The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
Control systems must ensure in real-world applications good steady-state and dynamic performance. This is the reason why they need high quality servosystems to perform the tasks of stabilization and tracking, and to deal with the problems created by the parameter variance or the nonlinearities. A way to fulfill these tasks is to employ fuzzy control. The development of fuzzy control systems...
The paper presents a systematical development method for four fuzzy controllers with non-homogenous dynamics with respect to the two input channels; the proposed controller structures are meant for a class of second order and third order plants, which is specific to the field of electrical drives. The electrical drives are characterized by standard models for which even the classical (linear) control...
This paper proposes new optimization algorithms for the optimal tuning of PI controllers dedicated to a class of second-order processes with integral component and variable parameters. The sensitivity analysis with respect to the parametric variations of the controlled process leads to the sensitivity models. The augmentation of the output sensitivity functions over the integral of absolute error...
The paper deals with theoretical and applicative aspects concerning two extensions of the Symmetrical Optimum method (SO-m) for controller tuning in speed and position control of mechatronics systems. The methods, introduced by the authors and called Extended form of the Symmetrical Optimum method (ESO-m) and Double parameterization of the Symmetrical Optimum method (2p-SO-m), are briefly presented...
The paper presents aspects concerning the modeling, driving scenarios and control structures of two classes of vehicular power train systems with continuously variable transmission (CVT). The modeling includes an analysis of the systems' components which include the spark-ignition internal combustion engine, the torque converter, the continuously variable transmission and the wheels. The CVT offers...
This paper treats implementation and signal processing aspects concerning the Iterative Regression Tuning (IRT). Use is made of a conventional control system (CS) structure with PI controller to control a class of second-order servo systems with an integral component. Steps towards the optimal design of the PI controllers in terms of a new IRT algorithm are done to minimize the objective functions...
This paper discusse four new Takagi-Sugeno fuzzy controllers (T-S FCs) for the longitudinal slip control of an Antilock Braking System laboratory equipment. Two discrete-time dynamic Takagi-Sugeno fuzzy models of the controlled plant are derived based on the parameters in the consequents of the rules using the domains of the input variables, and doing the local linearization of the plant model. The...
The paper presents aspects concerning the modeling and driving scenarios of a class of vehicular power train systems. The modeling includes an analysis of the system components which include the spark-ignition internal combustion engine, the torque converter, the metal V-belt type continuously variable transmission and the wheels. Four driving scenarios are illustrated by digital simulation results:...
Motivation for this paper stems from the need to deal with systems in which uncertainty exists on the measured signals and in the parameters of an assumed system model of known structure, and/or where the LTI assumption no longer holds. The potential of the a approach presented here is demonstrated when it is applied to a system in the presence of both an imposed mismatch in the model parameters as...
The paper presents model predictive control solutions for a servosystem consisting of an electromagnetic actuator. Two solutions are proposed in this paper on the basis of one-step-ahead and multi-step-ahead quadratic objective functions. The simulation results support the development of solutions and offer conclusions concerning the advantages of the solutions.
The paper deals with the application of two Iterative Learning Control (ILC) structures to the position control of the inverted pendulum system in crane mode. The two control system structures are based on serial and parallel ILC in combination with the conventional feedback control system structures with PI controllers. Recommendations to set the parameters of the ILC algorithms are given on the...
A stability analysis approach a class of fuzzy controlled single input-single output nonlinear time-varying systems is proposed in the paper. The stability analysis is done in the sense of Lyapunov resulting in sufficient uniform asymptotic stability conditions to be used in the design of Takagi-Sugeno fuzzy logic controllers (FLCs). Use is made of quadratic positive definite Lyapunov function candidates...
This paper presents the mathematical modeling of an electromagnetic actuator and a low-cost position control solution. The first principle nonlinear model is linearized around several points of the input-output static map of the controlled process. The main properties of the linearized models are analyzed and used in the frequency domain design of a PID control solution. Two digital simulation scenarios...
The paper presents an attractive formulation of the iterative feedback tuning approach for multi input-multi output (MIMO) systems. New special gradient experiments are highlighted to reduce the number of experiments per iteration. Several signal processing and implementation aspects are discussed. One case study accompanied by digital simulation results illustrates the usefulness of the theoretical,...
The most popular classical adaptive robot control methods as the Adaptive Inverse Dynamics Control or the Slotine-Li Adaptive Robot Controller are constructed on the basis of exact knowledge on the form of the equations of motion, and on the application of Lyapunov's 2nd Method. This generic technique makes it possible to guarantee the stability of the controlled system using only simple estimations...
This paper proposes two new optimization algorithms for the optimal design of PI controllers dedicated to a class of second-order plants with integral component and variable parameters. The sensitivity analysis with respect to the parametric variations of the controlled plant is supported by the derivation of sensitivity models. Several objective functions are defined based on the augmentation of...
The paper suggests a new iterative feedback tuning (IFT)-based approach to the design of optimal state feedback control systems. Several signal processing aspects are analyzed to reduce the number of experiments in two control system structures. The presentation is focused on second-order positioning systems applied to manufacturing and robotics leading to an original IFT algorithm. Real-time results...
The paper presents a stable design approach for a new class of Takagi-Sugeno PI-fuzzy servo-controllers used in robotic telemanipulation. The approach makes use of the iterative feedback tuning, the nonlinearity vectors in the matrix space, and the modal equivalence principle. Real-time experimental results validate the proposed design approach. Emphasis is put on system's behavior with respect to...
The paper suggests an approach to the optimal design of original Takagi-Sugeno PI-fuzzy controllers (PI-FCs) applied in ship course control. The optimization is done in terms of the Iterative Feedback Tuning algorithms making use of new gradient experiments. Signal processing aspects are discussed with this regard to enable the implementation of low-cost fuzzy controllers. One case study concerning...
The paper suggests PI controllers for longitudinal slip control in the framework of a laboratory anti-lock braking system (ABS). The new design methods make use of gain-scheduling and iterative feedback tuning. They prove to be relatively simple and transparent thus ensuring low-cost automation solutions. The digital implementation of the controllers is done for the laboratory ABS. Real-time experimental...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.