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This paper investigates the modeling and H∞ composite control of the coupled hysteretic dynamics in a piezoelectric micro-displacement system (PMS). First, the coupled multi-field hysteretic dynamics with physical meanings is presented for PMS. Next, the composite control analysis of the hysteretic dynamics is proposed. Then, a H∞ synthesis controller is designed by using the simplified hysteretic...
A contactless thin-layered torque sensor with fully-digital signal processing circuit is proposed in this work. The mechanical structure of the torque sensor is an orange-slice-alike flexible body. Two links, beforehand aligned, with B/W stripes play the role of optical grating by resolution 1? as no any torque applied to the shaft. As long as the orange-slice-alike flexible body, sandwiched by the...
This work is inspired and motivated by the sophisticated mammals sense organ of touch: vibrissa. Mammals, especially rodents, use their vibrissae, located in the snout region - mystacial vibrissae - to determine object contacts (passive mode) or to scan object surfaces (active mode). Here, we focus on the passive mode. In order to get hints for an artificial sensing prototype, we set up a mechanical...
The contribution studies the problem of collaborative Kalman filtering over distributed networks with or without a fusion center from the theoretically consistent Bayesian perspective. After presenting the Bayesian derivation of the basic Kalman filter, we develop a versatile method allowing exchange of observations among the network nodes and their local incorporation. A probabilistic nodes selection...
In this paper we propose a new swing-up strategy for a single inverted pendulum. The proposed method has a feature that can handle the limitation of the pendulum-rail length and actuator constraints using both feedforward and feedback control. The feedforward trajectories are generated by solving an optimal control problem having two-point boundary conditions. The limitation of the rail length and...
Reduced state-space models obtained by model order reduction methods must be accurate over the whole frequency range of interest and must also preserve passivity. In this paper, we propose multipoint reduction technique using reflective exploration for adaptively choosing the expansion points. The projection matrices obtained from the expansion points are merged to form the overall projection matrix...
This paper concerns with the sliding mode controller design method for linear time-varying systems. For this purpose, using the time-varying pole placement technique, the state feedback is designed first so that the time-varying closed loop system is equivalent to the standard linear time invariant system. Then, conventional sliding mode controller design method is applied to this time invariant system...
Control on solid oxide fuel cells (SOFC) is challenging due to its nonlinearity, time-varying uncertainties, tight operating constraints and modeling difficulties. The L1 adaptive output feedback controller for systems of unknown relative degree is introduced for the SOFC output voltage control in this paper. It allows for fast and robust adaptation, and provides improved transient performance. Its...
This work deals with dynamics and control of the flexible manipulator viewed as a system with distributed parameters. It is in fact described by a mixed problem (with initial and boundary conditions) for a hyperbolic partial differential equation, the flexible manipulator being assimilated to a rod. As a consequence of the deduction of the model via the variational principle of Hamilton from Rational...
This paper deals with parameter and state estimation in a bounded-error context for uncertain dynamical aerospace models when the input is considered optimized or not. In a bounded-error context, perturbations are assumed bounded but otherwise unknown. The parameters to be estimated are also considered bounded. The tools of the presented work are based on a guaranteed numerical set integration solver...
In this paper we consider a vibrational percussion system described by a one-dimensional hyperbolic partial differential equation with boundary dissipation at one extremity and a normal compliance contact condition at the other extremity. Firstly, we obtain the mathematical model using the Calculus of variations and we prove the existence of weak solutions. Secondly, we focus on the numerical approximation...
A solution for the pH control of the residual water in an industrial blunting system is proposed. The technological process associated to the blunting system is decomposed in four sub-processes connected in series and in parallel, each of them being a distributed parameter one. The mathematical models of the sub-processes are expressed using partial differential equations. Both this procedure and...
The paper describes a method of sensor condition testing based on processing of data measured by the sensor using a Gaussian mixture model with dynamic weights. The procedure is composed of two steps, off-line and on-line. In off-line stage, fault-free learning data are processed and described by a probabilistic mixture of regressive models (mixture components) including a transition table between...
Proper and uniform compaction during construction is of utmost importance for the long term performance of asphalt pavement. Variations in the conditions of freshly laid pavements require adjustment of the compaction effort in order to obtain uniform and adequate density. One of the goals of on-going research in Intelligent Compaction (IC) is the development of adaptive feedback control mechanism...
In this paper we propose a physically motivated sensor model of Time-of-Flight cameras. We provide methods to calibrate our proposed model and compensate all modeled effects. This enables us to reliably detect and filter out inconsistent measurements and to record high dynamic range (HDR) images. We believe that HDR images have a significant benefit especially for mapping narrow-spaced environments...
This paper presents an adaptive Gauss Hermite filter for nonlinear signal models in the situation when the measurement noise statistics is unknown. The proposed nonlinear filter, based on the Gauss Hermite quadrature rule, can ensure satisfactory estimation performance despite the problem of unknown measurement noise statistics by online adaptation. Results of Monte Carlo Simulation demonstrate the...
The pyroprocessing operation-modelling is characterized as complicated batch type operation and tangled material flow logic, and handling many numbers of chemical elements. Discrete event system modeling was performed to build an integrated operation model, a simulation of which showed that a dynamic material flow was implemented. All data related to a dynamic material flow were recorded in database...
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