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To the optical mechanical complexes of tracking and positioning, strict requirements are produced on the dynamics and permissible errors under such conditions as external and internal nonstationary disturbances, as well as presence of elastic deformations in the links of the driven mechanism. In modern systems, adaptive control algorithms have proven themselves as complementary to the main control...
In case of the decision of the task of design of automated control systems for crucial objects, a minimum possible level of risks at uncontrollable interference in the processes of functioning of these systems, and also minimization of negative consequences from a similar interference in the course of its operation are required. In connection with this, on the basis of the system theory of conflict...
The necessary conditions for the diagnosability of control systems with a complex structure are given. It is shown that the topological conditions for detectability and localization of the fault signal do not depend on the class of operators of the dynamic model of the control system and are checked by using path search algorithms in directed graphs.
In the Underwater Transportation processing, the fixed set-point control of a dynamic positioning system enables an unmanned underwater vehicle (UUV) automatically to move to a set position by means of a control system, as well as to maintain its precision when deviating from that set position. In response, this paper aims to improve its generalization ability by indirectly pruning the structure of...
This paper presents the design of discrete-time controller based on Dynamic Contraction Method for unmanned aircraft. The control task is formulated as a tracking problem of roll angle where desired output transients are accomplished despite incomplete information about varying parameters of the system and external disturbances. In addition, desired dynamic properties determined by a reference model...
In this paper, a robust UKF algorithm based on least-square is proposed for the semi-submersible ship dynamic positioning speed sensorless control system, which lacks the ability to adapt itself to system state anomalies. The algorithm uses the least-square method to compute the suboptimal fading factor, it adjusts the filter estimation gain adaptively, and it realizes the strong tracking to the real...
An improved algorithm called active disturbance rejection generalized predictive control which combines advantages of active disturbance rejection control and generalized predictive control is proposed for time-delay systems in this paper to reduce the limitations of active disturbance rejection control (ADRC) in plants with large time-delay and improve the imperfections of generalized predictive...
The article provides analysis of the algorithmic support goniometric control systems based on the accelerometers. Disadvantages of the mathematical equations of this class of systems are considered. Application of the accelerometer measurements in conjunction with phase-measurement principle of signal forming is described together with the technique of accelerometers automatic positioning at a goniometric...
The aim of this work is the implementation of an intelligent system based ant colony algorithm to control a traffic signal intersection where the main goal is to reduce the average waiting time of the vehicles at the intersection. First a dynamic mathematical model of the flow at an intersection is given. Second, the intelligent system is implemented electronically around an Arduino microcontroller...
Software Defined Networking is a novel network architecture, which separates data and control plane by OpenFlow. The feature of centralized control to acquire and allocate of global network resource. So, the link load-balancing of SDN is not as difficult as the traditional network. This paper proposes a link load-balancing algorithm based on Ant Colony Optimization(LLBACO). The algorithm uses the...
In this work, a novel model free adaptive control method based on a mathematical algorithm named double successive projection (DSP-MFAC) is proposed, from which it can be inferred that conventional MFAC algorithm is only a special case of DSP-MFAC with the Cartesian product of the output and the input Hilbert space. For a general unknown nonlinear system, an innovative partial form dynamic linearization...
This paper demonstrates a new approach for model-based hybrid control of an underactuated system. The balancing of an underactuated inverted pendulum system is achieved using a reaction wheel. Specifically, a two-layer hybrid controller is proposed with control algorithms implemented into prioritized states from the calculated dynamic equations. The first layer controller uses the reaction wheel with...
This paper presents an idea of adaptive predictive current controller for IPMSM (Interior Permanent Magnet Synchronous Machine). It consists of introduction to predictive control techniques applied for current control, mathematical formulation of a control problem, simulation results and summary. Simulations consider also robustness of classic deadbeat controller to object parameter changes and comparison...
The paper deals with control algorithm for nonlinear single input single output (SISO) plants under unknown parameters, external disturbances and unknown time delay. The control system is used one filter of dimension n, where n is a dynamical order of the plant. The derivatives of stabilizing controls are implemented by first order observers. The proposed algorithm ensures the small difference between...
This paper presents a detailed study to demonstrate the online tuning dynamic neural network PID controller to improve a joint angle position output performance of 4-joint robotic arm. The proposed controller uses a new updating weight rule model of the neural network architecture using multi-loop calculation of the fusion of the gradient algorithm with the cubature Kalman filter (CKF) which can optimize...
Information models found a wide application in advanced control systems, decision making systems, play a fundamental role in any activity concerned with the signal processing process. In the paper, information identification models in variable structure control systems are considered; a methodology of the synthesis of a variable structure control system is presented, as well issues of the stability...
An approach to the formation of a control system for the combined synthesis while using mathematical reduced order model is observed. The algorithm of aggregation is given that allow to restore the original state system to the condition of the aggregate system optimally in the sense of quadratic meaning. Synthesis of control actions carried out on the evaluation of aggregate model based on the minimization...
The paper discusses the influence of the passenger flow on algorithms of lift control systems operating under dynamic strategy. The evaluation of parameters leading to change over of the algorithms has been conducted using modelling in AnyLogic software environment. The proposed model combines agent-based and discrete event approaches and was used to assess the efficiency operation of a ten floor...
In the paper an FPGA-based dynamic model exact tracking control system of a permanent magnet synchronous motor is presented. The parallel processing of motor control system using modern FPGAs allows the complex servo algorithms to be proceeded within a microsecond. In the paper a novel current control principle for a drive with a PWM inverter is presented. The experimental results prove that the current...
Based on the hyperstability criterion and the continuous models method, the paper considers a robust control law for nonlinear non-affine single channel or so called “single-input single-output” (SISO) systems. Development of the robust control algorithm for this nonlinear systems class is carried out under priori uncertainty conditions.
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