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An introductory research about a data-driven PID tuning for the control of liquid slosh system based on Safe Experimentation Dynamics (SED) is presented in this paper. A performance comparison between the SED and Simultaneous Perturbation Stochastic Approximation (SPSA) based method for data-driven PID tuning is observed and discussed. The performance is evaluated by numerical examples in terms of...
This paper presents a preliminary study of a model-free approach based on spiral dynamic algorithm (SDA) formaximizing wind farms power production. The SDA based approach is utilized to find the optimal control parameter of each turbine to maximize the total power production of a wind farm. For simplicity, a single row wind farm model with turbulence interaction between turbines is used to validate...
This paper explores a model-free approach based on the random search (RS) algorithm for maximizing wind farms power production. The RS based approach is utilized to find the optimal control parameter of each turbine in maximizing the wind farm total power production. The Horns Rev wind farm model with turbulence interaction between turbines is used to validate the proposed approach. Simulation results...
This paper performs an initial study on identification of continuous-time Hammerstein models based on Simultaneous Perturbation Stochastic Approximation (SPSA). While the structure information such as the system order is available for the linear subsystems, the structure of nonlinear subsystem is assumed to be completely unknown. For handling it, a piecewise-linear functions are used as a tool to...
The research on two-wheels balancing robot has gained momentum due to their functionality and reliability when completing certain tasks. This paper presents investigations into the performance comparison of Fuzzy Logic Controller (FLC) and PID controller for a highly nonlinear 2 -- wheels balancing robot. The mathematical model of 2-wheels balancing robot that is highly nonlinear is derived. The final...
Conventional model-based control strategies are very complex and difficult to synthesize due to high complexity of the dynamics of robots manipulator considering joint elasticity. This paper presents investigations into the development of composite control schemes for trajectory tracking and vibration control of a flexible joint manipulator respectively. To study the effectiveness of the controllers,...
This paper describes the use of angular position control approaches for a flexible robot manipulator with disturbance effect in the dynamic system. A nominal characteristic trajectory following (NCTF) controller is used to actively control the vibration of flexible structures. The controller design, which is comprised of a nominal characteristic trajectory(NCT) and PI compensator, is free from exact...
The increased complexity of the dynamics of robots manipulator considering joint elasticity makes conventional model-based control strategies complex and difficult to synthesize. This paper presents investigations into the development of composite collocated proportional-derivative (PD) and Fuzzy Logic Control for trajectory tracking and vibration control of a flexible joint manipulator respectively...
This paper presents investigations into the development of feedforward control schemes for anti-swaying control of a gantry crane system. A nonlinear 3-D gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped bang-bang force input is used to determine the characteristic parameters of the system for design and evaluation of...
This paper presents investigations into the development of control schemes for anti-swaying and input tracking control of a gantry crane system. A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. To study the effectiveness of the controllers, initially a collocated PD control is developed for cart position control...
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