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According to the decision demands from peak load dispatching (PLD) in power system, we develop a decision support system (DSS) for PLD by means of computer technology. In the DSS, we design a platform of data warehouse after data pre-processing, and propose an integration support technique by applying pattern recognition, robust regression and optimal load dispatch approach on the platform. We develop...
In this paper we deal with a companion that is capable of migration to variety of embodiments in order to fulfil its tasks (including the social one) and to achieve its goals. It is important that identity of a companion in each utilised embodiment can be recognised by the user despite of technological constraints and own capabilities of a robotic platform. We are interested in the case when one companion...
This paper presents the theoretical foundations of decision rule selection for dynamic multicriteria decision-making problems. Specifically, we will propose solution methods for the optimal control of complex systems governed by ordinary differential equations with vector-valued criteria. For this class of system we will define an extension of the Multiple Reference Points method, termed the Reference...
In this paper, the process and results of a parameter identification task for a maritime unmanned surface vehicle are presented. The system has been modeled using state of the art methodology, and the parameters have been estimated via a weighted least square optimization approach. The required measurement data have been taken from various maneuvre trials. For solving the optimization problem, a Particle...
In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the Hammerstein system excitation and the overall Hammerstein system identification problem is decomposed into the linear dynamic control channel subsystem, the corresponding disturbance...
The paper presents a new approach to identification of Wiener systems based on instrumental variables method. It is assumed that the linear dynamic system is represented by the discrete transfer function and the inverse characteristic of the nonlinear element is represented by any set of specified basis functions. It is shown that parameters of a modified seriesparallel Wiener model estimated using...
This paper presents a design of identification-driven visual emotion recognition system for a social robot. The proposed modification includes identification step prior to emotion classification in order to provide a personalized emotion recognition. The facial detection and parametrization is done by FaceTracker application. The feature extraction step is based on authorial feature set definition,...
This article presents a configuration of industrial hardware called a Programmable Analog Controller for coil current control. The target device is an electromagnet from an active magnetic levitation test rig. The open loop identification carries information about the time constant. The proportional controller is embedded into programmable analog devices. As a result, the time constant is shortened...
Fuel cells can be used to convert the chemical energy of fuel directly into electric energy. The thermodynamic and electrochemical processes involved in such systems are described by a large variety of parameters affecting the system states. These are the temperatures inside the fuel cell stack as well as partial pressures of gases and the electrical voltage. In general, it is not possible to measure...
Tracking control design is a common task in many engineering applications, where efficient controllers commonly consist of two components. First, a feedback control law is implemented to guarantee asymptotic stability of the closed-loop system and to meet robustness requirements. Second, a feedforward control signal is usually integrated, which improves the tracking of predefined output trajectories...
In this paper various methods of ergonomics improvement in electric bicycle pedaling are discussed. The main goal is to control an average amperage of generator powered by a cyclist, but considering the unsteadiness of human legs torque vs. angular position of the support. In the paper, four different approaches for generating the current reference trajectory are compared — two of them use only position...
This paper contemplates the unscented Kalman filter (UKF) algorithm for nonlinear semi-explicit index 1 differential-algebraic equation (DAE) systems. Incipient, the formulation of the UKF algorithm proposed by Mandela et al. in [1] concerning this system class is outlined and an revised formulation for the unscented Kalman filter for nonlinear semi-explicit index 1 differential-algebraic equation...
The paper concerns the task of robust fault diagnosis of actuators in non-linear discrete-time systems. The general unknown input observer strategy and the H∞ framework are utilised to design a robust fault detection scheme. Moreover, the proposed approach enables to perform the isolation of the faulty actuators. The final part of the paper presents an illustrative example which exhibits the performance...
An active control law design for uncertain linear systems with state time-delay is addressed in this paper, in order to guarantee dynamic performances and compensate fault effects. First, the fault tolerant control strategy is designed based on Frobenius norm by minimizing the distance between the closed-loop model of the faulty system and a reference one. Therefore, stability issue is ensured via...
This paper presents the problem of robust position control with adaptive speed controller for PMSM with variable moment of inertia. An adaptive speed control based on neural network and its training method on-line, the position of the nonlinear control were presented. Simulation results have been confirmed by experiment.
The paper presents an application of LQ control dedicated to a semiactive quarter-car model (2 degrees of freedom) which includes nonlinear model of a magnetorheological (MR) damper. Optimal control gains are derived based on known quarter car model parameters and limitations imposed on absolute vertical velocities of sprung and unsprung masses as well as on desired force generated by MR damper. Solutions...
This paper deals with the application of state space neural network model with delays to design a nonlinear model for a laboratory stand of the Two Rotor Aero-dynamical system as an example of the MIMO (multi input multi output) system. The work presented is the first part of the researches on the design of the nonlinear model predictive control and focuses on obtaining of the best system model. The...
The paper deals with the problem of a robust actuator fault diagnosis for Linear Parameter-Varying (LPV) systems with Recurrent Neural-Network (RNN). The preliminary part of the paper describes the derivation of a discrete-time polytopic LPV model with RNN. Subsequently, a robust fault detection, isolation and identification scheme is developed, which is based on the observer and H∞ framework for...
The paper presents a new approach to derivation of a linear model representing an approximation of dynamic response determined for a model estimated within discrete time identification. The approximation is calculated using with new algorithm, that minimize the approximation error with application a non-quadratic performance index. The used performance index is quite close to the absolute norm of...
In semi-active systems with MR dampers very often use of an inverse MR damper model is inevitable. The inverse model could be one of the crucial factors influencing system's performance. Very often higher layer control algorithms' output is the required force to be generated by the MR damper. Usually an inverse MR damper model is used to calculate the value of the necessary control signal to achieve...
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