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Robust autopilot design for bank-to-turn missiles under disturbances and uncertainties is investigated in this paper using the disturbance observer concept. In this setting, the influences caused by parameter variations are merged into a disturbance term and regarded as a part of the lumped disturbances. Disturbance observers are employed to estimate the lumped disturbances. However, the lumped disturbances...
This paper presents a friction compensator design based on parity equations applied to a single stand of a hot strip rolling mill. For the purpose of control, the force acting on the rolled metal piece is measured. However, this measurement is affected by friction, which, due to its strongly nonlinear character, leads to limit cycles. The algorithm presented here utilises the parity equations of a...
A method for developing a model reference adaptive control system is proposed. It is assumed that the system being controlled is unknown except that it can be represented by a set of state equations with known dimension and that the measurement function vector is unknown except for its dimension. The unknown state function and measurement function are modeled by artificial neural networks and the...
This paper presents a novel implementation of a constrained predictive control (MPC) algorithm. The MPC algorithm is based on Laguerre predictions and multi-parametric solutions guaranteeing larger feasibility sets, low computational burden and memory storage. Specifically the paper discusses programming of MPC in an industrial Programable Logic Controller (PLC) software. A laboratory experiment test...
This paper presents the hydrogen energy based fuel cell hybrid electric vehicle (HEV) system development. The research work includes the development and analysis of HEV system models for hybrid electrical vehicles via simulation study. We have developed a toolbox, which contains all the subsystems to create different types of HEV models. Real time implementations of hybrid electric vehicle are also...
A model of the cardiovascular system (CVS) has previously been validated in simulated cardiac and circulatory disease states. In these studies, a lumped parameter model representing the hemodynamics of the body is personalised to each individual. In this research, the effects of pulmonary embolism (PE) in porcine trials are investigated using the existing model and an improved parameter identification...
This paper presents the design and simulation of a launch vehicle and its guidance, navigation and control subsystems. This process requires the development of a mathematic model, an attitude control system and trajectory optimization. The Ariane 5 ECA is proposed here as the launch vehicle, where the target is a geostationary transfer orbit. This procedure is, however, valid for any other launch...
The shaping and forming of metal sheet is a key manufacturing process. Incremental Sheet Forming (ISF) is a novel sheet metal forming technology where the deformation of the metal sheet occurs locally and progressively. Currently, the geometrical accuracy of the shape made by ISF is low compared to shapes made by a stamping process. We address this issue by adopting a linear forming process model...
Control of batch end-product quality can be realized in the latent variable space using the corresponding partial least squares (PLS) model. The PLS model used for the controller was usually derived from process trajectories covering the complete batch duration. In order to predict the batch end-product quality at a selected control decision point for a new batch, missing data algorithms were needed...
In predictive control, a quadratic program (QP) needs to be solved at each sampling instant. We present a new warm-start strategy to solve a QP with an interior-point method whose data is slightly perturbed from the previous QP. In this strategy, an initial guess of the unknown variables in the perturbed problem is determined from the computed solution of the previous problem. We demonstrate the effectiveness...
Control design and analysis are numerically demanding and thus can be done efficiently only with suitable computer software. This paper looks at the use of MATLAB for supporting student learning of two types of control methodologies: (i) classical control in frequency response and (ii) model predictive control. The paper will first discuss the pedagogical background of how MATLAB supports learning...
Computational demand is one of the most important issues in robust model predictive control (RMPC). Although RMPC strategies can be applied directly to control dead-time systems, by using usual approach, state-space representation order depends on the dead-time length which may lead to prohibitive implementation aspects. This paper proposes a explicit dead-time compensation strategy for tube based...
This paper provide new developments in the design of observers for a class of nonlinear systems with unknown inputs whose nonlinear functions satisfy Lipschitz condition. The proposed methods guarantee the error system stability without requiring the rank condition and also yield many additional degrees of freedom available to the designer. The algorithms for designing a nonlinear observer for the...
In this paper, a semi-parametric identification method for parallel Hammerstein systems is proposed. The static nonlinearities are represented as a linear combination of basis functions, the linear dynamic systems are represented by their nonparametric frequency response function (FRF). A three step procedure is used. In the first step, the FRF of the best linear approximation is estimated for different...
Direct real-time communication among various software components of a multi-robot system (MRS) is much more complicated than that in software simulations. Existing inter-process communication (IPC) mechanisms, such as pipes, shared memory etc., are very rigid and usually enforce tight coupling among software components. Thus they do not integrate well with heterogeneous multi-robot control applications...
This paper examines the longitudinal dynamic model of a vehicle with automatic transmission. The modeling has been done in two stages: in the first stage the dynamics of power train consisting of the engine, the torque converter, the gear box, the final drive and the wheels are considered and in the second stage the effects of external forces exerted on the vehicle are added and overall effect is...
In this paper we propose a method to measure the frequency response function (FRF) of a system using arbitrary excitations without any user interaction. The choice of the excitation is left free, arbitrary, random, or periodic excitations are allowed depending on the preference of the user. The local polynomial method (LPM) is used to reduce the leakage errors on the FRF to extremely low levels compared...
Model-based sensor fault detection, isolation and accommodation (SFDIA) is a direction of development in particular with small UAVs where sensor redundancy may not be an option due to weight, cost and space implications. SFDIA via neural networks (NNs) have been proposed over the years due to their nonlinear structures and online learning capabilities. However few applications have considered multiple...
This paper proposes and gives evidence supporting a team based approach to the design and implementation of engineering curricula. It shows how such an approach allows the effective integration of many different learning outcomes to give a coherent student experience. Finally, it uses examples to illustrate where the web and other technology can be invaluable tools for the delivery of a holistic curriculcum.
Engine Stop/Start technologies provide vehicle manufactures an opportunity to reduce engine emissions and improve fuel economy without resorting to much more expensive and complex electrification technologies. Allowing the engine to stop and start intuitively and unobtrusively, without degrading functionality or attributes requires thorough integration of many systems. This paper describes the design...
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