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.
In this paper, a model-based FDI-scheme for the detection and isolation of sensor faults in the vehicle lateral dynamics control system ESP is presented. The main objective is to handle the model uncertainties and to isolate faults. In order to reduce false alarm rate on the one hand and to ensure fault detectability on the other hand, a parity space based solution is presented. To achieve a numerical...
In this paper the design of a nonlinear Hinfin controller for flexible joint robot (FJR) is presented. An approximate solution based on Taylor series expansion is considered for the Hamilton-Jacobi-Isaac (HJI) inequality. A two-degree-of-freedom controller combined of nonlinear Hinfin controller and inverse dynamics controller is proposed to tackle the regulation as well as tracking problem in FJR...
In this article, a new method is proposed for cutting tool wear detection and compensation based on Lipschitz exponent In general, there are three phases in tool wear, namely, incipient, normal and dramatic phase. And there are different values of Lipschitz exponents of cutting force signal in different phases. So we can identify the different phases of cutting tool wear by comparing the values of...
This paper presents a coordinated controller parameter adjusting method for boilers. The method includes constructing a simplified engineering boiler model and adjusting controller parameters with nonlinear constrained optimization. Because many control loops in the generation plants interfere with each other, the improvement in the control ability by the method is remarkable. Simulation results are...
EPS (electric power-assisted steering) system has been used to replace traditional hydronic power steering system in vehicles. In an EPS system, the assisting torque is from an electric motor for steering effort. The performance of an EPS system requires that the high frequency external disturbance in road reaction torque be attenuated so that the driver could feel comfortable - light and less vibration...
In this paper continuous-time recurrent multilayer perceptrons (RMLP) are proposed to identify nonlinear systems. Using the function approximation theorem for multilayer perceptrons(MLP), we conclude that RMLP can approximate any dynamic system in any degree of accuracy. By means of a Lyapunov-like analysis, a stable learning algorithm for RMLP is determined. The suggested learning algorithm is similar...
In this paper, a model-based fault diagnosis scheme for on-board diagnosis in spark ignition (SI) engine control systems is presented. The developed fault diagnosis system fully makes use of the available control structure and is embedded into the control loops. As a result, the implementation of the diagnosis system is realized with low demands on engineering costs, computational power and memory...
The concept of modern day haptics - providing the simulated sense of touch - has been a topic of research since the early 1980's. Since then, a number of researchers and companies have striven to drive haptic applications into the mainstream. One of the primary barriers to the development of commercially viable application is the disconnection between the application visionaries, which tend not to...
The communication channel delay can adversely affect performance and stability of bilateral teleoperation systems. This paper proposes a discrete-time linear quadratic Gaussian (LQG) controller that delivers a transparent stable response in the presence of constant communication latency. Different controllers are designed for each phase of operation, i.e. free motion and contact with rigid environments...
This paper presents a physical model of a spark ignition (SI) engine valve actuated by a voice coil actuator (VCA) and proposes a novel control strategy that achieves fast transitions and low seating velocities with high precision position control. The control strategy is based on applying two different pulse width modulated (PWM) voltages for transient and steady state performance. This novel switching...
The number of unknown parameters in a high degree-of-freedom (DOF) robot makes traditional identification techniques difficult to implement. A non-conventional system identification method is proposed to model the Freedom 6S, a force feedback hand controller with 6 DOF. Compared to industrial robots, haptic devices are back-drivable, and they are characterized by relatively large forces and low friction...
The paper analyzes the influence of the delay on air-to-fuel ratio (A/F) regulation in internal combustion engines. Two feedback controller architectures, an integral controller for the case of a fast A/F sensor and a feedback linearization controller for the case of a slow A/F sensor, are considered. The collocation method is applied to determine the stability and guaranteed rate of convergence regions...
The number of users of services deployed on the Internet has been increasing continually. This has been causing overload in a great amount of Web servers reducing QoS (quality of service) offered by service providers. Furthermore, users with different QoS aspirations have been forced to share available processing resources in a same way even they can pay more. To deal with these problems, a possible...
Automation of control and management of a power system substation is becoming more and more popular. Overcoming the initial hiccups in its acceptance due to higher costs and apprehensions on reliability, more utilities and industries are keen in exploring this option now. In the scenario of high pressure to improve the efficiency and productivity of the power system substation, substation automation...
In this paper, we propose a controller for a nonlinear system with an input constraint depending on the state. The proposed controller is based on Kidane's controllers. Then, if system has one input, we can tune optimality and robustness easily. We apply the proposed controller to single-link robot arm in order to verify the effectiveness of the proposed controller
Real-time controllers have traditionally used computer hardware systems that require expertise in hardware knowledge before the controller can be effectively implemented. This paper introduces a single-processor PC-based real-time motion controller developed using QNX 6.0 Neutrino operating system. Using the advantages of a distributed software system and an object-oriented architecture, the developed...
This paper suggests another approach to eigenstructure assignment in a polynomial matrices framework. In particular, the design of eigenstructure assignment is performed without selecting initial eigenvalues. The eigenspaces of the system are handled in polynomial matrices format, where the closed-loop transfer function of the system is expressed as a coprime factorisation. The controller structure...
This paper presents an efficient numerical method to obtain optimal PI tuning formulae for first order plus dead time processes. The design method is based on optimal load disturbance rejection. In order to obtain a robust controller, a constraint on the maximum sensitivity is used. In addition, the design method deals with setpoint response using a two degree of freedom structure. In order to show...
PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed. Although it is important...
In the majority of robotic applications, including manipulation and human-robot interaction, contact force needs to be monitored and controlled. Compliance controllers demand high precision force measurement that can be delivered by commercial force/torque sensors. However, these sensors are expensive, rather bulky and vulnerable to impact forces. A common solution to this dilemma is the use of force...
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.