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In recent years, smart materials have proven to represent an effective means for developing a novel generation of miniaturized electro-mechanical transducers. Thanks to their many features such as high energy density and efficiency, low power requirement, low cost, scalability, and high compactness, smart material can help improving the performance of several mechatronics systems, ranging from industrial...
This paper presents an interaction control algorithm for a dielectric elastomer (DE) membrane actuator. The proposed method permits to efficiently exploit the controllable stiffness of the material, and use it as a “programmable spring”, thus enhancing its use in applications such as robotic manipulation or haptic devices. To achieve this goal, a design algorithm based on linear matrix inequalities...
This paper presents a new self-sensing algorithm for Dielectric Elastomer actuators. The method allows to obtain accurate estimations of material capacitance and electrodes resistance from voltage and current measurements, by means of online identification algorithms, e.g., RLS. While the capacitance permits to reconstruct the actuator displacement (self-sensing), the resistance can be used to extract...
This paper deals with the control of a micrometric positioning system based on an innovative Dielectric Electro-Active Polymer (DEAP) membrane. The membrane generates motion by means of the interaction between a preloading force and the compressive forces between the compliant electrodes surrounding the surface of the polymer. In particular, in this paper the preloading force is generated by a bistable...
This paper considers the non-convex Economic Dispatch Problem (EDP) with power losses, prohibited operating zones, and generation cost functions modeling both valve-point loading effects and multiple fuel options. This constrained problem is stated as an unconstrained problem by using the augmented Lagrange formulation, while introducing Lagrange multipliers and penalty parameters. Then, a genetic...
High-speed regimes allow to increase the power density of electrical drives, which is a necessary characteristic in aeronautical applications. In such a context, together with the typical non-linearity of low speed drives, such as core saturation, phenomena related to high fundamental to sampling frequency ratios appear increasingly significant. This paper applies methodologies based on modern robust...
This paper develops a control system for a bi-stable positioning system based on a dielectric electro-active polymer membrane. The motion is generated by the deformation of the membrane caused by the electrostatic compressive force between two compliant electrodes applied on the surface of the polymer. A bi-stable spring is used to pre-load the membrane, allowing high stroke but producing at the same...
This paper considers a control approach for synchronous reluctance machines operating at variable speed regimes based on modern robust control tools. The main challenge arises from the inherent nonlinear magnetic behavior of the machine, caused by core saturation and cross saturation phenomena, resulting in a nonlinear dependence of the machine inductances from the instantaneous values of both direct...
This paper describes a Genetic Algorithm with Resolution Adaptation (GARA) used to solve System Identification (SI) problems. The algorithm is both hybrid, because it combines the genetic search with a fast local hill climbing method to improve the speed of convergence, and adaptive, because it uses information on the actual convergence of the population to modify the resolution of the binary representation...
This paper presents a self-sensing methodology for Dielectric ElectroActive Polymer actuators. The proposed approach is based on using DEAP voltage and current to estimate electrical resistance and capacitance, and using the latter to reconstruct the actuator deformation. For the estimation of the electrical parameters, the performance of two standard linear regression algorithms are compared, i.e...
This paper addresses the control issue of a precise positioning system based on Magnetic Shape Memory Alloys (MSMAs). This family of smart materials exhibits a hysteresis phenomenon that needs to be properly addressed in order to build effective devices. A model-free control scheme is compared with two different model-based approaches which exploit an accurate hysteresis model to perform hysteresis...
In modern electrical drives all regulators are implemented in discrete-time domain. The design of current controller in the continuous time and its following discretization is a common and effective procedure as long as the ratio between the fundamental frequency and the sampling frequency remains sufficiently small. If this condition is violated, the performance of the closed loop system becomes...
This paper deals with the modeling and position control of an ElectroActive Polymer (EAP) actuator system consisting in a combination of an EAP membrane and a mass-spring biasing mechanism. First, a description of the biasing system is provided, and a physical-based dynamic model is derived for the whole system. Then, the model is used for the identification of an experimental actuator, and for the...
A distributed approach for the economic dispatch of generating units is presented. It is assumed that the generators are connected by a communication graph. Each unit has information about itself, and can exchange information only with a few neighboring units in such a graph. Using graph theory and consensus algorithms, the proposed approach solves the economic dispatch problem in a distributed manner...
This paper describes a decentralized approach to control the execution of a set of tasks for a network of heterogeneous robotic agents, i.e., agents with different sets of sensors and actuators. The proposed approach is based on a discrete-event modeling and control framework. The novelty is the full decoupling between the tasks modeling and their deployment. This implies an higher robustness to faults...
This paper considers the task allocation problem for a network of heterogeneous agents under the additional assumptions that each agent can execute a limited number of tasks due to its physical limitations and that some tasks considered critical (i.e., mandatory) for the assignment problem must be necessarily assigned. In order to solve this problem in a decentralized way, we propose an algorithm...
In this work, by starting from the theoretical framework proposed in [1], the problem of decentralized supervision of a Petri net through collaboration among supervisors is addressed. Communication is assumed to be available but limited to one-hop neighbors, i.e., supervisors reachable from one another with respect to a certain communication radius r. A sufficient condition to achieve decentralized...
In this paper we develop an adaptive version of the so-called modified Prandtl-Ishlinskii model of hysteresis. This model is able to capture various shapes of hysteresis and, moreover, it admits an explicit mathematical formulation for the inverse model. The Lyapunov-based adaptation is then used to compensate the hysteretic nonlinearities of an unconventional actuator based on magnetic shape memory...
In this paper a novel decentralized approach for task sequencing within a multiple missions control framework is presented. The main contribution of this work concerns the decentralization of a control framework for multiple mission execution in order to enhance the robustness of the system, and the application of the latter to a heterogeneous robotic network. The proposed approach is based on the...
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