Search results for: Asymmetric control limit

Authors: Dong Sang Yoo

Abstract:

The problem of finding control laws for underactuated systems has attracted growing attention since these systems are characterized by the fact that they have fewer actuators than the degrees of freedom to be controlled. The acrobot, which is a planar two-link robotic arm in the vertical plane with an actuator at the elbow but no actuator at the shoulder, is a representative in underactuated systems. In this paper, the dynamic model of the acrobot is implemented using Mathworks’ Simscape. And the sliding mode control is constructed using MATLAB and Simulink.

Keywords: Acrobot, MATLAB and Simulink, sliding mode control, underactuated systems.

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Authors: Eugene Grichuk, Margarita Kuzmina, Eduard Manykin

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A network of coupled stochastic oscillators is proposed for modeling of a cluster of entangled qubits that is exploited as a computation resource in one-way quantum computation schemes. A qubit model has been designed as a stochastic oscillator formed by a pair of coupled limit cycle oscillators with chaotically modulated limit cycle radii and frequencies. The qubit simulates the behavior of electric field of polarized light beam and adequately imitates the states of two-level quantum system. A cluster of entangled qubits can be associated with a beam of polarized light, light polarization degree being directly related to cluster entanglement degree. Oscillatory network, imitating qubit cluster, is designed, and system of equations for network dynamics has been written. The constructions of one-qubit gates are suggested. Changing of cluster entanglement degree caused by measurements can be exactly calculated.

Keywords: network of stochastic oscillators, one-way quantumcomputations, a beam of polarized light.

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Authors: Hossein Abbasi

Abstract:

The stability is an important topic to plan and manage the energy in the microgrids as the same as the conventional power systems. The voltage and frequency stability is one of the most important issues recently studied in microgrids. The objectives of this paper are the modelling and designing of the components and optimal controllers for the voltage and frequency control of the AC/DC hybrid microgrid under the different disturbances. Since the PI controllers have the advantages of simple structure and easy implementation, so they are designed and modeled in this paper. The harmony search (HS) algorithm is used to optimize the controllers’ parameters. According to the achieved results, the PI controllers have a good performance in voltage and frequency control of the microgrid.

Keywords: Frequency control, HS algorithm, microgrid, PI controller, voltage control.

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Authors: Chia-Hau Liu, Tai-Yue Wang

Abstract:

Traditional multivariate control charts assume that measurement from manufacturing processes follows a multivariate normal distribution. However, this assumption may not hold or may be difficult to verify because not all the measurement from manufacturing processes are normal distributed in practice. This study develops a new multivariate control chart for monitoring the processes with non-normal data. We propose a mechanism based on integrating the one-class classification method and the adaptive technique. The adaptive technique is used to improve the sensitivity to small shift on one-class classification in statistical process control. In addition, this design provides an easy way to allocate the value of type I error so it is easier to be implemented. Finally, the simulation study and the real data from industry are used to demonstrate the effectiveness of the propose control charts.

Keywords: Multivariate control chart, statistical process control, one-class classification method.

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Authors: Igor Astrov, Andrus Pedai

Abstract:

This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for an unmanned aerial vehicle (UAV). Autonomous vertical flight is a challenging but important task for tactical UAVs to achieve high level of autonomy under adverse conditions. With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear trirotor mini-UAV model. This control strategy for chosen mini-UAV model has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast SA in realtime search-and-rescue operations.

Keywords: Flight control, trirotor aircraft, situational awareness, unmanned aerial vehicle.

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Authors: Irtaza M. Syed, Kaamran Raahemifar

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This paper presents a model predictive control (MPC) of a utility interactive three phase inverter (TPI) for a photovoltaic (PV) system at commercial level. The proposed model uses phase locked loop (PLL) to synchronize the TPI with the power electric grid (PEG) and performs MPC control in a dq reference frame. TPI model consists of a boost converter (BC), maximum power point tracking (MPPT) control, and a three-leg voltage source inverter (VSI). The operational model of VSI is used to synthesize the sinusoidal current and track the reference. The model is validated using a 35.7 kW PV system in Matlab/Simulink. Implementation results show simplicity and accuracy, as well as reliability of the model.

Keywords: Model predictive control, three phase voltage source inverter, PV system, Matlab/Simulink.

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Authors: Majid Reza Naseh, Mohammad Haeri

Abstract:

This paper introduces an adaptive control scheme to synchronize two identical Chua's systems. Introductory part of the paper is presented in the first part of the paper and then in the second part, a new theorem is proposed based on which an adaptive control scheme is developed to synchronize two identical modified Chua's circuit. Finally, numerical simulations are included to verify the effectiveness of the proposed control method.

Keywords: Chaos synchronization, adaptive control, Chua's circuits.

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Authors: Hicham Serhoud, Djilani Benattous

Abstract:

In this paper present a sensorless maximum wind power extraction for variable speed constant frequency (VSCF) wind power generation systems with a doubly-fed induction generators (DFIG), to ensure stability and to impose the ideal feedback control solution despite of model uncertainties , using the principles of an active and reactive power controller (DPC) a robust sliding mode power control has been proposed to guarantees fast response times and precise control actions for control the active and reactive power independently. The simulation results in MATLAB/Simulink platform confirmed the good dynamic performance of power control approach for DFIGbased variable speed wind turbines.

Keywords: Doubly fed induction generator , sliding modecontrol, maximal wind energy capture, MRAS estimator

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Authors: Jae-Kyung Lee, Joon-Young Park, Ki-Yong Oh, Jun-Shin Park

Abstract:

Wind turbine should be controlled to capture maximum wind energy and to prevent the turbine from being stalled. To achieve those two goals, wind turbine controller controls torque on generator and limits input torque from wind by pitching blade. Usually, torque on generator is controlled using inverter torque set point. However, verifying a control algorithm in actual wind turbine needs a lot of efforts to test and the actual wind turbine could be broken while testing a control algorithm. So, several software have developed and commercialized by Garrad Hassan, GH Bladed, and NREL, FAST. Even though, those programs can simulate control system modeling with subroutines or DLLs. However, those simulation programs are not able to emulate detailed generator or PMSG. In this paper, a small size wind turbine simulator is developed with induction motor and small size drive train. The developed system can simulate wind turbine control algorithm in the region before rated power.

Keywords: Wind turbine, simulator, wind turbine control, wind turbine torque control

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Authors: Igor Astrov, Andrus Pedai

Abstract:

This paper focuses on a critical component of the situational awareness (SA), the control of autonomous vertical flight for tactical unmanned aerial vehicle (TUAV). With the SA strategy, we proposed a two stage flight control procedure using two autonomous control subsystems to address the dynamics variation and performance requirement difference in initial and final stages of flight trajectory for a nontrivial nonlinear eight-rotor helicopter model. This control strategy for chosen model of mini-TUAV has been verified by simulation of hovering maneuvers using software package Simulink and demonstrated good performance for fast stabilization of engines in hovering, consequently, fast SA with economy in energy of batteries can be asserted during search-andrescue operations.

Keywords: Flight control, eight-rotor helicopter, situational awareness, tactical unmanned aerial vehicle

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Authors: Tohru Kawabe

Abstract:

In this paper, a new SMC (Sliding Mode Control) method with MP (Model Predictive Control) integral action for the slip suppression of EV (Electric Vehicle) under braking is proposed. The proposed method introduce the integral term with standard SMC gain , where the integral gain is optimized for each control period by the MPC algorithms. The aim of this method is to improve the safety and the stability of EVs under braking by controlling the wheel slip ratio. There also include numerical simulation results to demonstrate the effectiveness of the method.

Keywords: Sliding Mode Control, Model Predictive Control, Integral Action, Electric Vehicle, Slip suppression.

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Authors: Hongkun Zhang, Hermann Winner, Wenjun Li

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This paper describes the development, modeling, and testing of skyhook and MiniMax control strategies of semi-active suspension. The control performances are investigated using Matlab/Simulink [1], with a two-degree-of-freedom quarter car semiactive suspension system model. The comparison and evaluation of control result are made using software-in-the-loop simulation (SILS) method. This paper also outlines the development of a hardware-inthe- loop simulation (HILS) system. The simulation results show that skyhook strategy can significantly reduce the resonant peak of body and provide improvement in vehicle ride comfort. Otherwise, MiniMax strategy can be employed to effectively improve drive safety of vehicle by influencing wheel load. The two strategies can be switched to control semi-active suspension system to fulfill different requirement of vehicle in different stages.

Keywords: Hardware-in-the-loop simulation, Semi-active suspension, Skyhook control, MiniMax control.

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Authors: Jong-Moon Chung, Hyung-Weon Cho, Ki-Yong Jin, Min-Hee Cho

Abstract:

In this paper, we present an analytical framework for the evaluation of the uplink performance of multihop cellular networks based on dynamic time division duplex (TDD). New wireless broadband protocols, such as WiMAX, WiBro, and 3G-LTE apply TDD, and mobile communication protocols under standardization (e.g., IEEE802.16j) are investigating mobile multihop relay (MMR) as a future technology. In this paper a novel MMR TDD scheme is presented, where the dynamic range of the frame is shared to traffic resources of asymmetric nature and multihop relaying. The mobile communication channel interference model comprises of inner and co-channel interference (CCI). The performance analysis focuses on the uplink due to the fact that the effects of dynamic resource allocation show significant performance degradation only in the uplink compared to time division multiple access (TDMA) schemes due to CCI [1-3], where the downlink results to be the same or better.The analysis was based on the signal to interference power ratio (SIR) outage probability of dynamic TDD (D-TDD) and TDMA systems,which are the most widespread mobile communication multi-user control techniques. This paper presents the uplink SIR outage probability with multihop results and shows that the dynamic TDD scheme applying MMR can provide a performance improvement compared to single hop applications if executed properly.

Keywords: Co-Channel Interference, Dynamic TDD, MobileMultihop Reply, Cellular Network, Time Division Multiple Access.

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Authors: Jun-ya Nagase, Toshiyuki Satoh, Norihiko Saga, Koichi Suzumori

Abstract:

In recent years, Japanese society has been aging, engendering a labor shortage of young workers. Robots are therefore expected to perform tasks such as rehabilitation, nursing elderly people, and day-to-day work support for elderly people. The pneumatic balloon actuator is a rubber artificial muscle developed for use in a robot hand in such environments. This actuator has a long stroke and a high power-to-weight ratio compared with the present pneumatic artificial muscle. Moreover, the dynamic characteristics of this actuator resemble those of human muscle. This study evaluated characteristics of force control of balloon actuator using a predictive functional control (PFC) system with disturbance observer. The predictive functional control is a model-based predictive control (MPC) scheme that predicts the future outputs of the actual plants over the prediction horizon and computes the control effort over the control horizon at every sampling instance. For this study, a 1-link finger system using a pneumatic balloon actuator is developed. Then experiments of PFC control with disturbance observer are performed. These experiments demonstrate the feasibility of its control of a pneumatic balloon actuator for a robot hand.

Keywords: Disturbance observer, Pneumatic balloon, Predictive functional control, Rubber artificial muscle.

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Authors: A. Izadbakhsh, M. M. Fateh, M. A. Sadrnia

Abstract:

A multivariable discontinuous feedback linearization approach is proposed to position control of an electrically driven fast robot manipulator. A desired performance is achieved by selecting a useful controller and suitable sampling rate and considering saturation for actuators. There is a high flexibility to apply the proposed control approach on different electrically driven manipulators. The control approach can guarantee the stability and satisfactory tracking performance. A PUMA 560 robot driven by geared permanent magnet dc motors is simulated. The simulation results show a desired performance for control system under technical specifications.

Keywords: Fast robot, feedback linearization, multivariabledigital control, PUMA560.

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Authors: Chaoraingern J., Trisuwannawat T., Numsomran A.

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The author present PID controller design for following control of hard disk drive by characteristic ratio assignment method. The study in this paper concerns design of a PID controller which sufficiently robust to the disturbances and plant perturbations on following control of hard disk drive. Characteristic Ratio Assignment (CRA) is shown to be an efficient control technique to serve this requirement. The controller design by CRA is based on the choice of the coefficients of the characteristic polynomial of the closed loop system according to the convenient performance criteria such as equivalent time constant and ration of characteristic coefficient. Hence, in this study, CRA method is applied in PID controller design for following control of hard disk drive. Matlab simulation results shown that CRA design is fairly stable and robust whilst giving the convenience in controller-s parameters adjustment.

Keywords: Following Control, Hard Disk Drive, PID, CRA

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Authors: K. Ramash Kumar, S. Jeevananthan

Abstract:

The object of this paper is to design and analyze a proportional – integral (PI) control 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 development of PI control capable of providing the good static and dynamic performance compared to proportional – integralderivative (PID) controller. Using state space average method derives the dynamic equations describing the positive output elementary super lift luo converter and PI control is designed. The simulation model of the positive output elementary super lift Luo converter with its control circuit is implemented in Matlab/Simulink. The PI control for positive output elementary super lift Luo converter is tested for transient region, line changes, load changes, steady state region and also for components variations.

Keywords: DC-DC converter, Positive output elementarysuper lift Luo converter (POESLLC), Proportional – Integral (PI)control.

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Authors: Dike H. Ogbuagu, Etsede J. Oritsematosan

Abstract:

This work investigated possible inductions of CaC₂, often misused by fruit vendors to stimulate artificial ripening, on mammalian sperm morphology and viability. Thirty isogenic strains of male albino mice, Mus musculus (age≈ 8weeks; weight= 32.52.0g) were acclimatized (ambient temperature 28.0±1.0°C) for 2 weeks and fed standard growers mash and water ad libutum. They were later exposed to graded toxicant concentrations (w/w) of 2.5000, 1.2500, 0.6250, and 0.3125% in 4 cages. A control cage was also established. After 5 weeks, 3 animals from each cage were sacrificed by cervical dislocation and the cauda epididymis excised. Sperm morphology and viability were determined by microscopic procedures. The ANOVA, means plots, Student’s t-test and variation plots were used to analyze data. The common abnormalities observed included Double Head, Pin Head, Knobbed Head, No Tail and With Hook. The higher toxicant concentrations induced significantly lower body weights [F_(829.899) ˃ F_crit(4.19)] and more abnormalities [F_(26.52) ˃ F_crit(4.00)] at P˂0.05. Sperm cells in the control setup were significantly more viable than those in the 0.625% (t=0.005) and 2.500% toxicant doses (t=0.018) at the 95% confidence limit. CaC₂ appeared to induced morphological abnormalities and reduced viability in sperm cells of M. musculus.

Keywords: Artificial ripening, Calcium carbide, fruit vendors, sperm morphology, sperm viability.

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Authors: Mofleh S. Awawdeh

Abstract:

Ten lactating multiparous Holstein cows were used in a cross-over design with two dietary treatments and 28-d periods (with 14 d as an adaptation) to study the effect of restaurant fat on milk production and composition. Each cow was offered 14.7 kg DM /d of the basal concentrate diet based on barley and corn (crude protein = 17.7%, neutral detergent fiber = 23.5%, and acid detergent fiber = 5.8% of dry matter) with free access to alfalfa. Dietary treatments were arranged as supplying each cow with 0 (CONTROL) or 150 g/day (RF) of restaurant fat. Supplemental RF did not significantly (P > 0.25) affect milk yield, composition, and composition yields, except for milk fat contents. Milk fat contents were depressed (P < 0.05) with supplemental RF. Our results indicate that RF could depress milk fat without affecting milk yield and that the depression in milk fat in response to RF precedes the depression in milk yield.

Keywords: Dairy Cows, Restaurant Fat, Lipids.

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Authors: Z. Nemec, R. Matousek

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The paper describes the evaluation of quality of control for cases of controlled non-minimal phase plants. Control circuits containing non-minimal phase plants have different properties, they manifest reversed reaction at the beginning of unit step response. For these types of plants are developed special criterion of quality of control, which considers the difference and can be helpful for synthesis of optimal controller tuning. All results are clearly presented using Matlab/Simulink models.

Keywords: control design, non-minimal phase system, optimalcriteria, power plant, heating plant, water turbine, Matlab, Simulink.

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Authors: Shiuh-Jer Huang, Ming-Tien Su

Abstract:

Since the driving speed and control accuracy of commercial optical disk are increasing significantly, it needs an efficient controller to monitor the track seeking and following operations of the servo system for achieving the desired data extracting response. The nonlinear behaviors of the actuator and servo system of the optical disk drive will influence the laser spot positioning. Here, the model-free fuzzy control scheme is employed to design the track seeking servo controller for a d.c. motor driving optical disk drive system. In addition, the sliding model control strategy is introduced into the fuzzy control structure to construct a 1-D adaptive fuzzy rule intelligent controller for simplifying the implementation problem and improving the control performance. The experimental results show that the steady state error of the track seeking by using this fuzzy controller can maintain within the track width (1.6 μm ). It can be used in the track seeking and track following servo control operations.

Keywords: Fuzzy control, gain tuning and optical disk drive.

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Authors: Marios N. Moschakis

Abstract:

The increasing penetration of Distributed Generation and storage connected to the distribution network via PWM converters increases the possibility of a DC-component (offset) in voltage or current flowing into the grid. This occurs when even harmonics are present in the network voltage. DC-components can affect the operation and safety of several grid components. Therefore, an investigation of the way they are produced is important in order to take appropriate measures for their elimination. Further research on DC-components that appear on output voltage of converters is performed for different parameters of PWM technique and characteristics of even harmonics.

Keywords: Asymmetric even harmonics, DC-offsets, distributed generation, electric machine drive systems, power quality.

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Authors: Abolhassan Razminia, Mohammad-Ali Sadrnia

Abstract:

Chua’s circuit is one of the most important electronic devices that are used for Chaos and Bifurcation studies. A central role of secure communication is devoted to it. Since the adaptive control is used vastly in the linear systems control, here we introduce a new trend of application of adaptive method in the chaos controlling field. In this paper, we try to derive a new adaptive control scheme for Chua’s circuit controlling because control of chaos is often very important in practical operations. The novelty of this approach is for sake of its robustness against the external perturbations which is simulated as an additive noise in all measured states and can be generalized to other chaotic systems. Our approach is based on Lyapunov analysis and the adaptation law is considered for the feedback gain. Because of this, we have named it NAFT (Nonlinear Adaptive Feedback Technique). At last, simulations show the capability of the presented technique for Chua’s circuit.

Keywords: Chaos, adaptive control, nonlinear control, Chua's circuit.

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Authors: Jae-Young Choi, Sung-Gaun Kim

Abstract:

This paper suggests a fast and stable Target Tracking system in collaborative control of UAV and UGV. Wi-Fi communication range is limited in collaborative control of UAV and UGV. Thus, to secure a stable communications, UAV and UGV have to be kept within a certain distance from each other. But existing method which uses UAV Vertical Camera to follow the motion of UGV is likely to lose a target with a sudden movement change. Eventually, UGV has disadvantages that it could only move at a low speed and not make any sudden change of direction in order to keep track of the target. Therefore, we suggest utilizing AR Drone UAV front camera to track fast-moving and Omnidirectional Mecanum Wheel UGV.

Keywords: Collaborative control, UAV, UGV, Target Tracking.

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Authors: M. M. Fateh, A. Izadbakhsh

Abstract:

A robust control approach is proposed for a high speed manipulator using a hybrid computed torque control approach in the state space. The high-speed manipulator is driven by permanent magnet dc motors to track a trajectory in the joint space in the presence of disturbances. Tracking problem is analyzed in the state space where the completed models are considered for actuators. The proposed control approach can guarantee the stability and a satisfactory tracking performance. A two-link elbow manipulator driven by electrical actuators is simulated and results are shown to satisfy conditions under technical specifications.

Keywords: Computed torque, manipulator, robust control, state space.

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Authors: Nasser Mohamed Ramli, Mohamad Syafiq Mohamad

Abstract:

Many types of controllers were applied on the continuous stirred tank reactor (CSTR) unit to control the temperature. In this research paper, Proportional-Integral-Derivative (PID) controller are compared with Fuzzy Logic controller for temperature control of CSTR. The control system for temperature non-isothermal of a CSTR will produce a stable response curve to its set point temperature. A mathematical model of a CSTR using the most general operating condition was developed through a set of differential equations into S-function using MATLAB. The reactor model and S-function are developed using m.file. After developing the S-function of CSTR model, User-Defined functions are used to link to SIMULINK file. Results that are obtained from simulation and temperature control were better when using Fuzzy logic control compared to PID control.

Keywords: CSTR, temperature, PID, fuzzy logic.

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Authors: R. Karbalaei, A. Ghaffari, R. Kazemi, S. H. Tabatabaei

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An integrated vehicle dynamics control system is developed in this paper by a combination of active front steering (AFS) and direct yaw-moment control (DYC) based on fuzzy logic control. The control system has a hierarchical structure consisting of two layers. A fuzzy logic controller is used in the upper layer (yaw rate controller) to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle correction of the front wheels are the outputs. In the lower layer (fuzzy integrator), a fuzzy logic controller is designed based on the working region of the lateral tire forces. Depending on the directions of the lateral forces at the front wheels, a switching function is activated to adjust the scaling factor of the fuzzy logic controller. Using a nonlinear seven degrees of freedom vehicle model, the simulation results illustrate considerable improvements which are achieved in vehicle handling through the integrated AFS/DYC control system in comparison with the individual AFS or DYC controllers.

Keywords: Intelligent strategy, integrated control, fuzzy logic, AFS/DYC.

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Authors: Sing-Han Wang, Shiang-Hwua Yu, Chih-Po Yang

Abstract:

Repetitive control and feedback dithering modulation are applied to a single-phase voltage source inverter, with an aim to eliminate harmonics and stabilize the inverter under load variations. The proposed control and modulation scheme comprise multiple loops of feedback, which helps improve inverter performance and robustness. Experimental results show that the designed inverter exhibits very low distortion at its output with THD of about 0.3% under different load variations.

Keywords: Feedback dithering modulation, repetitive control, state feedback, inverter, harmonics elimination.

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Authors: V. Ten

Abstract:

An approach of design of stable of control systems with ultimately wide ranges of uncertainly disturbed parameters is offered. The method relies on using of nonlinear structurally stable functions from catastrophe theory as controllers. Theoretical part presents an analysis of designed nonlinear second-order control systems. As more important the integrators in series, canonical controllable form and Jordan forms are considered. The analysis resumes that due to added controllers systems become stable and insensitive to any disturbance of parameters. Experimental part presents MATLAB simulation of design of control systems of epidemic spread, aircrafts angular motion and submarine depth. The results of simulation confirm the efficiency of offered method of design. KeywordsCatastrophes, robust control, simulation, uncertain parameters.

Keywords: Catastrophes, robust control, simulation, uncertain parameters.

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Authors: Mario Gianni, Manuel A. Ruiz Garcia, Fiora Pirri

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In this work, we present a Bayesian non-parametric approach to model the motion control of ATVs. The motion control model is based on a Dirichlet Process-Gaussian Process (DP-GP) mixture model. The DP-GP mixture model provides a flexible representation of patterns of control manoeuvres along trajectories of different lengths and discretizations. The model also estimates the number of patterns, sufficient for modeling the dynamics of the ATV.

Keywords: Dirichlet processes, Gaussian processes, robot control learning, tracked vehicles.

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