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This paper presents a new robust adaptive inverse control approach for a force-reflecting teleoperation system with varying time delay. In this approach, using the Smith predictor idea, an impedance controller and an adaptive inverse controller are designed, respectively, for the master and slave robots such that the stability and performance of the closed-loop system are achieved in the presence...
We present a constructive method to design bounded cooperative controllers that force a group of N mobile agents with limited sensing ranges to stabilize at a desired location, and guarantee no collisions between the agents. The control development is based on new general potential functions, which attain the minimum value when the desired formation is achieved, and are equal to infinity when a collision...
The effect of roundoff noise in a state-space digital controller is investigated for a discrete-time control system. An analytical expression of the roundoff noise gain is obtained, with which the optimal realization problem is solved on the set of fully parametrized realizations. A sparse structure is derived and analyzed in terms of roundoff noise performance. The problem of finding optimized sparse...
This paper presents the improved control of a benchmark pulping process. Open-loop tests were conducted to obtain a multiple-input multiple-output process model in the form of transfer function matrix. Using this model, the best set of input-output pairings was selected by using relative gain array (RGA) and relative disturbance gain techniques, both in static and dynamic modes. These analyses confirmed...
This paper presents a model predictive control (MPC) design for the unified power quality conditioner (UPQC), an integration of series and shunt active filters to improve power quality in a power distribution system. The control strategy aims to regulate the load voltage and the source current to the desired references in spite of the existence of harmonic components in the supply voltage and the...
This paper proposes a fault-tolerant control scheme for continuous-time linear systems against sensor failures, which is based on the combination of adaptive method and LMI (linear matrix inequality) approach for sensor failure compensations. The novelty lies in based on the online estimations of sensor faults, the controller parameters are updated automatically to compensate the sensor fault effects...
This work presents the application of reduced rank regression to the field of systems biology. A computational approach is used to investigate the mechanisms of the janus-associated kinases/signal transducers and transcription factors (JAK/STAT) and mitogen activated protein kinases (MAPK) signal transduction pathways in hepatic cells stimulated by interleukin-6. The results obtained identify the...
This paper studies the problem of designing fault-tolerant adaptive controllers via state feedback for LTI with actuator failures. An unilateral switching scheme is proposed to deal with the scenario that there have no enough actuators to realize the original planed state tracking task, two different controller parameters update laws are designed, and the proper one will be activated according with...
Backstepping and high gain observers are considered in this paper to reconstruct the mechanical and magnetic states of sensorless induction motor drives. Each of these observers was implemented and tested on experimental set-up, both with the aim to compare their speed tracking capability and their sensitivity to parameter variations on low frequencies benchmark particularly where the motor state...
The paper presents a software tool called Petri.NET which allows modeling, simulation and real-time implementation of static and dynamic Petri nets (PN). The PN model is built using prototype objects from the library. The results of PN model simulation are presented to the user in the form of a token game and in the graphical form showing diagrams of a state vector m(p). The feature that separates...
A novel structure of the state observer with adaptive estimation scheme of sensors and the design of control law to accommodate sensor faults are presented. In this novel approach, based on Lyapunov method, the system is designed, in its feedback loop, to achieve good estimation of the plant states and to adaptively monitor the condition of sensors. Once we have the estimated plant states, the design...
We propose a new collaborative control strategy between time varying design parameters of the plant and the feedback controller. As the feedback control law we adopt the LMI based gain scheduling control scheme to guarantee the closed-loop L2 gain performance against the variation of the time varying parameter of the control object. Under the gain scheduling control we propose a method for the adjustment...
This work presents experimental tests of a vehicle localization system. Based on data collected by a global positioning system (GPS), an odometer and a gyrometer, to measure respectively vehicle position, vehicle velocity and yaw velocity, an estimation strategy of the vehicle cover distance is designed. A prototype is then realized in order to test the strategy on urban and extra urban circuits in...
Lately, many applications for control of autonomous vehicles are being developed and one important aspect is the excess of information, frequently redundant, that imposes a great computational cost in data processing. Based on the fact that real-time navigation systems could have their performance compromised by the need of processing all this redundant information (all images acquired by a vision...
To overcome the problems during navigation of mobile robots in dynamic environment using the traditional artificial potential field (APF) method, a novel improved method called coordinating potential field (CPF) is proposed. The local potential field is constructed by using local subgoals, which obtained by updating dynamic windows. The questions of local minima, oscillation between multiple obstacles...
In this paper we develop and improve a piecewise-linear approximations of nonlinear cellular growth using orthonormal canonical piecewise linear functions (Julian et al., 2000), and it is tested by a probing control strategy (Akesson et al.)for the feed rate. The work is with the mammalian cells BHK (baby hamster kidney) in bioreactor in batch, fed-batch and continuous mode operation. Preliminary...
A visual servo controller is developed for a monocular camera system mounted on a wheeled mobile robot (WMR), which simultaneously solves the tracking and regulation control problems. A prerecorded image sequence (e.g., a video) or single image of four target points is used to define a desired trajectory or desired fixed position and orientation for the WMR. By comparing the target points from a stationary...
The main objectives of crane automation are increasing the efficiency and safety of the transshipment processes. Therefore, advanced control strategies are applied for load sway reduction and trajectory tracking. The paper presents a nonlinear control strategy combined with a model-based optimal trajectory generation for the radial load movement of a boom crane. The results are validated by measurement...
A supermarket refrigeration system is a hybrid system with switched nonlinear dynamics and discrete-valued input variables such as opening/closing of valves and start/stop of compressors. Practical and simulation studies have shown that the use of distributed hysteresis controllers to operate the valves leads to synchronization, meaning that the opening and closing actions of the valves coincide....
In this paper, an adaptive control scheme for the safe operation of a fuel cell system is presented. The aim of the control design is to guarantee that the oxygen ratio do not reach dangerous values. A first level of control is given by a feedforward control. An improved behavior is obtained using an adaptive predictive controller to determine the voltage to be applied to the air compressor. An admissible...
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