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, we propose a design method of parallel feedforward compensator (PFC) for an adaptive output feedback control and consider an application of the proposed method to a control of magnetic levitation system. In order to obtain a desired PFC which realizes an ASPR augmented controlled plant, PFC parameters are adjusted by the fictitious reference iterative tuning (FRIT) method so as to exist...
This paper proposes an improved scheme for feedback error learning (FEL). In two-degree-of-freedom control systems in general, a prefilter is used to compensate the relative degree delay of a strictly proper plant. In conventional schemes of FEL, however, the feedforward controller has to learn parameter including the prefilter, although it is given in advance. The proposed scheme reduces this redundancy...
This paper is concerned with the control of a rotary crane system which is perturbed by a strong and sudden disturbance. Since the payload of the crane system is affected strongly by inertia, it is hardly stabilized quickly, particularly when there exists disturbance. An adaptive adjustment of the controller against the disturbance is thus needed to maintain the desired performance. The problem becomes...
This paper proposes a new method for designing a weigh feeder control system. The model of a weigh feeder cannot be obtained accurately because its dynamic characteristics are time varying and its high frequency vibration modes are not easily identified. In this paper, a weigh feeder is assumed to be a first-order plus integrator system, and a control law consists of a constant feed-forward control...
In this paper, we propose an effective tuning method to obtain the optimal parameter of a feedforward controller in the two-degree-of-freedom (2DOF) control system for the sake of achieving the desired output without mathematical model of a plant. The first author proposed the effective method for the tuning of parameters of a controller by using only one-shot experimental data instead of using mathematical...
We study two-player security games which can be viewed as sequences of nonzero-sum matrix games played by an Attacker and a Defender. The evolution of the game is based on a stochastic fictitious play process, where players do not have access to each other's payoff matrix. Each has to observe the other's actions up to present and plays the action generated based on the best response to these observations...
The paper proposes a receiver-based, rate and quality control mechanism. The main principle is to regulate encoding rate to guarantee the video quality is acceptable, especially in region of interest. Transmitting the encoded bit stream in multicast delivery not only improves bandwidth efficiency but also provides different quality for receivers with different length of bit stream. The overall mechanism...
This paper considers the bilateral teleoperation of wheeled mobile robot with time delay using the virtual image robot. In this paper, we introduce the virtual image robot as a master robot. The human operator commands the virtual image robot, the slave wheeled mobile robot tracks the motion of the virtual image robot. The kinematics and dynamics of master/slave robots is considered. The scattering...
This paper presents the design and implementation of robust real-time visual servoing control with an FPGA-based image co-processor for a rotary inverted pendulum. The position of the pendulum is measured with a machine vision system whose image processing algorithms are pipelined and implemented on a field programmable gate array (FPGA) device to meet real-time constraints. To enforce robustness...
This paper presents the design of a semiautomated football table. One side of the table is equipped with automated rods, whereas the other side has regular rods. With this setup one or two human players can play against a computer controlled adversary. The paper describes the design and integration of a suitable hardware setup with vision based control algorithms that control the automated rods to...
Mathematical modeling and model analysis of biochemical reaction networks are becoming important tools for biological research and for applications in medicine and bioprocess engineering. We will discuss the special role of mathematical modeling in biological research. In engineering applications, models are primarily means to accomplish a design task (e.g. controller design). In contrast, the goal...
Complex behavior in the dynamics of biochemical reaction networks is commonly governed by bifurcations of equilibria and limit cycles. In this tutorial, we discuss two frequent types of bifurcations, the saddle-node and the Hopf bifurcation, and their relation to bistability and oscillations in biochemical networks, respectively. We also present examples from molecular biology where the dynamical...
The design of traction control systems for motorcycles is a very challenging research topic. Among other issues, one of the most difficult task is the control-oriented modeling phase. Black-box identification procedures are very suitable for this purpose, but the required experiments are often safety-critical and limited by some aspects, such as the length of the track. In this paper, an optimal protocol...
Cornering weave oscillations associated with high performance motorcycles operating at high speeds, can be reduced by controlling the geometry of the rear suspension. A conventional monoshock rear suspension arrangement is modified and extended in a way that variations of the leverage ratio between the spring damper unit and road wheel are possible by an actuator. The actuator varies the geometry...
Recent research has led to the design of effective steering control strategies which employ, as controlled variables, the steering velocity and the yaw rate. The yaw rate can be measured by means of Micro Electro-Mechanical Systems (MEMS) gyroscopes; steering angle potentiometers, instead, are in general less cost effective and less robust. Thus, there is an interest in developing effective steering...
This paper presents a hybrid ABS controller based on wheel deceleration and force sensing. The proposed controller consists of a deceleration based switching logic that stabilizes the wheel slip dynamics around a limit cycle and a force measurement based algorithm that updates the maximum and minimum braking torque. It is shown how force sensing can improve performance and, at the same time, yield...
The application of a Moving Horizon Estimator (MHE) to the problem of vehicle side-slip angle estimation is studied. In particular, this work focuses on how MHEs can be designed in order to provide estimates of the variable of interest with guaranteed estimation error. The problem is solved using a nonlinear regression observer identified directly from data.
Traditional active safety systems in automotive industry use the vehicle current state and additional optional measurements to plan their intervention. In general, the computation of the most convenient action to undertake in order to guarantee a safe driving is performed without any reference to what the optimal maneuver, predicted on the basis of the vehicle current state and future road geometry/conditions,...
This paper proposes robust proportional -integral-derivative (PID) control for a proton exchange membrane fuel cell (PEMFC) system. We model a PEMFC as a multivariable system, and apply identification techniques to obtain the system's transfer function matrices, where system variations and disturbances are regarded as system uncertainties. In previous studies, robust control has been successfully...
This paper presents a efficient stand-alone battery photovoltaic (PV) lighting system which can provide functional illumination based on power light-emitting diodes (PLEDs). PLED with specific features of small size, long life and high-brightness light will be choices of future light sources. The PLEDs are feed using a lead acid battery that is charged with a PV panel. This paper presents an interface...
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.