Search results for: control and measurement

Authors: Nur Zahirah Zulhaimi, KuZilati KuShaari, Zakaria Man

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Controlled release urea has become popular in agricultural industry as it helps to solve environmental issues and increase crop yield. Recently biomass was identified to replace the polymer used as a coating material in the conventional coated urea. In this paper spreading and contact angle of biomass droplet (lignin, cellulose and clay) on urea surface are investigated experimentally. There were two tests were conducted, sessile drop for contact angle measurement and pendant drop for contact angle measurement. A different concentration of biomass droplet was released from 30 mm above a substrate. Glass was used as a controlled substrate. Images were recorded as soon as the droplet impacted onto the urea before completely adsorb into the urea. Digitized droplets were then used to identify the droplet-s surface tension and contact angle. There is large difference observed between the low surface tension and high surface tension liquids, where the wetting and spreading diameter is higher for lower surface tension. From the contact angle results, the data showed that the biomass coating films were possible as wetting liquid (θ < 90º). Contact angle of biomass coating material gives good indication for the wettablity of a liquid on urea surface.

Keywords: Fluid, Dynamics, Droplet, Spreading, Contact Angle, Surface Tension.

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Authors: Youssou Faye, Ibrahima Niang, Thomas Noel

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Access control is a critical security service in Wire- less Sensor Networks (WSNs). To prevent malicious nodes from joining the sensor network, access control is required. On one hand, WSN must be able to authorize and grant users the right to access to the network. On the other hand, WSN must organize data collected by sensors in such a way that an unauthorized entity (the adversary) cannot make arbitrary queries. This restricts the network access only to eligible users and sensor nodes, while queries from outsiders will not be answered or forwarded by nodes. In this paper we presentee different access control schemes so as to ?nd out their objectives, provision, communication complexity, limits, etc. Using the node density parameter, we also provide a comparison of these proposed access control algorithms based on the network topology which can be flat or hierarchical.

Keywords: Access Control, Authentication, Key Management, Wireless Sensor Networks.

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Authors: C. A. Barros, Ana P. Barroso

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Any industrial company needs to determine the amount of variation that exists within its measurement process and guarantee the reliability of their data, studying the performance of their measurement system, in terms of linearity, bias, repeatability and reproducibility and stability. This issue is critical for automotive industry suppliers, who are required to be certified by the 16949:2016 standard (replaces the ISO/TS 16949) of International Automotive Task Force, defining the requirements of a quality management system for companies in the automotive industry. Measurement System Analysis (MSA) is one of the mandatory tools. Frequently, the measurement system in companies is not connected to the equipment and do not incorporate the methods proposed by the Automotive Industry Action Group (AIAG). To address these constraints, an R&D project is in progress, whose objective is to develop a web and cloud-based MSA tool. This MSA tool incorporates Industry 4.0 concepts, such as, Internet of Things (IoT) protocols to assure the connection with the measuring equipment, cloud computing, artificial intelligence, statistical tools, and advanced mathematical algorithms. This paper presents the preliminary findings of the project. The web and cloud-based MSA tool is innovative because it implements all statistical tests proposed in the MSA-4 reference manual from AIAG as well as other emerging methods and techniques. As it is integrated with the measuring devices, it reduces the manual input of data and therefore the errors. The tool ensures traceability of all performed tests and can be used in quality laboratories and in the production lines. Besides, it monitors MSAs over time, allowing both the analysis of deviations from the variation of the measurements performed and the management of measurement equipment and calibrations. To develop the MSA tool a ten-step approach was implemented. Firstly, it was performed a benchmarking analysis of the current competitors and commercial solutions linked to MSA, concerning Industry 4.0 paradigm. Next, an analysis of the size of the target market for the MSA tool was done. Afterwards, data flow and traceability requirements were analysed in order to implement an IoT data network that interconnects with the equipment, preferably via wireless. The MSA web solution was designed under UI/UX principles and an API in python language was developed to perform the algorithms and the statistical analysis. Continuous validation of the tool by companies is being performed to assure real time management of the ‘big data’. The main results of this R&D project are: MSA Tool, web and cloud-based; Python API; New Algorithms to the market; and Style Guide of UI/UX of the tool. The MSA tool proposed adds value to the state of the art as it ensures an effective response to the new challenges of measurement systems, which are increasingly critical in production processes. Although the automotive industry has triggered the development of this innovative MSA tool, other industries would also benefit from it. Currently, companies from molds and plastics, chemical and food industry are already validating it.

Keywords: Automotive industry, Industry 4.0, internet of things, IATF 16949:2016, measurement system analysis.

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Authors: Cheng-Fang Huang, Meei-Ling Hung, Teh-Lu Liao, Her-Terng Yau, Jun-Juh Yan

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The design of chaos-based secure communication via synchronized modified Chua-s systems is investigated in this paper. A continuous control law is proposed to ensure synchronization of the master and slave modified Chua-s systems by using the variable structure control technique. Particularly, the concept of extended systems is introduced such that a continuous control input is obtained to avoid chattering phenomenon. Then, it becomes possible to ensure that the message signal embedded in the transmitter can be recovered in the receiver.

Keywords: Chaos, Secure communication, Synchronization, Variable structure control (VSC)

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Authors: M. Amir Abas, M. Dahlui

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This paper presents the investigation results of UV measurement at different level of altitudes and the development of a new portable instrument for measuring UV. The rapid growth of industrial sectors in developing countries including Malaysia, brings not only income to the nation, but also causes pollution in various forms. Air pollution is one of the significant contributors to global warming by depleting the Ozone layer, which would reduce the filtration of UV rays. Long duration of exposure to high to UV rays has many devastating health effects to mankind directly or indirectly through destruction of the natural resources. This study aimed to show correlation between UV and altitudes which indirectly can help predict Ozone depletion. An instrument had been designed to measure and monitors the level of UV. The instrument comprises of two main blocks namely data logger and Graphic User Interface (GUI). Three sensors were used in the data logger to detect changes in the temperature, humidity and ultraviolet. The system has undergone experimental measurement to capture data at two different conditions; industrial area and high attitude area. The performance of the instrument showed consistency in the data captured and the results of the experiment drew a significantly high reading of UV at high altitudes.

Keywords: Ozone Layer, Monitoring, Global Warming, Measurement, Ultraviolet

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Authors: Hadi Adibi-Asl, Alireza Doosthosseini, Amir Taghavipour

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This paper studies the design of an adaptive control strategy to tune an active steering system for better drivability and maneuverability. In the first step, adaptive control strategy is applied to estimate the uncertain parameters on-line (e.g. cornering stiffness), then the estimated parameters are fed into the pole placement controller to generate corrective feedback gain to improve the steering system dynamic’s characteristics. The simulations are evaluated for three types of road conditions (dry, wet, and icy), and the performance of the adaptive pole placement control (APPC) are compared with pole placement control (PPC) and a passive system. The results show that the APPC strategy significantly improves the yaw rate and side slip angle of a bicycle plant model.

Keywords: Adaptive control, active steering, pole placement, vehicle dynamics.

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Authors: Sanda Win, Tin Shein, Khin Maung Latt

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This document describes an electronic speed control designed to drive two DC motors from a 6 V battery pack to be controlled by a commercial universal infrared remote control hand set. Conceived for a tank-like vehicle, one motor drives the left side wheels or tracks and the other motor drives the right side. As it is shown here, there is a left-right steering input and a forward– backward throttles input, like would be used on a model car. It is designed using a microcontroller PIC16F873A.

Keywords: Assembly Language, Direction Control, SpeedControl, PIC 16F 873A

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Authors: Carlos Sanchís-Pedregosa, María del Mar González-Zamora, José A. D. Machuca

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Logistics outsourcing is a growing trend and measuring its performance, a challenge. It must be consistent with the objectives set for logistics outsourcing, but we have found no objective-based performance measurement system. We have conducted a comprehensive review of the specialist literature to cover this gap, which has led us to identify and define these objectives. The outcome is that we have obtained a list of the most relevant objectives and their descriptions. This will enable us to analyse in a future study whether the indicators used for measuring logistics outsourcing performance are consistent with the objectives pursued with the outsourcing. If this is not the case, a proposal will be made for a set of financial and operational indicators to measure performance in logistics outsourcing that take the goals being pursued into account.

Keywords: Outsourcing, Performance measurement, Logistics, Objectives, Indicators

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Authors: Muhibul H. Bhuyan, Mafujul Hasan

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If a person can monitor his/her heart rate regularly then he/she can detect heart disease early and thus he/she can enjoy longer life span. Therefore, this disease should be taken seriously. Hence, many health care devices and monitoring systems are being designed to keep track of the heart disease. This work reports a design and simulation processes of an Arduino microcontroller based heart rate measurement and monitoring system in Proteus environment. Clipping sensors were utilized to sense the heart rate of an individual from the finger tips. It is a digital device and uses mainly infrared (IR) transmitter (mainly IR LED) and receiver (mainly IR photo-transistor or IR photo-detector). When the heart pumps the blood and circulates it among the blood vessels of the body, the changed blood pressure is detected by the transmitter and then reflected back to the receiver accordingly. The reflected signals are then processed inside the microcontroller through a software written assembly language and appropriate heart rate (HR) is determined by it in beats per minute (bpm) from the detected signal for a duration of 10 seconds and display the same in bpm on the LCD screen in digital format. The designed system was simulated on several persons with varying ages, for example, infants, adult persons and active athletes. Simulation results were found very satisfactory.

Keywords: Heart rate measurement, design, simulation, Proteus, Arduino Uno microcontroller.

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Authors: Fayssal Amrane, Azeddine Chaiba

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In this paper, type-2 fuzzy logic control (T2FLC) and neuro-fuzzy control (NFC) for a doubly fed induction generator (DFIG) based on direct power control (DPC) with a fixed switching frequency is proposed for wind generation application. First, a mathematical model of the doubly-fed induction generator implemented in d-q reference frame is achieved. Then, a DPC algorithm approach for controlling active and reactive power of DFIG via fixed switching frequency is incorporated using PID. The performance of T2FLC and NFC, which is based on the DPC algorithm, are investigated and compared to those obtained from the PID controller. Finally, simulation results demonstrate that the NFC is more robust, superior dynamic performance for wind power generation system applications.

Keywords: Doubly fed induction generetor, direct power control, space vector modulation, type-2 fuzzy logic control, neuro-fuzzy control, maximum power point tracking.

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Authors: A. Boualouch, A. Essadki, T. Nasser, A. Boukhriss, A. Frigui

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This paper presents a power control for a Doubly Fed Induction Generator (DFIG) using in Wind Energy Conversion System (WECS) connected to the grid. The proposed control strategy employs two nonlinear controllers, Backstipping (BSC) and slidingmode controller (SMC) scheme to directly calculate the required rotor control voltage so as to eliminate the instantaneous errors of active and reactive powers. In this paper the advantages of BSC and SMC are presented, the performance and robustness of this two controller’s strategy are compared between them. First, we present a model of wind turbine and DFIG machine, then a synthesis of the controllers and their application in the DFIG power control. Simulation results on a 1.5MW grid-connected DFIG system are provided by MATLAB/Simulink.

Keywords: Backstipping, DFIG, power control, sliding-mode, WESC.

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Authors: S. H. Teh, S. Malawaraarachci, W. P. Chan, A. Nassirharand

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The purpose of this paper is to present the design and instrumentation of a new benchmark multivariable nonlinear control laboratory. The mathematical model of this system may be used to test the applicability and performance of various nonlinear control procedures. The system is a two degree-of-freedom robotic arm with soft and hard (discontinuous) nonlinear terms. Two novel mechanisms are designed to allow the implementation of adjustable Coulomb friction and backlash.

Keywords: Nonlinear control, describing functions, AdjustableCoulomb friction, Adjustable backlash.

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Authors: Aicha Rima Cheniti, Hatem Besbes, Joseph Haggege, Christophe Sintes

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In this paper, we consider a drift flux mixture model of the blood flow. The mixture consists of gas phase which is carbon dioxide and liquid phase which is an aqueous carbon dioxide solution. This model was used to determine the distributions of the mixture velocity, the mixture pressure, and the carbon dioxide pressure. These theoretical data are used to determine a measurement method of mean gas pressure through the determination of radial velocity distribution. This method can be applicable in experimental domain.

Keywords: Mean carbon dioxide pressure, mean mixture pressure, mixture velocity, radial velocity.

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Authors: Lili Sun, Hua Wang

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As privacy becomes a major concern for consumers and enterprises, many research have been focused on the privacy protecting technology in recent years. In this paper, we present a comprehensive approach for usage access control based on the notion purpose. In our model, purpose information associated with a given data element specifies the intended use of the subjects and objects in the usage access control model. A key feature of our model is that it allows when an access is required, the access purpose is checked against the intended purposes for the data item. We propose an approach to represent purpose information to support access control based on purpose information. Our proposed solution relies on usage access control (UAC) models as well as the components which based on the notions of the purpose information used in subjects and objects. Finally, comparisons with related works are analyzed.

Keywords: Purpose, privacy, access control, authorization

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Authors: Abdoullah Fath-Allah, Laila Cheikhi, Rafa E. Al-Qutaish, Ali Idri

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The e-government emerging concept transforms the way in which the citizens are dealing with their governments. Thus, the citizens can execute the intended services online anytime and anywhere. This results in great benefits for both the governments (reduces the number of officers) and the citizens (more flexibility and time saving). Therefore, building a maturity model to assess the egovernment portals becomes desired to help in the improvement process of such portals. This paper aims at proposing an egovernment maturity model based on the measurement of the best practices’ presence. The main benefit of such maturity model is to provide a way to rank an e-government portal based on the used best practices, and also giving a set of recommendations to go to the higher stage in the maturity model.

Keywords: Best practices, e-government portal, maturity model, quality model.

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Authors: M. Pollar, M. Jaroensutasinee, K. Jaroensutasinee

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The population structure of the Tor tambroides was investigated with morphometric data (i.e. morphormetric measurement and truss measurement). A morphometric analysis was conducted to compare specimens from three waterfalls: Sunanta, Nan Chong Fa and Wang Muang waterfalls at Khao Nan National Park, Nakhon Si Thammarat, Southern Thailand. The results of stepwise discriminant analysis on seven morphometric variables and 21 truss variables per individual were the same as from a neural network. Fish from three waterfalls were separated into three groups based on their morphometric measurements. The morphometric data shows that the nerual network model performed better than the stepwise discriminant analysis.

Keywords: Morphometric, Tor tambroides, Stepwise Discriminant Analysis , Neural Network Analysis.

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Authors: M. Zerikat, S. Chekroun

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This paper proposes an effective algorithm approach to hybrid control systems combining fuzzy logic and conventional control techniques of controlling the speed of induction motor assumed to operate in high-performance drives environment. The introducing of fuzzy logic in the control systems helps to achieve good dynamical response, disturbance rejection and low sensibility to parameter variations and external influences. Some fundamentals of the fuzzy logic control are preliminary illustrated. The developed control algorithm is robust, efficient and simple. It also assures precise trajectory tracking with the prescribed dynamics. Experimental results have shown excellent tracking performance of the proposed control system, and have convincingly demonstrated the validity and the usefulness of the hybrid fuzzy controller in high-performance drives with parameter and load uncertainties. Satisfactory performance was observed for most reference tracks.

Keywords: Fuzzy controller, high-performance, inductionmotor, intelligent control, robustness.

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Authors: Norshamsuri Ali, Hafizulfika, Salim Ali Al-Kathiri, Abdulla Al-Attas, Suhairi Saharudin, Mohamed Ridza Wahiddin

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We demonstrate single-photon interference over 10 km using a plug and play system for quantum key distribution. The quality of the interferometer is measured by using the interferometer visibility. The coding of the signal is based on the phase coding and the value of visibility is based on the interference effect, which result a number of count. The setup gives full control of polarization inside the interferometer. The quality measurement of the interferometer is based on number of count per second and the system produces 94 % visibility in one of the detectors.

Keywords: single photon, interferometer, quantum key distribution.

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Authors: Tayyab Hassan, Talha Rehman, Qasim Abdul Aziz, Ahmad Salman

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The constant monitoring of blood glucose level is necessary for maintaining health of patients and to alert medical specialists to take preemptive measures before the onset of any complication as a result of diabetes. The current clinical monitoring of blood glucose uses invasive methods repeatedly which are uncomfortable and may result in infections in diabetic patients. Several attempts have been made to develop non-invasive techniques for blood glucose measurement. In this regard, the existing methods are not reliable and are less accurate. Other approaches claiming high accuracy have not been tested on extended dataset, and thus, results are not statistically significant. It is a well-known fact that acetone concentration in breath has a direct relation with blood glucose level. In this paper, we have developed the first of its kind, reliable and high accuracy breath analyzer for non-invasive blood glucose measurement. The acetone concentration in breath was measured using MQ 138 sensor in the samples collected from local hospitals in Pakistan involving one hundred patients. The blood glucose levels of these patients are determined using conventional invasive clinical method. We propose a linear regression classifier that is trained to map breath acetone level to the collected blood glucose level achieving high accuracy.

Keywords: Blood glucose level, breath acetone concentration, diabetes, linear regression.

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Authors: Yassine Jadi, Lin Jie

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In order to serve the society in an electronic manner, many developing countries have launched tremendous e-government projects. The strategies of development and implementation e-government system have reached different levels, and to ensure consistency of development, the governments need to evaluate e-government performance. The United nation has design e-government development ranking index (EGDI) that rely on three indexes, Online service index (OSI), Telecommunication Infrastructure index (TII), and human capital index( HCI) which are not reflecting the interaction between a government and their citizens. Based on data envelopment analyses (DEA) technique, we are using E-participating index (EPI) as an output of government effort to evaluate the performance of e-government system. Therefore, the ranking index can be achieved in efficiency manner.

Keywords: E-government, DEA, efficiency measurement, EGDI.

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Authors: Tomas Shejbal, Matej Petkov, Tomas Zalabsky, Jan Pidanic, Zdenek Nemec

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The paper describes software for remote control and measuring with new Graphical User Interface for Rohde & Schwarz instruments. Software allows remote control through Ethernet and supports basic and advanced functions for control various type of instruments like network and spectrum analyzers, power meters, signal generators and oscilloscopes. Standard Commands for Programmable Instruments (SCPI) and Virtual Instrument Software Architecture (VISA) are used for remote control and setup of instruments. Developed software is modular with user friendly graphic user interface for each instrument with automatic identification of instruments.

Keywords: Remote control, Rohde&Schwarz, SCPI, VISA, MATLAB, spectum analyzer, network analyzer, oscilloscope, signal generator.

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Authors: Toshinori Nawata, Hitoshi Takata

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In this paper we consider a nonlinear feedback control called augmented automatic choosing control (AACC) for nonlinear systems with constrained input. Constant terms which arise from section wise linearization of a given nonlinear system are treated as coefficients of a stable zero dynamics.Parameters included in the control are suboptimally selectedby extremizing a combination of Hamiltonian and Lyapunov functions 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, NonlinearControl, Genetic Algorithm, Hamiltonian, Lyapunovfunction

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Authors: H. Ifassiouen, M. Guisser, H.Medromi

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This paper presents an investigation into the design of a flight control system, using a robust sliding mode control structure, designed using the exact feedback linearization procedure of the dynamic of a small-size autonomous helicopter in hover. The robustness of the controller in the context of stabilization and trajectory tracking with respect to small body forces and air resistance on the main and tail rotor, is analytically proved using Lyapunov approach. Some simulation results are presented to illustrate the performance and robustness of such controller in the presence of small body forces and air resistance.

Keywords: Robust control, sliding mode, stability, Lyapunovapproach.

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Authors: M. Tahmasebi, R.A. Rahman, M. Mailah, M. Gohari

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The control of sprayer boom undesired vibrations pose a great challenge to investigators due to various disturbances and conditions. Sprayer boom movements lead to reduce of spread efficiency and crop yield. This paper describes the design of a novel control method for an active suspension system applying proportional-integral-derivative (PID) controller with an active force control (AFC) scheme integration of an iterative learning algorithm employed to a sprayer boom. The iterative learning as an intelligent method is principally used as a method to calculate the best value of the estimated inertia of the sprayer boom needed for the AFC loop. Results show that the proposed AFC-based scheme performs much better than the standard PID control technique. Also, this shows that the system is more robust and accurate.

Keywords: Active force control, sprayer boom, active suspension, iterative learning.

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Authors: Nuralam Sam, Irawan Yusuf, Irfan Idris, Endi Adnan

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Frozen shoulder (FS) is an insidious, painful condition caused by an inflammatory condition that causes fibrosis of the glenohumeral joint capsule, which causes progressive stiffness and restriction of the active and passive range of motion (ROM) of the shoulder. The studies of FS are still limited. This single-blinded randomized controlled trial involved participants with FS. The study participants were divided into two groups. The Prolotherapy group was the study group, and the Normal Saline (NS) group was the control group. Both groups were given injections at weeks 0, 2, 4, and 6. Matrix Metalloproteinase-1 (MMP-1) and Tissue Inhibitor Metalloproteinase-1 (TIMP-1) were measured at week six and week 12 after the last injection. The Disabilities of The Arm, Shoulder, and Hand (DASH) Score and ROM were measured at weeks 0, 2, 4, and 6 before and after injection and week 12. Comparative analysis was performed using repeated measures Paired T-Test, and data processing to assess correlation was using ANOVA. The result showed a significant decrease in The Disability of the Arm, Shoulder, and Hand (DASH) score in prolotherapy injection patients in each measurement week (p < 0.05). While the measurement of ROM, each direction of shoulder motion showed a significant difference in average each week, from week 0 to week 6 (p < 0.05). Dextrose prolotherapy injection results significantly improved the functional outcome of the shoulder joint and ROM. They did not show significant results in assessing the specific biomarker, MMP-1, and TIMP-1, in tissue repair. This study suggests an alternative to injection prolotherapy in FS patients; it has minimal adverse effects and is efficient in time and cost.

Keywords: Frozen Shoulder, ROM, DASH Score, prolotherapy, MMP-1, TIMP-1.

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Authors: Meifang Xu, Yunbo Shi, Guoxian Tang, Jun Liu, Xuyuan Chen

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Speckle phenomena results from when coherent radiation is reflected from a rough surface. Characterizing the speckle strongly depends on the measurement condition and experimental setup. In this paper we report the experimental results produced with different parameters in the setup. We investigated the factors which affects the speckle contrast, such as, F-number, gamma value and exposure time of the camera, rather than geometric factors like the distance between the projector lens to the screen, the viewing distance, etc. The measurement results show that the speckle contrast decreases by decreasing F-number, by increasing gamma value, and slightly affects by exposure time of the camera and the gain value of the camera.

Keywords: Characterization, laser projector, speckle

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Authors: Yun Jong Choi, Nam Woong, PooGyeon Park

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Variable Structure Control (VSC) is one of the most useful tools handling the practical system with uncertainties and disturbances. Up to now, unfortunately, not enough studies on the input-saturated system with linear-growth-bound disturbances via VSC have been presented. Therefore, this paper proposes an asymp¬totic stability condition for the system via VSC. The designed VSC controller consists of two control parts. The linear control part plays a role in stabilizing the system, and simultaneously, the nonlinear control part in rejecting the linear-growth-bound disturbances perfectly. All conditions derived in this paper are expressed with Linear Matrices Inequalities (LMIs), which can be easily solved with an LMI toolbox in MATLAB.

Keywords: Input saturation, linear-growth bounded disturbances, linear matrix inequality (LMI), variable structure control

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Authors: Takashi Yamauchi, Anju Sudo, Yoshihiko Tanno

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Recently, it has been suggested that thought control strategies aimed at controlling unwanted thoughts may be used to cope with paranoid thoughts in both clinical and nonclinical samples. The current study aims to examine the type of thought control strategies that were associated with the frequency of paranoid thoughts in nonclinical samples. A total of 159 Japanese undergraduate students completed the two scales–the Paranoia Checklist and the Thought Control Questionnaire. A hierarchical multiple regression analysis demonstrated that worry-based control strategies were associated with paranoid thoughts, whereas distraction- and social-based control strategies were inversely associated with paranoid thoughts. Our findings suggest that in a nonclinical population, worry-based strategies may be especially maladaptive, whereas distraction- and social-based strategies may be adaptive to paranoid thoughts.

Keywords: Nonclinical population, paranoid thoughts, thoughtcontrol strategies.

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Authors: M. Saleem Khan, Khaled Benkrid

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This paper presents the development techniques for a complete autonomous design model of an advanced train control system and gives a new approach for the implementation of multi-agents based system. This research work proposes to develop a novel control system to enhance the efficiency of the vehicles under constraints of various conditions, and contributes in stability and controllability issues, considering relevant safety and operational requirements with command control communication and various sensors to avoid accidents. The approach of speed scheduling, management and control in local and distributed environment is given to fulfill the dire needs of modern trend and enhance the vehicles control systems in automation. These techniques suggest the state of the art microelectronic technology with accuracy and stability as forefront goals.

Keywords: Multi-agents, Railway vehicle control system, autonomous design, Train management, Speed scheduling andcontrol.

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Authors: Sun Lim, Bong-Seok Kim

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This paper presents an adaptive nonlinear position controller with velocity constraint, capable of combining the input-output linearization technique and Lyapunov stability theory. Based on the Lyapunov stability theory, the adaptation law of the proposed controller is derived along with the verification of the overall system-s stability. Computer simulation results demonstrate that the proposed controller is robust and it can ensure transient stability of BLDCM, under the occurrence of a large sudden fault.

Keywords: BLDC Motor Control, Backstepping Control, Adaptive nonlinear control

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