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In this paper, a guaranteed performance PID controller is proposed for the pitch control problem of an UAV. Using the loci for the stated performance criteria, the PID controller zeros are suitably selected as a pair of conjugate poles for the desired system in the specified zone of the s-plane. These poles are rendered non-dominant in order to avert the adverse effects of pole-zero cancellation....
A Stewart platform that is a 6-DOF parallel manipulator with a moveable frame for three linear and three angular motions has been designed with electrohydraulic actuation for achieving maneuverability of heavy load. A popular application is the motion simulator for an aircraft or a ship that could be used for training by generating specific motions within the confine of a laboratory. The main contribution...
This paper presents a generalized solution to the problem of optimal control of systems having an extra set of exogenous inputs besides control inputs. The solution is derived in the framework of linear quadratic control and it is termed ‘extended linear quadratic regulator (ELQR)’. The ELQR is applied for control of unstable or poorly damped oscillatory dynamics occurring in a power system and is...
This paper proposes a novel hybridized algorithm to solve Engineering Design optimization problem. The algorithm is named as Chemo-GA for constrained optimization (CGAC) which hybridizes Genetic Algorithm (GA) and Bacterial Foraging Optimization (BFO). The better performance of CGAC is realized over some recent techniques reported in the literature through a test bed of 7 benchmark functions. The...
This paper deals with the development of a three term controller with varying resolution applicable to a standard third order plant. In the proposed controller, multi resolution property of WT is employed to decompose the error signal into frequency components at different levels of the decomposition. The values thus obtained are weighted by tuned constants and summed up to yield the final driving...
This paper describes the use of two dimensional (2-D) laser scanner for locating badminton shuttlecock in real playing environment. It proposes a method to predict the end point of shuttlecock trajectory. The system is designed using two 2-D laser scanners to locate shuttlecock in midst of air in its trajectory. It helps to calculate shuttlecock's speed, orientation and hence, to predict an end point...
In an interconnected power system, both frequency and tie-line power exchange vary as load demand varies randomly. In this paper, a robust controller is designed to reduce the frequency deviations and tie line power error due to different load disturbances in multi-area interconnected power system. The robust H-infinity (H∞) controllers are designed both for two area power system with two reheat turbine...
A method of estimation of state variables of observable linear continuous time dynamical system from the knowledge of control variables and observed variables with the help of Hybrid function (which is composed of SHF and RHTF) is developed. The theory of full order observer as proposed by Luenberger along with the operational properties of HF is utilized here for the reconstruction of the state variables.
Sliding mode controllers of first and second orders have been designed for linear motion tracking for an eletrohydraulic actuation system having deadband and other nonlinear features like cylinder stiction, hysterisis and Stribeck characteristics. An input linearized structure has been developed to formulate sliding mode controllers, or SMC, of orders 1 and 2 for the nonlinear system. The applied...
An advanced fuzzy approach of recognition of signal with time for tea classification with responses from electronic nose, electronic tongue and the combined sensor response of electronic nose and electronic tongue is attempted in this paper. In our model, neither priori choice of the suitable features (like peak, mean value, etc.) is considered, nor syntactic primitives as elementary components of...
This paper presents an Internal Model Based (IMC) tuned PI controller for real-time control of a coupled tank liquid level system. The IMC is a model based controller design technique. In present scenario the IMC Controller method is widely used in almost every process control industries as it allows good set point tracking along with sulky disturbance response especially for the process with a small...
The model of a quadrotor is nonlinear and dynamically unstable due to the high level of system nonlinearity and external disturbances. In this paper a robust second order sliding mode controller has been proposed for altitude tracking of a quadrotor. The controller is derived using Lyapunov stability approach and proved theoretically asymptotic stability. The performance of proposed control method...
Economic Load Dispatch (ELD) is one of the important optimization problem in advanced power system and control. In this paper, six and fifteen generating units in ELD problem has been considered. Prohibited zone and ramp rate limit constraints has been also considered. ELD problem has been solved using three types of optimization techniques. These optimization techniques are Particle Swarm Optimization...
The paper proposes a new recursive approach for the analysis of singular system using Taylor series. Firstly, theoretical foundation of the recursive algorithm using both first and second orders Taylor series has been established in a lucid manner. Numerical examples have been treated along with relevant tables and curves in support of effectiveness of the method. Further, mean integral square error...
This paper presents an experimentation with a vision based skill learning technique using Barrett WAM (a 7-DoF robot manipulator) and Microsoft's Kinect (a 3D sensor). This skill learning approach is based on Symbolic Encoding. Even though most of the imitation learning approaches focus on trajectory encoding, symbolic encoding offers a more concise representation of a skill which is easily transferable...
This paper presents a new method to improve a multi-stage non-negative matrix factorization (NMF) based algorithm for separating singing voice from accompanying music in single channel recordings. In the proposed method, local spectral and temporal discontinuity measures are used to refine the vocal and music components obtained by the baseline NMF algorithm. The effectiveness of the proposed algorithm...
Computer Vision is a field which deals with extracting, analyzing, processing and understanding the images. One of the major application of computer vision is Object Recognition. In this paper, an algorithm is proposed where, object recognition requires two tasks: (i) Object Detection and (ii) Object Classification. The former task, extracts constructive information from the image and detects the...
Study of a generalized problem is very important in the sense it provides complete picture of the problem. Accordingly a generalized singularly perturbed multiparemter discrete control system is considered. An open-loop optimal control problem based on Pontriagin's Minimum Principle (PMP) is formulated. The resulting optimal control solution needs special numerical techniques as the system is highly...
Pulse Width Modulated (PWM) Rectifiers have gained the popularity during recent years for the ac to dc conversion needs of the industry, customer and power grid sectors. This bidirectional convereter can acts as an ac to dc boost rectifier with near unity power factor at the grid side along with regulated and ripple free dc voltage at the output. This paper presents voltage oriented control of the...
This paper presents a three switch soft switching high-frequency resonant inverter for induction heating applications. The topology presents a three switch inverter with a capacitor. The working principles and the performance of the proposed topology is explained here. A switched capacitor Cs is inserted in the circuit. The combined action of this capacitor and the auxiliary switch and two main switches...
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