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This paper addresses on design of an optimal proportional integral derivative (PID) controller by applying Lyapunov approach. The optimal PID controller is acquired through minimizing an augmented integral squared error (AISE) performance index that contains control error and at least first order error derivative, and even may contain n orders error derivative. The order of error derivative is determined...
In this article is presented a method to design neural-genetic optimal controllers that are based on the fusion of a Recurrent Neural Network (RNN) and Genetic Algorithm (GA), these Computational Intelligence (CI) paradigms support the Linear Quadratic (LQR) design. The GA and RNN adaptation proprieties are the great advantage of the proposed approach, because all design is oriented to tune the optimal...
Cobots are passive robots that share their work space with a human. They are safe for whom manipulates them and facilitate the task execution which increase productivity. Also they take advantage of the human vision, intelligence and dexterity because their goal is to guide the operator who moves the robot. They can execute transport or precision tasks at low cost, reducing the operator training time...
Parametric excitation walking is one of methods that realize a passive dynamic like walking on the level ground. In parametric excitation walking, up-and-down motion of the center of mass restores mechanical energy and sustainable gait is generated. Walking ability and walking performance strongly depend on the reference trajectory of the center of mass. In this paper, we propose an optimization method...
This paper analyzes optimal controller settings for controllers with One-Degree-of-Freedom (1-DoF) Proportional-Integral-Derivative (PID) structure. The analysis is conducted from the point of view of the operating mode (either servo or regulation mode) of the control-loop and tuning mode of the controller. Performance of the optimal tuning settings can be degraded when the operating mode is different...
A technical scheme, which can properly arrange IDS and optimally apply the algorithms of detection and data mining to the Honeynet environment, is proposed in the building automation system completed by the author recently. In this specific environment, the position of IDS is deployed reasonably and the anomaly and misuse detection algorithm of IDS is designed and selected optimally. Meanwhile, the...
Control structure selection is an important part of control system design which has a strong influence on the resulting plant performance. This paper presents a systematic procedure for choosing control structure by extending previous work based on steady-state optimization to include the dynamic performance in a consistent manner. To address the problem that the dynamic performance depends on the...
Obstacle avoidance and path planning are the most important problems in mobile robots. Besides, finding methods for controlling and decreasing the real robot error in path have been another target for researchers investigation. Usual methods have two separated parts, research target and path planning with obstacle avoidance. In this context, a fuzzy logic controller has been constructed in order to...
In this work, we introduce a distributed Lyapunov-based model predictive control method for nonlinear systems with input constraints. The class of systems considered arises naturally when new sensors, actuators and controllers are added to already operating control loops to improve closed-loop performance, taking advantage from the latest advances in sensor/actuator network technology. Assuming that...
This paper presents an approach to design optimal vibration reduction input shapers for systems with non-zero initial conditions. The problem is first formulated as an optimal control problem and the optimal solution is shown to be bang-bang. Once the structure of the optimal shaper is known, a parametric problem formulation is presented for the computation of the switching times. For digital implementation,...
This paper addresses the design of controllers, subject to sparsity constraints, for linear and time-invariant plants. Prior results have shown that a class of stabilizing controllers, satisfying a given sparsity constraint, admits a convex representation of the Youla-type, provided that the sparsity constraints imposed on the controller satisfy a certain condition (named quadratic invariance) with...
Self-powered vibration control systems are characterized by a distributed network of regenerative force actuators, which are interfaced with a common power bus. Also connected to the power bus is an energy-storing subsystem, such as a supercapacitor, flywheel, or battery. The entire system is controlled using switch-mode power electronics, and the only power required for system operation is that necessary...
This paper deals with stabilization of interconnected discrete-time nonlinear systems under given, arbitrary information constraints on the controller structure. As a prominent example, the considered information constraints on the controller structure include decentralized and distributed control over a given communication network. The main contribution of this paper is twofold. Firstly, we introduce...
Among of important results herein is the performance information analysis of forecasting higher-order characteristics of a general criterion of performance associated with a stochastic tracking system which is closely supervised by a reference command input and a desired trajectory. Both compactness from logic of state-space model description and quantitativity from probabilistic knowledge of stochastic...
Ant colony optimization (ACO) has proven to be a very powerful optimization heuristic for combinatorial optimization problems. While being very successful for various NPcomplete optimization problems, ACO is not trivially applicable to control problems. In this paper a novel ACO algorithm is introduced for the automated design of optimal control policies for continuous-state dynamic systems. The so...
The statement of problem of optimization of sensors system in the control system of the elastic aerospace vehicle under condition of the stochastic system control design on the base of quadratic performance index is considered. Magnitudes of time-average values of quadratic performance indexes and maximum feasible values of dispersion of estimation of state vector are considered as linear matrix-inequalities-restrictions...
The fractional-order PID controller provides more adjustable parameters in the controller optimization than conventional PID controller. Therefore, FOPID is designed to achieve more goals, and multi-objective optimization based genetic algorithm is adopted. To solve this problem, a multi-objective optimization design method is proposed in this paper. Not only the robust performance, but also frequency...
The paper describes the general controlling methods of controllable parafoil and designs a parafoil path planning method based on optimal control. To improve the accuracy of falling point and reducing manipulation quantity, this method transforms path planning of parafoil into parameter optimization by using the improved particle swarm optimization algorithm. Such an algorithm is effective for reaching...
The design process for analog network design is formulated as a dynamic controllable system. A special control vector is defined to redistribute the compute expensive between a network analysis and a parametric optimization. This redistribution permits the minimization of a computer time. The problem of the minimal-time network design can be formulated in this case as a classical problem of the optimal...
In this paper, the problem on control of satellite relative motion under perturbations will be investigated. An impulsive optimal feedback controller based on a pseudospectral method has been designed. Receding horizon concept is employed to control the satellites along the operation course. The simulation results show that the closed-form controller based on state transformation matrix is asymptotically...
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