Search results for: PC-and EtherCAT based control.

Authors: Manoj Kumar, A.K. Verma, A. Srividya

Abstract:

Time varying network induced delays in networked control systems (NCS) are known for degrading control system-s quality of performance (QoP) and causing stability problems. In literature, a control method employing modeling of communication delays as probability distribution, proves to be a better method. This paper focuses on modeling of network induced delays as probability distribution. CAN and MIL-STD-1553B are extensively used to carry periodic control and monitoring data in networked control systems. In literature, methods to estimate only the worst-case delays for these networks are available. In this paper probabilistic network delay model for CAN and MIL-STD-1553B networks are given. A systematic method to estimate values to model parameters from network parameters is given. A method to predict network delay in next cycle based on the present network delay is presented. Effect of active network redundancy and redundancy at node level on network delay and system response-time is also analyzed.

Keywords: NCS (networked control system), delay analysis, response-time distribution, worst-case delay, CAN, MIL-STD-1553B, redundancy

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Authors: K. Ramash Kumar, S. Jeevananthan

Abstract:

The Object of this paper is to design and analyze a Hysteresis modulation based sliding mode control (HMSMC) for positive output elementary super lift Luo converter (POESLLC), which is the start-of-the-art DC-DC converter. The positive output elementary super lift Luo converter performs the voltage conversion from positive source voltage to positive load voltage. This paper proposes a HMSMC capable of providing the good steady state and dynamic performance compared to conventional controllers. Dynamic equations describing the positive output elementary super lift luo converter are derived by using state space average method. The simulation model of the positive output elementary super lift Luo converter with its control circuit is implemented in Matlab/Simulink. The HMSMC for positive output elementary super lift Luo converter is tested for line changes, load changes and also for components variations.

Keywords: DC-DC converter, Positive output elementarysuper lift Luo converter (POESLLC), Hysteresis modulation basedsliding mode control (HMSMC).

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Authors: Gulshan Sharma

Abstract:

This article presents the design of optimal automatic generation control (AGC) based on full state feedback control for a multi-area interconnected power system. An extra high voltage AC transmission line in parallel with a high voltage DC link is considered as an area interconnection between the areas. The optimal AGC are designed and implemented in the wake of 1% load perturbation in one of the areas and the system dynamic response plots for various system states are obtained to investigate the system dynamic performance. The pattern of closed-loop eigenvalues are also determined to analyze the system stability. From the investigations carried out in the work, it is revealed that the dynamic performance of the system under consideration has an appreciable improvement when a high voltage DC line is paralleled with an extra high voltage AC line as an interconnection between the areas. The investigation of closed-loop eigenvalues reveals that the system stability is ensured in all case studies carried out with the designed optimal AGC.

Keywords: Automatic generation control, area control error, DC link, optimal AGC regulator, closed-loop eigenvalues.

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Authors: Toshinori Nawata

Abstract:

In this paper we consider a nonlinear feedback control called augmented automatic choosing control (AACC) using the automatic choosing functions of gradient optimization type for nonlinear systems. Constant terms which arise from sectionwise linearization of a given nonlinear system are treated as coefficients of a stable zero dynamics. Parameters included in the control are suboptimally selected by minimizing the Hamiltonian with the aid of the genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.

Keywords: augmented automatic choosing control, nonlinear control, genetic algorithm, zero dynamics.

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Authors: Yi-Fan Lin, Peter P. Howley, Frank A. Tuyl

Abstract:

Quality measurement and reporting systems are used in healthcare internationally. In Australia, the Australian Council on Healthcare Standards records and reports hundreds of clinical indicators (CIs) nationally across the healthcare system. These CIs are measures of performance in the clinical setting, and are used as a screening tool to help assess whether a standard of care is being met. Existing analysis and reporting of these CIs incorporate Bayesian methods to address sampling variation; however, such assessments are retrospective in nature, reporting upon the previous six or twelve months of data. The use of Bayesian methods within statistical process control for monitoring systems is an important pursuit to support more timely decision-making. Our research has developed and assessed a new graphical monitoring tool, similar to a control chart, based on the beta-binomial posterior predictive (BBPP) distribution to facilitate the real-time assessment of health care organizational performance via CIs. The BBPP charts have been compared with the traditional Bernoulli CUSUM (BC) chart by simulation. The more traditional “central” and “highest posterior density” (HPD) interval approaches were each considered to define the limits, and the multiple charts were compared via in-control and out-of-control average run lengths (ARLs), assuming that the parameter representing the underlying CI rate (proportion of cases with an event of interest) required estimation. Preliminary results have identified that the BBPP chart with HPD-based control limits provides better out-of-control run length performance than the central interval-based and BC charts. Further, the BC chart’s performance may be improved by using Bayesian parameter estimation of the underlying CI rate.

Keywords: Average run length, Bernoulli CUSUM chart, beta binomial posterior predictive distribution, clinical indicator, health care organization, highest posterior density interval.

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Authors: M. Elsisi, M. Soliman, M. A. S. Aboelela, W. Mansour

Abstract:

This paper considers the design of Dual Proportional- Integral (DPI) Load Frequency Control (LFC), using gravitational search algorithm (GSA). The design is carried out for nonlinear hydrothermal power system where generation rate constraint (GRC) and governor dead band are considered. Furthermore, time delays imposed by governor-turbine, thermodynamic process, and communication channels are investigated. GSA is utilized to search for optimal controller parameters by minimizing a time-domain based objective function. GSA-based DPI has been compared to Ziegler- Nichols based PI, and Genetic Algorithm (GA) based PI controllers in order to demonstrate the superior efficiency of the proposed design. Simulation results are carried for a wide range of operating conditions and system parameters variations.

Keywords: Gravitational Search Algorithm (GSA), Load Frequency Control (LFC), Dual Proportional-Integral (DPI) controller.

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Authors: R. Dariani, S. Schmidt, R. Kasper

Abstract:

Based on a non-linear single track model which describes the dynamics of vehicle, an optimal path planning strategy is developed. Real time optimization is used to generate reference control values to allow leading the vehicle alongside a calculated lane which is optimal for different objectives such as energy consumption, run time, safety or comfort characteristics. Strict mathematic formulation of the autonomous driving allows taking decision on undefined situation such as lane change or obstacle avoidance. Based on position of the vehicle, lane situation and obstacle position, the optimization problem is reformulated in real-time to avoid the obstacle and any car crash.

Keywords: Autonomous driving, Obstacle avoidance, Optimal control, Path planning.

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Authors: Ismail Saritas, Abdullah Adiyaman

Abstract:

In this study, a fuzzy-logic based control system was designed to ensure that time and energy is saved during the operation of load elevators which are used during the construction of tall buildings. In the control system that was devised, for the load elevators to work more efficiently, the energy interval where the motor worked was taken as the output variable whereas the amount of load and the building height were taken as input variables. The most appropriate working intervals depending on the characteristics of these variables were defined by the help of an expert. Fuzzy expert system software was formed using Delphi programming language. In this design, mamdani max-min inference mechanism was used and the centroid method was employed in the clarification procedure. In conclusion, it is observed that the system that was designed is feasible and this is supported by statistical analyses..

Keywords: Fuzzy Logic Control, DC Motor, Load Elevators, Power Control.

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Authors: Francisco J. Lopez-Jaquez, Sandra E. Ramirez-Jara

Abstract:

This paper presents an implementation and performance test of a distributed motion control system based on a master-slave configuration used to move a plasma-cutting torch over a predefined trajectory. The master is a general-purpose computer running on an open source operating system platform and software developer. Software running in the master computer generates commands on real time and we measure performance based on a selected set of differences between expected and observed distances. We are testing the null hypothesis that the outcome trajectory is identical to the input against the alternative hypothesis that there is a shift to the right or left of the input one. We used the Wilcoxon signed ranks test method for the hypothesis test.

Keywords: Distributed, motion, control, real-time, contouring.

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Authors: Irtaza M. Syed, Kaamran Raahemifar

Abstract:

In this paper, we present a comparative assessment of Space Vector Pulse Width Modulation (SVPWM) and Model Predictive Control (MPC) for two-level three phase (2L-3P) Voltage Source Inverter (VSI). VSI with associated system is subjected to both control techniques and the results are compared. Matlab/Simulink was used to model, simulate and validate the control schemes. Findings of this study show that MPC is superior to SVPWM in terms of total harmonic distortion (THD) and implementation.

Keywords: Model Predictive Control, Space Vector Pulse Width Modulation, Voltage Source Inverter.

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Authors: H. Mahboubi, B. Moshiri, A. Khaki Seddigh

Abstract:

In the past decade, because of wide applications of hybrid systems, many researchers have considered modeling and control of these systems. Since switching systems constitute an important class of hybrid systems, in this paper a method for optimal control of linear switching systems is described. The method is also applied on the two-tank system which is a much appropriate system to analyze different modeling and control techniques of hybrid systems. Simulation results show that, in this method, the goals of control and also problem constraints can be satisfied by an appropriate selection of cost function.

Keywords: Hybrid systems, optimal control, switched systems, two-tank system

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Authors: Sanjay L. Kurkute, Pradeep M. Patil, Kakasaheb C. Mohite

Abstract:

An optimal control strategy based on simple model, a single phase unity power factor boost converter is presented with an evaluation of first order differential equations. This paper presents an evaluation of single phase boost converter having power factor correction. The simple discrete model of boost converter is formed and optimal control is obtained, digital PI is adopted to adjust control error. The method of instantaneous current control is proposed in this paper for its good tracking performance of dynamic response. The simulation and experimental results verified our design.

Keywords: Single phase, boost converter, Power factor correction (PFC), Pulse Width Modulation (PWM).

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Authors: Yendiyarov Sergei, Zobnin Boris, Petrushenko Sergei

Abstract:

Usually, the solid-fuel flow of an iron ore sinter plant consists of different types of the solid-fuels, which differ from each other. Information about the composition of the solid-fuel flow usually comes every 8-24 hours. It can be clearly seen that this information cannot be used to control the sintering process in real time. Due to this, we propose an expert system which uses indirect measurements from the process in order to obtain the composition of the solid-fuel flow by solving an optimization task. Then this information can be used to control the sintering process. The proposed technique can be successfully used to improve sinter quality and reduce the amount of solid-fuel used by the process.

Keywords: sintering process, particle swarm optimization, optimal control, expert system, solid-fuel

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Authors: Vahid Nademi

Abstract:

In response to widely used wearable medical devices equipped with a continuous glucose monitor (CGM) and insulin pump, the advanced control methods are still demanding to get the full benefit of these devices. Unlike costly clinical trials, implementing effective insulin-glucose control strategies can provide significant contributions to the patients suffering from chronic diseases such as diabetes. This study deals with a key role of two-layer insulin-glucose regulator based on model-predictive-control (MPC) scheme so that the patient’s predicted glucose profile is in compliance with the insulin level injected through insulin pump automatically. It is achieved by iterative optimization algorithm which is called an integrated perturbation analysis and sequential quadratic programming (IPA-SQP) solver for handling uncertainties due to unexpected variations in glucose-insulin values and body’s characteristics. The feasibility evaluation of the discussed control approach is also studied by means of numerical simulations of two case scenarios via measured data. The obtained results are presented to verify the superior and reliable performance of the proposed control scheme with no negative impact on patient safety.

Keywords: Blood glucose monitoring, insulin pump, optimization, predictive control, diabetes disease.

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Authors: Y. Sabzehmeidani, M. Mailah, M. Hussein, A. R. Tavakolpour

Abstract:

In this paper, a worm-like micro robot designed for inpipe application with intelligent active force control (AFC) capability is modelled and simulated. The motion of the micro robot is based on an impact drive mechanism (IDM) that is actuated using piezoelectric device. The trajectory tracking performance of the modelled micro robot is initially experimented via a conventional proportionalintegral- derivative (PID) controller in which the dynamic response of the robot system subjected to different input excitations is investigated. Subsequently, a robust intelligent method known as active force control with fuzzy logic (AFCFL) is later incorporated into the PID scheme to enhance the system performance by compensating the unwanted disturbances due to the interaction of the robot with its environment. Results show that the proposed AFCFL scheme is far superior than the PID control counterpart in terms of the system-s tracking capability in the wake of the disturbances.

Keywords: Active Force Control, Micro Robot, Fuzzy Logic, In-pipe Application.

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Authors: Jaimala Gambhir, Tilak Thakur, Puneet Chawla

Abstract:

As per the statistical data, the Doubly-fed Induction Generator (DFIG) based wind turbine with variable speed and variable pitch control is the most common wind turbine in the growing wind market. This machine is usually used on the grid connected wind energy conversion system to satisfy grid code requirements such as grid stability, Fault Ride Through (FRT), power quality improvement, grid synchronization and power control etc. Though the requirements are not fulfilled directly by the machine, the control strategy is used in both the stator as well as rotor side along with power electronic converters to fulfil the requirements stated above. To satisfy the grid code requirements of wind turbine, usually grid side converter is playing a major role. So in order to improve the operation capacity of wind turbine under critical situation, the intensive study of both machine side converter control and grid side converter control is necessary In this paper DFIG is modeled using power components as variables and the performance of the DFIG system is analysed under grid voltage fluctuations. The voltage fluctuations are made by lowering and raising the voltage values in the utility grid intentionally for the purpose of simulation keeping in view of different grid disturbances.

Keywords: DFIG, dynamic modeling, DPC, sag, swell, voltage fluctuations, FRT.

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Authors: Yash Pal, A.Swarup, Bhim Singh

Abstract:

A new topology of unified power quality conditioner (UPQC) is proposed for different power quality (PQ) improvement in a three-phase four-wire (3P-4W) distribution system. For neutral current mitigation, a star-hexagon transformer is connected in shunt near the load along with three-leg voltage source inverters (VSIs) based UPQC. For the mitigation of source neutral current, the uses of passive elements are advantageous over the active compensation due to ruggedness and less complexity of control. In addition to this, by connecting a star-hexagon transformer for neutral current mitigation the over all rating of the UPQC is reduced. The performance of the proposed topology of 3P-4W UPQC is evaluated for power-factor correction, load balancing, neutral current mitigation and mitigation of voltage and currents harmonics. A simple control algorithm based on Unit Vector Template (UVT) technique is used as a control strategy of UPQC for mitigation of different PQ problems. In this control scheme, the current/voltage control is applied over the fundamental supply currents/voltages instead of fast changing APFs currents/voltages, thereby reducing the computational delay. Moreover, no extra control is required for neutral source current compensation; hence the numbers of current sensors are reduced. The performance of the proposed topology of UPQC is analyzed through simulations results using MATLAB software with its Simulink and Power System Block set toolboxes.

Keywords: Power-factor correction, Load balancing, UPQC, Voltage and Current harmonics, Neutral current mitigation, Starhexagon transformer.

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Authors: Ekesa B. Nakhauka, De Lange M., Macharia I., Garming H., Ouma E., Birachi E., Van Asten P., Van-Lauwe B., Blomme G.

Abstract:

Impact of adopting products promoted by the Consortium for Improving Agriculture-based livelihoods in Central Africa (CIALCA) on food and nutrition security was tested. Multi-stage sampling was used to select 7 project mandate areas, 5 villages/mandate area (stratified into action, satellite and control sites) and 913 households. Structured questionnaires were administered; analysis of impact based on comparison between stratums, differences in means tested by ANOVA and significance of difference obtained by Tukey's HSD multiple rank tests. Perception of adequate food sufficiency received a higher rating in action and satellite sites compared to control sites reason being improved agricultural technologies. For >60% of households, worsened food security was due to climatic conditions. Although a higher proportion of households in action and satellite was meeting calorie RDIs in DRC and Burundi the difference was insignificant from control sites. 53% of respondents in control sites indicated a decrease in intake of protein rich foods, this was significantly higher than the proportion in the action (46%) and satellite (41%) sites.

Keywords: Food security, Farmer-households, Nutrition security

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Authors: P. Ghann, J. Shiguang, C. Zhou

Abstract:

Access control is one of the most challenging issues facing information security. Access control is defined as, the ability to permit or deny access to a particular computational resource or digital information by an unauthorized user or subject. The concept of usage control (UCON) has been introduced as a unified approach to capture a number of extensions for access control models and systems. In UCON, an access decision is determined by three factors: authorizations, obligations and conditions. Attribute mutability and decision continuity are two distinct characteristics introduced by UCON for the first time. An observation of UCON components indicates that, the components are predefined and static. In this paper, we propose a new and flexible model of usage control for the creation and elimination of some of these components; for example new objects, subjects, attributes and integrate these with the original UCON model. We also propose a model for concurrent usage scenarios in UCON.

Keywords: Access Control, Concurrency, Digital container, Usage control.

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Authors: Shameemraj M. Nadaf, Sipra Behera, Hemant K. Rath, Garima Mishra, Raja Mukhopadhyay, Sumanta Patro

Abstract:

Microservices architecture has been widely embraced for rapid, frequent, and reliable delivery of complex applications. It enables organizations to evolve their technology stack in various domains. Today, the networking domain is flooded with plethora of devices and software solutions which address different functionalities ranging from elementary operations, viz., switching, routing, firewall etc., to complex analytics and insights based intelligent services. In this paper, we attempt to bring in the microservices based approach for agile and adaptive delivery of network services for any underlying networking technology. We discuss the life cycle management of each individual microservice and a distributed control approach with emphasis for dynamic provisioning, management, and orchestration in an automated fashion which can provide seamless operations in large scale networks. We have conducted validations of the system in lab testbed comprising of Traditional/Legacy and Software Defined Wireless Local Area networks.

Keywords: Microservices architecture, software defined wireless networks, traditional wireless networks, automation, orchestration, intelligent networks, network analytics, seamless management, single pane control, fine-grain control.

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Authors: Roozbeh Molavi, Davood A. Khaburi

Abstract:

The permanent magnet synchronous motor (PMSM) is very useful in many applications. Vector control of PMSM is popular kind of its control. In this paper, at first an optimal vector control for PMSM is designed and then results are compared with conventional vector control. Then, it is assumed that the measurements are noisy and linear quadratic Gaussian (LQG) methodology is used to filter the noises. The results of noisy optimal vector control and filtered optimal vector control are compared to each other. Nonlinearity of PMSM and existence of inverter in its control circuit caused that the system is nonlinear and time-variant. With deriving average model, the system is changed to nonlinear time-invariant and then the nonlinear system is converted to linear system by linearization of model around average values. This model is used to optimize vector control then two optimal vector controls are compared to each other. Simulation results show that the performance and robustness to noise of the control system has been highly improved.

Keywords: Kalman filter, Linear quadratic Gaussian (LQG), Linear quadratic regulator (LQR), Permanent-Magnet synchronousmotor (PMSM).

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Authors: M. Sedighizadeh, A. Rezazadeh

Abstract:

A self tuning PID control strategy using reinforcement learning is proposed in this paper to deal with the control of wind energy conversion systems (WECS). Actor-Critic learning is used to tune PID parameters in an adaptive way by taking advantage of the model-free and on-line learning properties of reinforcement learning effectively. In order to reduce the demand of storage space and to improve the learning efficiency, a single RBF neural network is used to approximate the policy function of Actor and the value function of Critic simultaneously. The inputs of RBF network are the system error, as well as the first and the second-order differences of error. The Actor can realize the mapping from the system state to PID parameters, while the Critic evaluates the outputs of the Actor and produces TD error. Based on TD error performance index and gradient descent method, the updating rules of RBF kernel function and network weights were given. Simulation results show that the proposed controller is efficient for WECS and it is perfectly adaptable and strongly robust, which is better than that of a conventional PID controller.

Keywords: Wind energy conversion systems, reinforcementlearning; Actor-Critic learning; adaptive PID control; RBF network.

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Authors: Randeep Kaur, Jyoti Ohri

Abstract:

This paper proposes a new technique to design a fixed-structure robust loop shaping controller for the pneumatic servosystem. In this paper, a new method based on a particle swarm optimization (PSO) algorithm for tuning the weighting function parameters to design an H∞ controller is presented. The PSO algorithm is used to minimize the infinity norm of the transfer function of the nominal closed loop system to obtain the optimal parameters of the weighting functions. The optimal stability margin is used as an objective in PSO for selecting the optimal weighting parameters; it is shown that the proposed method can simplify the design procedure of H∞ control to obtain optimal robust controller for pneumatic servosystem. In addition, the order of the proposed controller is much lower than that of the conventional robust loop shaping controller, making it easy to implement in practical works. Also two-degree-of-freedom (2DOF) control design procedure is proposed to improve tracking performance in the face of noise and disturbance. Result of simulations demonstrates the advantages of the proposed controller in terms of simple structure and robustness against plant perturbations and disturbances.

Keywords: Robust control, Pneumatic Servosystem, PSO, H∞ control, 2DOF.

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Authors: Francisco Aparisi, José Sanz

Abstract:

Multivariate quality control charts show some advantages to monitor several variables in comparison with the simultaneous use of univariate charts, nevertheless, there are some disadvantages. The main problem is how to interpret the out-ofcontrol signal of a multivariate chart. For example, in the case of control charts designed to monitor the mean vector, the chart signals showing that it must be accepted that there is a shift in the vector, but no indication is given about the variables that have produced this shift. The MEWMA quality control chart is a very powerful scheme to detect small shifts in the mean vector. There are no previous specific works about the interpretation of the out-of-control signal of this chart. In this paper neural networks are designed to interpret the out-of-control signal of the MEWMA chart, and the percentage of correct classifications is studied for different cases.

Keywords: Multivariate quality control, Artificial Intelligence, Neural Networks, Computer Applications

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Authors: Mihaela Popescu, Alexandru Bitoleanu, Mircea Dobriceanu, Vlad Suru

Abstract:

The aim of this paper is to identify an optimum control strategy of three-phase shunt active filters to minimize the total harmonic distortion factor of the supply current. A classical PIPI cascade control solution of the output current of the active filterand the voltage across the DC capacitor based on Modulus–Optimum criterion is taken into consideration. The control system operation has been simulated using Matlab-Simulink environment and the results agree with the theoretical expectation. It is shown that there is an optimum value of the DC-bus voltage which minimizes the supply current harmonic distortion factor. It corresponds to the equality of the apparent power at the output of the active filter and the apparent power across the capacitor. Finally, predicted results are verified experimentally on a MaxSine active power filter.

Keywords: Active filtering, Controller tuning, Modulus Optimum criterion, Optimum control.

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Authors: Tomoaki Hashimoto

Abstract:

Model predictive control is a kind of optimal feedback control in which control performance over a finite future is optimized with a performance index that has a moving initial time and a moving terminal time. This paper examines the stability of model predictive control for linear discrete-time systems with additive stochastic disturbances. A sufficient condition for the stability of the closed-loop system with model predictive control is derived by means of a linear matrix inequality. The objective of this paper is to show the results of computational simulations in order to verify the effectiveness of the obtained stability condition.

Keywords: Computational simulations, optimal control, predictive control, stochastic systems, discrete-time systems.

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Authors: Ilya Kavalchuk, Mehdi Seyedmahmoudian, Ben Horan, Aman Than Oo, Alex Stojcevski

Abstract:

The power electronic components within Electric Vehicles (EV) need to operate in several important modes. Some modes directly influence safety, while others influence vehicle performance. Given the variety of functions and operational modes required of the power electronics, it needs to meet efficiency requirements to minimize power losses. Another challenge in the control and construction of such systems is the ability to support bidirectional power flow. This paper considers the construction, operation, and feasibility of available converters for electric vehicles with feasible configurations of electrical buses and loads. This paper describes logic and control signals for the converters for different operations conditions based on the efficiency and energy usage bases.

Keywords: Electric Vehicles, Electrical Machines Control, Power Electronics, Powerflow Regulations.

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Authors: M. Sedighizadeh, A. Rezazadeh

Abstract:

Movable power sources of proton exchange membrane fuel cells (PEMFC) are the important research done in the current fuel cells (FC) field. The PEMFC system control influences the cell performance greatly and it is a control system for industrial complex problems, due to the imprecision, uncertainty and partial truth and intrinsic nonlinear characteristics of PEMFCs. In this paper an adaptive PI control strategy using neural network adaptive Morlet wavelet for control is proposed. It is based on a single layer feed forward neural networks with hidden nodes of adaptive morlet wavelet functions controller and an infinite impulse response (IIR) recurrent structure. The IIR is combined by cascading to the network to provide double local structure resulting in improving speed of learning. The proposed method is applied to a typical 1 KW PEMFC system and the results show the proposed method has more accuracy against to MLP (Multi Layer Perceptron) method.

Keywords: Adaptive Control, Morlet Wavelets, PEMFC.

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Authors: S. Phanyaem

Abstract:

Exponentially weighted moving average control chart (EWMA) is a popular chart used for detecting shift in the mean of parameter of distributions in quality control. The objective of this paper is to compare the efficiency of control chart to detect an increases in the mean of a process. In particular, we compared the Maximum Exponentially Weighted Moving Average (MaxEWMA) and Maximum Generally Weighted Moving Average (MaxGWMA) control charts when the observations are Exponential distribution. The criteria for evaluate the performance of control chart is called, the Average Run Length (ARL). The result of comparison show that in the case of process is small sample size, the MaxEWMA control chart is more efficiency to detect shift in the process mean than MaxGWMA control chart. For the case of large sample size, the MaxEWMA control chart is more sensitive to detect small shift in the process mean than MaxGWMA control chart, and when the process is a large shift in mean, the MaxGWMA control chart is more sensitive to detect mean shift than MaxEWMA control chart.

Keywords: Maximum Exponentially Weighted Moving Average, Maximum General Weighted Moving Average, Average Run Length.

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Authors: Jasmin Velagic, Nedim Osmic, Bakir Lacevic

Abstract:

In this paper the neural network-based controller is designed for motion control of a mobile robot. This paper treats the problems of trajectory following and posture stabilization of the mobile robot with nonholonomic constraints. For this purpose the recurrent neural network with one hidden layer is used. It learns relationship between linear velocities and error positions of the mobile robot. This neural network is trained on-line using the backpropagation optimization algorithm with an adaptive learning rate. The optimization algorithm is performed at each sample time to compute the optimal control inputs. The performance of the proposed system is investigated using a kinematic model of the mobile robot.

Keywords: Mobile robot, kinematic model, neural network, motion control, adaptive learning rate.

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