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An adaptive sliding mode control scheme is proposed for spacecraft rendezvous constrained by the external perturbations, the non-circularity of reference orbit, and the time-varying saturation, which can be induced by the temporal characteristics and the accidental faults of actuators. With some reasonable assumptions, we prove that the adaptive control scheme can achieve asymptotic stability without...
The dynamics of a robotic hand is highly non-linear and needs nonlinear feedback control strategies for its functionality. One of the highly promising and rapidly developing techniques for nonlinear, optimal, feedback control is based on the State Dependent Differential Riccati Equation (SD-DRE), also commonly called SDRE. In this technique, an analytical approach is used to transform the original...
As the demand of the wind energy increase, investigations focus on maximizing the energy extraction and efficiency through the design of key components such as blades, gearboxes, generators, etc and implementation of advanced control strategies. This paper focuses on a new application of nonlinear, feedback optimal control strategy to Wind Energy Conversion Systems (WECS) with Permanent Magnet Synchronous...
Wind energy has taken an important role in responding to overall energy demand and environmental concers. As the demand of the wind energy increase, investigations focus on maximizing the energy extraction and efficiency mostly through the design of key components such as blades, gearboxes, generators, etc and implementation of advanced control strategies. This paper focuses on new application of...
As the electrical grid evolves into a smart grid, efficient routing of power through transmission lines becomes essential to meet power demands. Real-time computations of line temperature and line current become important for dynamically rating transmission lines. This process becomes challenging as the transmission line system consists of complex electrical and thermal dynamics, which exist simultaneously...
In this paper, an effective online method used for finite-horizon, nonlinear, stochastic tracking problems, is presented. The method incorporates the finite-horizon State Dependent Riccati Equation (SDRE) with Kaiman filter to account for the stochastic environment thereby extending the application spectrum to nonlinear systems and overcoming the hurdle with linear tracking systems limited to small...
In this paper, the absolute stability and feedback control problems of Lur'e singularly perturbed uncertain systems are investigated. An ε-dependent Lyapunov function is constructed. Using the Lyapunov theory and Linear Matrix Inequalities (LMIs) technique, the conditions of absolute stability of the system without disturbances are derived. Then, a method of designing feedback controller is developed...
DC motors are widely used in industrial applications. Controlling of DC motor is a great challenge for control engineers. Precise equations describing DC motors are nonlinear. Accurate nonlinear control of the motion of the DC motors is required. In this paper, a novel online technique for finite-horizon nonlinear tracking problems is presented. The idea of the proposed technique is the change of...
A number of computational techniques have been offered for estimation of unmeasured states in nonlinear systems. Most of these techniques rely on applying the linear estimation techniques to the linearized systems, which can be effective only in the neighborhood of the operating point. This paper presents a new efficient approximate online technique used for finite-horizon nonlinear stochastic regulator...
The majority of homing guided missiles, uses gimbaled seekers. The equations describing seeker gimbal system are highly nonlinear. Accurate nonlinear control of the motion of the gimbaled seeker through the attached DC motors is required. In this paper, an online technique for finite-horizon nonlinear tracking problems using Finite-Horizon State Dependent Riccati Equation (SDRE) is presented. The...
An essential control objective of wind energy conversion systems (WECSs) is to maximize the conversion of wind energy into electrical energy. This control objective is difficult to achieve using linear control techniques because the WECSs are time-varying and highly nonlinear. In this paper, we propose a nonlinear fuzzy adaptive output feedback control strategy to achieve the optimum wind power extraction...
In this paper, an online technique for finite-horizon nonlinear stochastic tracking problems is presented. The idea of the proposed technique is to integrate the Kalman filter algorithm and the State Dependent Riccati Equation (SDRE) technique. Unlike the ordinary methods which deal with the linearized system, this technique will estimate the unmeasured states of the nonlinear system directly, and...
In this work, an array of three surface Electrography (sEMG) sensors are used to acquired muscle extension and contraction signals for 18 healthy test subjects. The skeletal muscle force is estimated using the acquired sEMG signals and a Non-linear Wiener Hammerstein model, relating the two signals in a dynamic fashion. The model is obtained from using System Identification (SI) algorithm. The obtained...
This paper presents a reduced-order H∞ optimal control for wind energy conversion systems. Two different timescale (slow and fast) dynamics of wind energy conversion systems are separated and processed independently using the singular perturbation theory. By using the decomposition technique, low-order, independent H∞ optimal filters and controllers are obtained, which provide computational advantages...
[EPTC2012 p319.doc] Bond pads in IC technologies having aluminum-based metallization (Al) and silicon dioxide dielectric (Si02) are studied in relation to stresses from unit probe and wirebond, with emphasis on bond pads with thin pad Al. Finite element simulations attempt to replicate bond pad experimental data previously disclosed by ON Semiconductor. The simulations predict bond pad internal stress...
This paper presents a control method to design low-order optimal controllers for a high-order Wind Energy Conversion Systems (WECS) with Permanent Magnet Synchronous Generators (PMSG). Based on the nature of the WECS which consists of different time-scale (slow and fast) dynamics, the WECS is decoupled into slow and fast subsystems using time-scale analysis. Separate low-order optimal controllers...
In this paper, we present a method of combining spectral models using a Kullback Information Criterion (KIC) data fusion algorithm. Surface Electromyographic (sEMG) signals and their corresponding skeletal muscle force signals are acquired from three sensors and pre-processed using a Half-Gaussian filter and a Chebyshev Type- II filter, respectively. Spectral models - Spectral Analysis (SPA), Empirical...
This paper presents surface electromyographic (sEMG)-based, real-time Model Reference Adaptive Control (MRAC) strategy for a prosthetic hand prototype. The proposed design is capable of decoding the prerecorded sEMG signal as well as the sensory force feedback from the sensors to control the force of the prosthetic hand prototype using a PIC 32MX360F512L microcontroller. The input sEMG signal is preprocessed...
Our recent investigations are focused to develop dynamic models for skeletal muscle force and finger angles for prosthetic hand control using surface electromyographic sEMG as input. Since sEMG is temporal and spatially distributed and is influenced by various factors, muscle fatigue and its related sEMG becomes of importance. This study is an effort to spectrally analyze the sEMG signal during progression...
This paper presents a surface electromyographic (sEMG)-based, optimal control strategy for a prosthetic hand. System Identification (SI) is used to obtain the dynamic relation between the sEMG and the corresponding skeletal muscle force. The input sEMG signal is preprocessed using a Half-Gaussian filter and fed to a fusion-based Multiple Input Single Output (MISO) skeletal muscle force model. This...
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