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This paper considers the robust fault detection and isolation (FDI) problem for linear time-invariant dynamic systems subject to faults, disturbances and polytopic uncertainties. We employ an observer-based FDI filter to generate a residual signal. We propose a cost function that penalizes a weighted combination of the deviation of the fault to residual dynamics from a given fault isolation reference...
Particle filters have been proven to be very effective for nonlinear/non-Gaussian filtering. However, the most notorious disadvantage of a particle filter is its formidable computational complexity, since hundreds (even thousands) of particles are usually needed to achieve a required approximation accuracy. It has also been proven that one of the techniques of truly solving a computational problem...
Today’s industry is based on the principle of automatics. In order to increase production quality and improve production yield that reduces production costs, there is tendency to automate every phase in the production line and if possible to replace the human resource entirely. Ceramic tile industry is not an exception. In the ceramic tile production line almost every phase is more or less automated...
A method for localization of unmanned ground vehicles (UGVs) that are equipped with multiple sensors is presented and evaluated based on derivation of a fuzzy Extended Kalman Filter (EKF). The fuzzy EKF is used to fuse information acquired from the UGV odometer, stereo vision system and laser range finder in order to estimate the vehicle position and orientation. The noise distribution of the multiple...
An approach based on neural networks for facial expression classification is presented. Two stages of neural networks (NN) are used for expression classification. The first stage neural network based on Hebbian learning is used for estimating principal components (PC) for dimension reduction. The second stage neural network based on supervised competitive learning is used for classifying expressions...
This paper addresses the problem of stabilizing a nonlinear system by means of quantized output feedback. A framework is presented in which the control input is generated by an observer-based feedback controller acting on quantized output measurements. A stabilization result is established under the assumption that this observer-based controller possesses robustness with respect to output measurement...
This paper present a detection and diagnosis sensor faults based on a Neuronal Non Linear Principal Component Analysis (NNLPCA) and on a Fisher Disciminant Analysis (FDA). This method is validated in simulation on a non linear system: an experimental greenhouse. Several results are presented. The neuronal approach of the NLPCA is used to underline the correlations between the variables and to estimate...
In this paper, EMTP/ATP simulation environment is used to model on-line single-phase partial discharge (PD) measuring system using Rogowski coil for the monitoring of falling trees on the covered-conductor (CC) overhead distribution lines. The CC is modeled as a distributed parameters line and Rogowski coil is modeled based on its equivalent circuit as a saturable current transformer having linear...
This paper is devoted to the pole assignment prob lem in LMI regions for linear non symmetrical constrained control systems. First, the eigenvalue clustreing problem in LMI regions for complex matrices is studied. Hence, the study is extended to the case of polytopic uncertainties. Second, the synthesis of stabilizing controllers for linear constrained control systems assigning the closed loop poles...
The problem for optimal control of the activated sludge process based on ASMI model is considered. The objective is to determine a method for real time calculation od an optimal dissolved oxygen trajectory and the corresponding optimal state trajectories subject to minimization of both the deviations from the effluent requirements and the control energy consumption. The paper presents the developed...
The paper presents a digital control application, in which a tuning method is proposed for DC motors, using DSP from Texas Instruments (TI). Experimental application for the DC motor illustrates the effectiveness and the simplicity of the proposed method for controller design. The control algorithm for the drive application runs on a TMS32OF2812 DSP. Once the desired functionality has been captured...
Generalized Predictive Control (GPC) has been proved to be efficient in various industrial applications as well as in ship control. However, most of the adaptive GPC algorithms need long execution time and the applications of GPC are limited in systems with slow time constants. To alleviate this problem, a direct GPC algorithm for ship course keeping is presented. The coefficients of controller are...
This paper considers a failure model including both incipient and abrupt faults, and addresses the problem of identifying and accommodating such faults. An identification strategy is proposed for the considered fault class, and a test is presented able to discriminate between the two types of failures. In order to prove the effectiveness of the estimation procedure a fault tolerant control strategy...
In this paper we give an algorithm that determines the set of all stabilizing proportional-integralderivative (PID) controllers that places the poles of the closed loop system in a desired stability region S. The algorithm is applicable to linear, time invariant, single-input singleoutput plants. The solution is based on a generalization of the Hermite-Biehler theorem applicable to polynomials with...
This paper provides a solution to the tracking problem of a robotic system in terms of a solution to a certain Linear Matrix Inequalities (LMIs), and in the presence of both exogenous disturbance and model uncertainties. Although this problem has been investigated extensively and numerous results are now available, the contribution of this paper is in its unique approach which consists of transforming...
In this article, implementation of a self-learning fuzzy logic controller (SLFLC) in a form of PLC super block is described. The SLFLC contains a learning algorithm that utilizes a second-order reference model and a sensitivity model related to the fuzzy controller parameters. The effectiveness of the PLC super block has been tested by experiment in the position control loop of an electronically commutated...
This paper reports a time-scaling scheme to realize a tracking controller for the non-differentially flat model of the kinematic car with one input which is the steering angle or the angular velocity of the steering angle. The longitudinal velocity of the car is a measurable external signal and cannot be influenced by the controller. Using an on-line time-scaling, driven by the longitudinal velocity...
In this paper first a parametric low differential order model, suitable for mathematically analysis is introduced for Induction Machines with faulty stator. Second, an adaptive Kalman filter is proposed for recursively estimating the states and parameters of continuous-time model with discrete measurements for fault detection ends. Typical motor faults as inter-turn short circuit and increased winding...
Minimization of actuators torque in snake robots, reduces the energy consumption and the robot dimensions. In this paper a mathematical model for Concertina movement is developed. The formulation is then used to show how torque is optimized in this type of locomotion. The result of optimization was the self-locking property. If self-locking property occurs, zero actuator torque is needed to maintain...
This paper presents a robust method for estimation the lateral velocity of vehicle. The proposed observer describes a simple structure that contains a sliding mode term which turns out to be robust against output noises and parameters variations as well as sustained disturbances The given nonlinear model of the vehicle is then represented by an uncertain Takagi-Sugeno fuzzy model when the road adhesion...
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