Search results for: Minimum variance control

Authors: Santhakumar M., Asokan T.

Abstract:

This paper addresses the problem of trajectory tracking control of an underactuated autonomous underwater vehicle (AUV) in the horizontal plane. The underwater vehicle under consideration is not actuated in the sway direction, and the system matrices are not assumed to be diagonal and linear, as often found in the literature. In addition, the effect of constant bias of environmental disturbances is considered. Using backstepping techniques and the tracking error dynamics, the system states are stabilized by forcing the tracking errors to an arbitrarily small neighborhood of zero. The effectiveness of the proposed control method is demonstrated through numerical simulations. Simulations are carried out for an experimental vehicle for smooth, inertial, two dimensional (2D) reference trajectories such as constant velocity trajectory (a circle maneuver – constant yaw rate), and time varying velocity trajectory (a sinusoidal path – sinusoidal yaw rate).

Keywords: autonomous underwater vehicle, system matrices, tracking control, time – varying feed back, underactuated control.

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Authors: Youcef Bekakra, Djilani Ben attous

Abstract:

This paper presents the study of a variable speed wind energy conversion system based on a Doubly Fed Induction Generator (DFIG) based on a sliding mode control applied to achieve control of active and reactive powers exchanged between the stator of the DFIG and the grid to ensure a Maximum Power Point Tracking (MPPT) of a wind energy conversion system. The proposed control algorithm is applied to a DFIG whose stator is directly connected to the grid and the rotor is connected to the PWM converter. To extract a maximum of power, the rotor side converter is controlled by using a stator flux-oriented strategy. The created decoupling control between active and reactive stator power allows keeping the power factor close to unity. Simulation results show that the wind turbine can operate at its optimum energy for a wide range of wind speed.

Keywords: Doubly fed induction generator, wind energy, wind turbine, sliding mode control, maximum power point tracking (MPPT).

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Authors: May-Ling Tan, Yi Su, Chi-Wan Lim, Liang Zhong, Ru-San Tan

Abstract:

This paper describes an automatic algorithm to restore the shape of three-dimensional (3D) left ventricle (LV) models created from magnetic resonance imaging (MRI) data using a geometry-driven optimization approach. Our basic premise is to restore the LV shape such that the LV epicardial surface is smooth after the restoration. A geometrical measure known as the Minimum Principle Curvature (κ2) is used to assess the smoothness of the LV. This measure is used to construct the objective function of a two-step optimization process. The objective of the optimization is to achieve a smooth epicardial shape by iterative in-plane translation of the MRI slices. Quantitatively, this yields a minimum sum in terms of the magnitude of κ 2, when κ2 is negative. A limited memory quasi-Newton algorithm, L-BFGS-B, is used to solve the optimization problem. We tested our algorithm on an in vitro theoretical LV model and 10 in vivo patient-specific models which contain significant motion artifacts. The results show that our method is able to automatically restore the shape of LV models back to smoothness without altering the general shape of the model. The magnitudes of in-plane translations are also consistent with existing registration techniques and experimental findings.

Keywords: Magnetic Resonance Imaging, Left Ventricle, ShapeRestoration, Principle Curvature, Optimization

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Authors: Andrés Gomez-Casseres, Rubén Contreras

Abstract:

In this paper, a bidirectional boost converter operated in Discontinuous Conduction Mode (DCM) is presented as a suitable power conditioning circuit for tuning of kinetic energy harvesters without the need of a battery. A nonlinear control scheme, composed by two linear controllers, is used to control the average value of the input current, enabling the synthesization of complex loads. The converter, along with the control system, is validated through SPICE simulations using the LTspice tool. The converter model and the controller transfer functions are derived. From the simulation results, it was found that the input current distortion increases with the introduced phase shift and that, such distortion, is almost entirely present at the zero-crossing point of the input voltage.

Keywords: Average current control, boost converter, electrical tuning, energy harvesting.

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Authors: Yoichi Ishikawa, Yuichi Masukake, Yoshihisa Ishida

Abstract:

This paper presents a novel control method based on radial basis function networks (RBFNs) for chaotic dynamical systems. The proposed method first identifies the nonlinear part of the chaotic system off-line and then constructs a model-following controller using only the estimated system parameters. Simulation results show the effectiveness of the proposed control scheme.

Keywords: Chaos, nonlinear plant, radial basis function network.

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Authors: Somkiat Tangjitsitcharoen, Siripong Damrongthaveesak

Abstract:

This paper presents an advance in monitoring and process control of surface roughness in CNC machine for the turning and milling processes. An integration of the in-process monitoring and process control of the surface roughness is proposed and developed during the machining process by using the cutting force ratio. The previously developed surface roughness models for turning and milling processes of the author are adopted to predict the inprocess surface roughness, which consist of the cutting speed, the feed rate, the tool nose radius, the depth of cut, the rake angle, and the cutting force ratio. The cutting force ratios obtained from the turning and the milling are utilized to estimate the in-process surface roughness. The dynamometers are installed on the tool turret of CNC turning machine and the table of 5-axis machining center to monitor the cutting forces. The in-process control of the surface roughness has been developed and proposed to control the predicted surface roughness. It has been proved by the cutting tests that the proposed integration system of the in-process monitoring and the process control can be used to check the surface roughness during the cutting by utilizing the cutting force ratio.

Keywords: Turning, milling, monitoring, surface roughness, cutting force ratio.

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Authors: Xiaoyan Dou, Yongkun Li

Abstract:

In this paper, we consider a food-limited population model with delay and feedback control. By applying the comparison theorem of the differential equation and constructing a suitable Lyapunov functional, sufficient conditions which guarantee the permanence and existence of a unique globally attractive positive almost periodic solution of the system are obtained.

Keywords: Almost periodic solution, food-limited population, feedback control, permanence.

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Authors: N. Popovich, P. Yan

Abstract:

In this paper a controller for the pitch angle of an aircraft regarding to the elevator deflection angle is designed. The way how the elevator angle affects pitching motion of the aircraft is pointed out, as well as, how a pitch controller can be applied for the aircraft to reach certain pitch angle. In this digital optimal system, the elevator deflection angle and pitching angle of the plane are considered to be input and output respectively. A single input single output (SISO) system is presented. A digital pitch aircraft control is demonstrated. A simulation for the whole system has been performed. The optimal control weighting vectors, Q and R have been determined.

Keywords: Aircraft, control, digital, optimal, Q and Rmatrices.

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

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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: Jia-Ru Li, Chih-Hung Wang, Ching-Wen Lin

Abstract:

Internet addiction has become a critical problem on adolescents in Taiwan, and its negative effects on various dimensions of adolescent development caught the attention of educational and psychological experts. This study examined the correlation between cognitive (locus of control) and emotion (emotion venting strategies) factors on internet addiction of adolescents in Taiwan. Using the Compulsive Internet Use (CIU) and the Emotion Venting Strategy scales, a survey was conducted and 215 effective samples (students ranging from12 to14 years old) returned. Quantitative analysis methods such as descriptive statistics, t-test, ANOVA, Pearson correlations and multiple regression were adopted. The results were as follows: 1. Severity of Internet addiction has significant gender differences; boys were at a higher risk than girls in becoming addicted to the Internet. 2. Emotion venting, locus of control and internet addiction have been shown to be positive correlated with one another. 3. Setting the locus of control as the control variable, emotion venting strategy has positive and significant contribution to internet addiction. The results of this study suggest that coaching deconstructive emotion strategies and cognitive believes are encouraged to integrate with actual field work.

Keywords: Emotion venting strategy, locus of control, adolescent internet addiction.

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Authors: Aras Adhami Mirhoseini, Mohammad J. Yazdanpanah

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In this paper, we consider nested sliding mode control of SISO nonlinear systems, perturbed by bounded matched and unmatched uncertainties. The systems are assumed to be in strict-feedback form. A step wise procedure is introduced to obtain the controller. In each step, a continuous sliding mode controller is designed as virtual control law. Then the next step sliding surface is defined by using this virtual controller. These sliding surfaces are selected as nonlinear static functions of the system states. Finally in the last step, smooth static state feedback control law is determined such that the output reaches the desired set-point while the system is forced arbitrary close to the intersection of sliding surfaces and the states remain bounded.

Keywords: Sliding mode control, Strict-feedback form, Unmatched uncertainty, output regulation.

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Authors: P. Subha Karuvelam, M. Rajaram

Abstract:

Brushless DC motors (BLDC) are widely used in industrial areas. The BLDC motors are driven either by indirect ACAC converters or by direct AC-AC converters. Direct AC-AC converters i.e. matrix converters are used in this paper to drive the three phase BLDC motor and it eliminates the bulky DC link energy storage element. A matrix converter converts the AC power supply to an AC voltage of variable amplitude and variable frequency. A control technique is designed to generate the switching pulses for the three phase matrix converter. For the control of speed of the BLDC motor a separate PI controller and Fuzzy Logic Controller (FLC) are designed and a hysteresis current controller is also designed for the control of motor torque. The control schemes are designed and tested separately. The simulation results of both the schemes are compared and contrasted in this paper. The results show that the fuzzy logic control scheme outperforms the PI control scheme in terms of dynamic performance of the BLDC motor. Simulation results are validated with the experimental results.

Keywords: Fuzzy logic controller, matrix converter, permanent magnet brushless DC motor, PI controller.

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Authors: Babar S. Kawish, Baber Aslam, Shoab A Khan

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In this paper we show that adjusting ART in accordance with static network scenario can substantially improve the performance of AODV by reducing control overheads. We explain the relationship of control overheads with network size and request patterns of the users. Through simulation we show that making ART proportionate to network static time reduces the amount of control overheads independent of network size and user request patterns.

Keywords: AODV, ART, MANET, Route Cache, TTL.

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Authors: Chutima Prommak, Airisa Jantaweetip

Abstract:

This paper presents a hybrid association control scheme that can maintain load balancing among access points in the wireless LANs and can satisfy the quality of service requirements of the multimedia traffic applications. The proposed model is mathematically described as a linear programming model. Simulation study and analysis were conducted in order to demonstrate the performance of the proposed hybrid load balancing and association control scheme. Simulation results shows that the proposed scheme outperforms the other schemes in term of the percentage of blocking and the quality of the data transfer rate providing to the multimedia and real-time applications.

Keywords: Association control, Load balancing, Wireless LANs

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Authors: S. Sonkham, U. Pinsopon, W. Chatlatanagulchai

Abstract:

This paper presents a method of sliding mode control (SMC) designing and developing for the servo system in a dual-stage actuator (DSA) hard disk drive. Mathematical modeling of hard disk drive actuators is obtained, extracted from measuring frequency response of the voice-coil motor (VCM) and PZT micro-actuator separately. Matlab software tools are used for mathematical model estimation and also for controller design and simulation. A model-reference approach for tracking requirement is selected as a proposed technique. The simulation results show that performance of a model-reference SMC controller design in DSA servo control can be satisfied in the tracking error, as well as keeping the positioning of the head within the boundary of +/-5% of track width under the presence of internal and external disturbance. The overall results of model-reference SMC design in DSA are met per requirement specifications and significant reduction in %off track is found when compared to the single-state actuator (SSA).

Keywords: Hard Disk Drive, Dual-Stage Actuator, Track Following, HDD Servo Control, Sliding Mode Control, Model-Reference, Tracking Control.

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Authors: B. G. Sampath, K. C. R. Perera, W. A. S. I. Wijesuriya, V. P. C. Dassanayake

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In this paper the design, development and testing of a stabilizer control system for a Quad-rotor is presented which is focused on the maneuverability. The mechanical design is performed along with the design of the controlling algorithm which is devised using fuzzy logic controller. The inputs for the system are the angular positions and angular rates of the Quad-rotor relative to three axes. Then the output data is filtered from an accelerometer and a gyroscope through a Kalman filter. In the development of the stability controlling system Mandani fuzzy model is incorporated. The results prove that the fuzzy based stabilizer control system is superior in high dynamic disturbances compared to the traditional systems which use PID integrated stabilizer control systems.

Keywords: Fuzzy stabilizer, maneuverability, PID, Quad-rotor.

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Authors: Yelena Chaiko

Abstract:

This paper presents a developed method for controlling multi-renewable energy generators. The control system depends basically on three sensors (wind anemometer, solar sensor, and voltage sensor). These sensors represent PLC-s analogue inputs. Controlling the output voltage supply can be achieved by an enhanced method of interlocking between the renewable energy generators, depending on those sensors and output contactors.

Keywords: Renewable, energy, control, model, generator.

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Authors: M. Tahar Bouzaher

Abstract:

This study involves a numerical simulation of the flow around a NACA2415 airfoil, with a 15°angle of attack, and flow separation control using a rod, It reposes inputting a cylindrical rod upstream of the leading edge in order to accelerate the transition of the boundary layer by interaction between the rod wake and the boundary layer. The viscous, non-stationary flow is simulated using ANSYS FLUENT 13. Our results showed a substantial modification in the flow behavior and a maximum drag reduction of 51%.

Keywords: CFD, Flow separation, Active control, Boundary layer, rod, NACA 2415.

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Authors: Satyanadh Gundimada, Vijayan K Asari

Abstract:

A novel feature selection strategy to improve the recognition accuracy on the faces that are affected due to nonuniform illumination, partial occlusions and varying expressions is proposed in this paper. This technique is applicable especially in scenarios where the possibility of obtaining a reliable intra-class probability distribution is minimal due to fewer numbers of training samples. Phase congruency features in an image are defined as the points where the Fourier components of that image are maximally inphase. These features are invariant to brightness and contrast of the image under consideration. This property allows to achieve the goal of lighting invariant face recognition. Phase congruency maps of the training samples are generated and a novel modular feature selection strategy is implemented. Smaller sub regions from a predefined neighborhood within the phase congruency images of the training samples are merged to obtain a large set of features. These features are arranged in the order of increasing distance between the sub regions involved in merging. The assumption behind the proposed implementation of the region merging and arrangement strategy is that, local dependencies among the pixels are more important than global dependencies. The obtained feature sets are then arranged in the decreasing order of discriminating capability using a criterion function, which is the ratio of the between class variance to the within class variance of the sample set, in the PCA domain. The results indicate high improvement in the classification performance compared to baseline algorithms.

Keywords: Discriminant analysis, intra-class probability distribution, principal component analysis, phase congruency.

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Authors: Tony Austin, Shanghua Sun, Nathan Lea, Steve Iliffe, Dipak Kalra, David Ingram, David Patterson

Abstract:

Computer-based decision support (CDSS) systems can deliver real patient care and increase chances of long-term survival in areas of chronic disease management prone to poor control. One such CDSS, for the management of warfarin, is described in this paper and the outcomes shown. Data is derived from the running system and show a performance consistently around 20% better than the applicable guidelines.

Keywords: "Decision Support", "Anticoagulant Control"

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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: Hanieh Tarbiat Khosrowshahi, Mojtaba Shakeri

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Wireless Sensor Networks (WSNs) consist of a set of sensor nodes with limited capability. WSNs may suffer from multiple node failures when they are exposed to harsh environments such as military zones or disaster locations and lose connectivity by getting partitioned into disjoint segments. Relay nodes (RNs) are alternatively introduced to restore connectivity. They cost more than sensors as they benefit from mobility, more power and more transmission range, enforcing a minimum number of them to be used. This paper addresses the problem of RN placement in a multiple disjoint network by developing a genetic algorithm (GA). The problem is reintroduced as the Steiner tree problem (which is known to be an NP-hard problem) by the aim of finding the minimum number of Steiner points where RNs are to be placed for restoring connectivity. An upper bound to the number of RNs is first computed to set up the length of initial chromosomes. The GA algorithm then iteratively reduces the number of RNs and determines their location at the same time. Experimental results indicate that the proposed GA is capable of establishing network connectivity using a reasonable number of RNs compared to the best existing work.

Keywords: Connectivity restoration, genetic algorithms, multiple-node failure, relay nodes, wireless sensor networks.

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Authors: Seon-Ho Yoon, Jin-Young Choi, Dong-Jun Won

Abstract:

This paper presents hierarchical operation strategies which are minimizing operation error between day ahead operation plan and real time operation. Operating power systems between centralized and decentralized approaches can be represented as hierarchical control scheme, featured as primary control, secondary control and tertiary control. Primary control is known as local control, featuring fast response. Secondary control is referred to as microgrid Energy Management System (EMS). Tertiary control is responsible of coordinating the operations of multi-microgrids. In this paper, we formulated 3 stage microgrid operation strategies which are similar to hierarchical control scheme. First stage is to set a day ahead scheduled output power of Battery Energy Storage System (BESS) which is only controllable source in microgrid and it is optimized to minimize cost of exchanged power with main grid using Particle Swarm Optimization (PSO) method. Second stage is to control the active and reactive power of BESS to be operated in day ahead scheduled plan in case that State of Charge (SOC) error occurs between real time and scheduled plan. The third is rescheduling the system when the predicted error is over the limited value. The first stage can be compared with the secondary control in that it adjusts the active power. The second stage is comparable to the primary control in that it controls the error in local manner. The third stage is compared with the secondary control in that it manages power balancing. The proposed strategies will be applied to one of the buildings in Electronics and Telecommunication Research Institute (ETRI). The building microgrid is composed of Photovoltaic (PV) generation, BESS and load and it will be interconnected with the main grid. Main purpose of that is minimizing operation cost and to be operated in scheduled plan. Simulation results support validation of proposed strategies.

Keywords: Battery energy storage system, energy management system, microgrid, particle swarm optimization.

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Authors: Kruczek A., Stříbrský A., Honců J., Hlinovský M.

Abstract:

Automotive suspension system is important part of car comfort and safety. In this article automotive active suspension with linear motor as actuator is designed using H-infinity control. This paper is focused on comparison of different controller designed for quart, half or full-car model (and always used for “full" car). Special attention is placed on energy demand of the whole system. Each controller configuration is simulated and then verified on the hydraulic quarter car test bed.

Keywords: active suspension, linear motor, robust control

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Authors: M. Beisenbi, A. Sagymbay, S. Beisembina, A. Satpayeva

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In this paper, the problem of unstable and deterministic chaotic processes in control systems is considered. The synthesis of a control system in the class of two-parameter structurally stable mappings is demonstrated. This is realized via the gradient-velocity method of Lyapunov vector functions. It is shown that the gradient-velocity method of Lyapunov vector functions allows generating an aperiodic robust stable system with the desired characteristics. A simple solution to the problem of synthesis of control systems for unstable and deterministic chaotic processes is obtained. Moreover, it is applicable for complex systems.

Keywords: Control system synthesis, deterministic chaotic processes, Lyapunov vector function, robust stability, structurally stable mappings.

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Authors: Madiha El Awamie, Catherine Rees

Abstract:

Natural preservatives have been used as alternatives to traditional chemical preservatives; however, a limited number have been commercially developed and many remain to be investigated as sources of safer and effective antimicrobials. In this study, we have been investigating the antimicrobial activity of an extract of Glycyrrhiza glabra (liquorice) that was provided as a waste material from the production of liquorice flavourings for the food industry, and to investigate if this retained the expected antimicrobial activity so it could be used as a natural preservative. Antibacterial activity of liquorice extract was screened for evidence of growth inhibition against eight species of Gram-negative and Gram-positive bacteria, including Listeria monocytogenes, Listeria innocua, Staphylococcus aureus, Enterococcus faecalis and Bacillus subtilis. The Gram-negative bacteria tested include Pseudomonas aeruginosa, Escherichia coli and Salmonella typhimurium but none of these were affected by the extract. In contrast, for all of the Gram-positive bacteria tested, growth was inhibited as monitored using optical density. However parallel studies using viable count indicated that the cells were not killed meaning that the extract was bacteriostatic rather than bacteriocidal. The Minimum Inhibitory Concentration [MIC] and Minimum Bactericidal Concentration [MBC] of the extract was also determined and a concentration of 50 µg ml^-1 was found to have a strong bacteriostatic effect on Gram-positive bacteria. Microscopic analysis indicated that there were changes in cell shape suggesting the cell wall was affected. In addition, the use of a reporter strain of Listeria transformed with the bioluminescence genes luxABCDE indicated that cell energy levels were reduced when treated with either 12.5 or 50 µg ml^-1 of the extract, with the reduction in light output being proportional to the concentration of the extract used. Together these results suggest that the extract is inhibiting the growth of Gram-positive bacteria only by damaging the cell wall and/or membrane.

Keywords: Antibacterial activity, bioluminescence, Glycyrrhiza glabra, natural preservative.

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Authors: Shih-Wen Hsiao, Chu-Hsuan Lee, Rong-Qi Chen

Abstract:

When it comes to last, it is regarded as the critical foundation of shoe design and development. Not only the last relates to the comfort of shoes wearing but also it aids the production of shoe styling and manufacturing. In order to enhance the efficiency and application of last development, a computer aided methodology for customized last form designs is proposed in this study. The reverse engineering is mainly applied to the process of scanning for the last form. Then the minimum energy is used for the revision of surface continuity, the surface of the last is reconstructed with the feature curves of the scanned last. When the surface of a last is reconstructed, based on the foundation of the proposed last form reconstruction module, the weighted arithmetic mean method is applied to the calculation on the shape morphing which differs from the grading for the control mesh of last, and the algorithm of subdivision is used to create the surface of last mesh, thus the feet-fitting 3D last form of different sizes is generated from its original form feature with functions remained. Finally, the practicability of the proposed methodology is verified through later case studies.

Keywords: 3D last design, Customization, Reverse engineering, Weighted morphing, Shape blending.

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Authors: Tai-Yue Wang, Hui-Min Chiang, Su-Ni Hsieh, Yu-Min Chiang

Abstract:

In many industries, control charts is one of the most frequently used tools for quality management. Hotelling-s T2 is used widely in multivariate control chart. However, it has little defect when detecting small or medium process shifts. The use of supplementary sensitizing rules can improve the performance of detection. This study applied sensitizing rules for Hotelling-s T2 control chart to improve the performance of detection. Support vector machines (SVM) classifier to identify the characteristic or group of characteristics that are responsible for the signal and to classify the magnitude of the mean shifts. The experimental results demonstrate that the support vector machines (SVM) classifier can effectively identify the characteristic or group of characteristics that caused the process mean shifts and the magnitude of the shifts.

Keywords: Hotelling's T2 control chart, Neural networks, Sensitizing rules, Support vector machines.

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Authors: Kentaro Miyoko, Yoshihiko Mori, Yugo Ikeda, Yoshihiro Nishino, Yong-Bok Choi, Hiromi Okada

Abstract:

Optical burst switching (OBS) has been proposed to realize the next generation Internet based on the wavelength division multiplexing (WDM) network technologies. In the OBS, the burst contention is one of the major problems. The deflection routing has been designed for resolving the problem. However, the deflection routing becomes difficult to prevent from the burst contentions as the network load becomes high. In this paper, we introduce a flow rate control methods to reduce burst contentions. We propose new flow rate control methods based on the leaky bucket algorithm and deflection routing, i.e. separate leaky bucket deflection method, and dynamic leaky bucket deflection method. In proposed methods, edge nodes which generate data bursts carry out the flow rate control protocols. In order to verify the effectiveness of the flow rate control in OBS networks, we show that the proposed methods improve the network utilization and reduce the burst loss probability through computer simulations.

Keywords: Optical burst switching, OBS, flow rate control.

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Authors: Boguslaw Schreyer

Abstract:

The paper investigates the application of the Kohonen’s Self-Organizing Map (SOM) to the wheeled robot starting and braking dynamic states. In securing wheeled robot stability as well as minimum starting and braking time, it is important to ensure correct torque distribution as well as proper slope of braking and driving moments. In this paper, a correct movement distribution has been formulated, securing optimum adhesion coefficient and good transversal stability of a wheeled robot. A neural tuner has been proposed to secure the above properties, although most of the attention is attached to the SOM network application. If the delay of the torque application or torque release is not negligible, it is important to change the rising and falling slopes of the torque. The road/surface condition is also paramount in robot dynamic states control. As the road conditions may randomly change in time, application of the SOM network has been suggested in order to classify the actual road conditions.

Keywords: SOM network, torque distribution, torque slope, wheeled robots.

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