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This paper introduces the method of detecting a route space for an industrial indoor vehicle. The vehicles work in many industrial fields, e.g., a semiconductor production and a car assembly factory. The detection of the route space under illuminant disturbance is an important problem for the industrial vehicle robot. The industrial vehicle has to move to the same areas in a factory. For these works,...
An adaptive control scheme based on disturbance observer is proposed in this paper for the bank-to-turn missile autopilot design. In the past, the disturbance observer has been introduced for bank-to-turn missile system to improve system performance in the presence of severe disturbances. However, the disturbance rejection performance is not quite satisfying when considering the fluctuation of the...
Active power filters are key elements in both the removal of harmonic components caused by different loads and the maintenance of the power quality. Algorithms which extract the various harmonics from the waveform are therefore needed to generate the references for the active power filters. These algorithms normally extract the sum of all the undesired harmonics. Nevertheless, if it is necessary to...
In this paper, a decoupled hybrid control of velocity and tension is applied to cold rolling system with a disturbance observer in simulation. This innovative method controls the strip tension and line speed independently in orthogonally-crossed two modal spaces: the differential mode and the common mode. In the proposed system, even if the operator changes the line speed, the target tension is maintained...
This paper proposed a robust H∞ fault estimation method and a fault-tolerant control(FTC) of vapor compression cycle(VCC) systems. Based on a moving boundary model(MBM), linearization and model reduction were conducted. Actuator faults were estimated by a proportional-integral(PI)-observer and it was designed using a H∞ estimation theory. Robust fault-tolerant controller was designed using a convex...
This paper proposes a multi-loop controller for current control of a grid-connected inverter with an LCL-filter. The inner loop uses the converter current error as the sliding surface in a Sliding Mode Control (SMC) approach. The model obtained allows the application of an outer Model Reference Adaptive Control (MRAC) for the tracking of the grid current in a robust fashion with disturbance rejection...
In this paper a robust predictive current control approach is developed to tackle the impacts of parameter variation in induction motors on the control performance. The robustness can be achieved in general model predictive control (MPC) by integrating the disturbance into the prediction model, which is estimated by an observer and whose effect is compensated to the system input or output. In such...
In hospitals and care facilities, the care workers have to take care of many patients riding on a wheelchair for a stroll. The welfare vehicles like electric wheelchairs will take important roles not only to improve the quality of life of patients but also to reduce the load of care workers. The platoon driving of the wheelchair systems may become one of the effective leading methods of patients....
This paper aims to focus on the smooth output of Buck converters under the input perturbations and load disturbances using the high-order sliding mode controller with a differentiator (HOSMD) based on the only measurement of output voltage. Theoretical analysis and design procedures of the controller designed by prescribed control law, one of the high-order sliding modes, are presented in detail....
This paper presents a control technique based on structured singular value (μ) approach for a boost converter with voltage-mode control. Boost converter is used in most grid-connected photovoltaic (PV) applications in order to stabilize the fluctuating input voltage. Due to their time-varying uncertainty in the converter structure, control of DC-DC converter is a difficult task. By using this new...
This paper presents a discrete time torque observer and an extended H∞ filter to estimate the rotor speed and position in a permanent magnet machine. Those estimated variables are key components of a robust sensorless controller for the machine when it is associated with a wind turbine emulator test-rig. In addition, an iterative maximum power point tracking algorithm is proposed for maximum efficiency...
The drive performance of permanent magnet synchronous motor (PMSM) can be deteriorated due to various disturbances. In this paper, the problem of speed control for a PMSM system with parameter uncertainties is investigated. A new control algorithm based on nonsingular terminal sliding mode control (NTSMC) is proposed, where the controller is developed for speed regulation. Compared with conventional...
Nominal Characteristic Trajectory Following (NCTF) control has been introduced and employed in positioning system since last two decades. It is well known with its practical and easy design procedure, which is independent of friction characteristics. Thus, designer does not need to consider the friction characteristic of a mechanism and it is a valuable controller approach in industry. Besides the...
This paper presents adaptive tracking control with a partial regressor for multi-joint robots. The proposed controller can abbreviate the elaborate computations of a regressor matrix, which needs to be wholly calculated in conventional adaptive control. Therefore, this controller can be easily implemented in robotic systems. Even though the proposed controller does not utilize robustification techniques...
This paper is concerned with the problem of the robust sampled-data H∞ control for an offshore steel jacket platform subject to the self-excited wave force and the external disturbance. First, by using the input delay method, the corresponding closed-loop system with the sampling measurements is transformed into a continuous-time system. Then, based on a Lyapunov functional, the H∞ performance is...
In this paper, a system for the wide area surveillance of general urban environments using multiple Mini-VTOL UAVs is developed. Given the information of terrain and buildings in the target area, the problem of (robust) complete coverage of the urban environment is solved by a three-step approximation approach. Firstly, the target area and the observation area are discretized into two sets respectively...
Power maximization is of great interest in energy conversion systems including renewable sources and alternators used in automotive systems. This paper presents a multi-surface sliding-mode extremum seeking controller for achieving Maximum Power Point Tracking (MPPT) for energy conversion involving a Lundell alternator. The proposed multi-surface sliding scheme results in smooth and fast convergence...
This paper presents a novel diagnosis method based on error voltage for IGBTs open-circuit faults in dual-loop controlled voltage-source inverters. The phase voltage changes when open-circuit faults occur, and then there are error voltages of each phase which can be calculated directly by control algorithm with phase voltages and their corresponding flexible references both available from the main...
In the view of the problem of tuning the parameters of the fuzzy logic controller (FLC) for Delta robot trajectory control, a method is put forward to tune the parameters of membership functions and the gains of the controller with particle swarm optimization (PSO). A PSO with dynamic parameters is proposed which makes the PSO has better performance in global search and faster convergence. The fitness...
The chattering phenomenon associated with the use of Sliding Mode Controllers (SMC) is considered a major drawback of the robust controllers. Ideally, SMCs are to exhibit infinite switching frequency but this is always compromised by the existence of parasitic dynamics which add to the input relative degree of the system and leads to high but finite switching frequency. The performance and robustness...
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