence...
In this paper we consider and address two topics relevant to calibration of parameters in transient fuel compensation algorithms. The first topic concerns the optimal selection of transient trajectories over which data are collected and identification of parameters in transient fuel model, the inverse of which constitutes a transient fuel compensation algorithm, is performed. We show that this problem...
Dynamics and motion planning of a wheel-legged robot with two manipulator arms is discussed in this paper. This robot can move on flat surfaces fast, while it has the capability of moving over rough terrains. The two locomotion subsystems, i.e. wheeled mechanism and legged mechanism, will be discussed separately. Wheeled locomotion mechanism includes three wheels, two of them are in the back as active...
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