Search results for: Attitude Control

Authors: Fangfang Meng, Shuang Cong

Abstract:

In the closed quantum system, if the control system is strongly regular and all other eigenstates are directly coupled to the target state, the control system can be asymptotically stabilized at the target eigenstate by the Lyapunov control based on the state error. However, if the control system is not strongly regular or as long as there is one eigenstate not directly coupled to the target state, the situations will become complicated. In this paper, we propose an implicit Lyapunov control method based on the state error to solve the convergence problems for these two degenerate cases. And at the same time, we expand the target state from the eigenstate to the arbitrary pure state. Especially, the proposed method is also applicable in the control system with multi-control Hamiltonians. On this basis, the convergence of the control systems is analyzed using the LaSalle invariance principle. Furthermore, the relation between the implicit Lyapunov functions of the state distance and the state error is investigated. Finally, numerical simulations are carried out to verify the effectiveness of the proposed implicit Lyapunov control method. The comparisons of the control effect using the implicit Lyapunov control method based on the state distance with that of the state error are given.

Keywords: Implicit Lyapunov control, state error, degenerate cases, convergence.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1461

Authors: Toshinori Nawata

Abstract:

In this paper a nonlinear feedback control called augmented automatic choosing control (AACC) for a class of nonlinear systems with constrained input is presented. When designed the control, a constant term which arises from linearization of a given nonlinear system is treated as a coefficient of a stable zero dynamics. Parameters of the control are suboptimally selected by maximizing the stable region in the sense of Lyapunov with the aid of a genetic algorithm. This approach is applied to a field excitation control problem of power system to demonstrate the splendidness of the AACC. Simulation results show that the new controller can improve performance remarkably well.

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

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1685

Authors: Shiuh-Jer Huang, Su-Shean Chen, Sheam-Chyun Lin

Abstract:

Two-wheel inverted pendulum robot (TWIPR) is designed with two-hub DC motors for human riding and motion control evaluation. In order to measure the tilt angle and angular velocity of the inverted pendulum robot, accelerometer and gyroscope sensors are chosen. The mobile robot’s moving position and velocity were estimated based on DC motor built in hall sensors. The control kernel of this electric mobile robot is designed with embedded Arduino Nano microprocessor. A handle bar was designed to work as steering mechanism. The intelligent model-free fuzzy sliding mode control (FSMC) was employed as the main control algorithm for this mobile robot motion monitoring with different control purpose adjustment. The intelligent controllers were designed for balance control, and moving speed control purposes of this robot under different operation conditions and the control performance were evaluated based on experimental results.

Keywords: Balance control, speed control, intelligent controller and two wheel inverted pendulum.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1116

Authors: Bo Yang, Christopher Monterola

Abstract:

Urban intersection control without the use of the traffic light has the potential to vastly improve the efficiency of the urban traffic flow. For most proposals in the literature, such lightless intersection control depends on the mass market commercialization of highly intelligent autonomous vehicles (AV), which limits the prospects of near future implementation. We present an efficient lightless intersection traffic control scheme that only requires Level 1 AV as defined by NHTSA. The technological barriers of such lightless intersection control are thus very low. Our algorithm can also accommodate a mixture of AVs and conventional vehicles. We also carry out large scale numerical analysis to illustrate the feasibility, safety and robustness, comfort level, and control efficiency of our intersection control scheme.

Keywords: Intersection control, autonomous vehicles, traffic modelling, intelligent transport system.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1564

Authors: M. Almeshal, M. O. Tokhi, K. M. Goher

Abstract:

A novel design of two-wheeled robotic vehicle with moving payload is presented in this paper. A mathematical model describing the vehicle dynamics is derived and simulated in Matlab Simulink environment. Two control strategies were developed to stabilise the vehicle in the upright position. A robust Proportional- Integral-Derivative (PID) control strategy has been implemented and initially tested to measure the system performance, while the second control strategy is to use a hybrid fuzzy logic controller (FLC). The results are given on a comparative basis for the system performance in terms of disturbance rejection, control algorithms robustness as well as the control effort in terms of input torque.

Keywords: double inverted pendulum, modelling, robust control, simulation,

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1491

Authors: N. Sozbir, M. Bulut, M.F.Oktem, A.Kahriman, A. Chaix

Abstract:

TUSAT is a prospective Turkish Communication Satellite designed for providing mainly data communication and broadcasting services through Ku-Band and C-Band channels. Thermal control is a vital issue in satellite design process. Therefore, all satellite subsystems and equipments should be maintained in the desired temperature range from launch to end of maneuvering life. The main function of the thermal control is to keep the equipments and the satellite structures in a given temperature range for various phases and operating modes of spacecraft during its lifetime. This paper describes the thermal control design which uses passive and active thermal control concepts. The active thermal control is based on heaters regulated by software via thermistors. Alternatively passive thermal control composes of heat pipes, multilayer insulation (MLI) blankets, radiators, paints and surface finishes maintaining temperature level of the overall carrier components within an acceptable value. Thermal control design is supported by thermal analysis using thermal mathematical models (TMM).

Keywords: Spacecraft thermal control, design of thermal control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3627

Authors: M. Z Md Zain, M. O. Tokhi, M. S. Alam

Abstract:

This paper describes a practical approach to design and develop a hybrid learning with acceleration feedback control (HLC) scheme for input tracking and end-point vibration suppression of flexible manipulator systems. Initially, a collocated proportionalderivative (PD) control scheme using hub-angle and hub-velocity feedback is developed for control of rigid-body motion of the system. This is then extended to incorporate a further hybrid control scheme of the collocated PD control and iterative learning control with acceleration feedback using genetic algorithms (GAs) to optimize the learning parameters. Experimental results of the response of the manipulator with the control schemes are presented in the time and frequency domains. The performance of the HLC is assessed in terms of input tracking, level of vibration reduction at resonance modes and robustness with various payloads.

Keywords: Flexible manipulator, iterative learning control, vibration suppression.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1775

Authors: Rajesh Kumar, Roopali Dogra, Puneet Aggarwal

Abstract:

Based on a survey conducted for second and third year students of the electrical engineering department at Maharishi Markandeshwar University, India, it was found that around 92% of students felt that it would be better to introduce a virtual environment for laboratory experiments. Hence, a need was felt to perform modern pedagogy techniques for students which consist of a virtual environment using MATLAB/Simulink. In this paper, a virtual environment for the speed control of a DC motor is performed using MATLAB/Simulink. The various speed control methods for the DC motor include the field resistance control method and armature voltage control method. The performance analysis of the DC motor is hence analyzed.

Keywords: Pedagogy techniques, speed control, virtual environment, DC motor, field control, voltage control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1815

Authors: N. Z. Azlan, H. Yamaura

Abstract:

The experimental study of position control of a light weight and small size robotic finger during non-contact motion is presented in this paper. The finger possesses fingertip pinching and self adaptive grasping capabilities, and is made of a seven bar linkage mechanism with a slider in the middle phalanx. The control system is tested under the Proportional Integral Derivative (PID) control algorithm and Recursive Least Square (RLS) based Feedback Error Learning (FEL) control scheme to overcome the uncertainties present in the plant. The experiments conducted in Matlab Simulink and xPC Target environments show that the overall control strategy is efficient in controlling the finger movement.

Keywords: Anthropomorphic finger, position control, feedback error learning, experimental study

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1534

Authors: A. Ourici

Abstract:

This paper proposes a direct power control for doubly-fed induction machine for variable speed wind power generation. It provides decoupled regulation of the primary side active and reactive power and it is suitable for both electric energy generation and drive applications. In order to control the power flowing between the stator of the DFIG and the network, a decoupled control of active and reactive power is synthesized using PI controllers.The obtained simulation results show the feasibility and the effectiveness of the suggested method

Keywords: Doubly fed induction machine , decoupled power control , vector control , active and reactive power, PWM inverter

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2331

Authors: T. Narongrit, K-L. Areerak, K-N. Areerak

Abstract:

This paper presents the comparison study of current control techniques for shunt active power filter. The hysteresis current control, the delta modulation control and the carrier-based PWM control are considered in the paper. The synchronous detection method is used to calculate the reference currents for shunt active power filter. The simulation results show that the carrier-based PWM control technique provides the minimum %THD value of the source currents compared with other comparable techniques after compensation. However, the %THD values of all three techniques can follow the IEEE std.519-1992.

Keywords: hysteresis current control, delta modulation current control, pulse width modulation control, shunt active power filter, synchronous detection.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2427

Authors: Wang Zhan-Xi, Zhang Yi-Ming, Chen Hang, Wang Gang

Abstract:

Manual polishing has problems such as high labor intensity, low production efficiency and difficulty in guaranteeing the consistency of polishing quality. The use of robot polishing instead of manual polishing can effectively avoid these problems. Polishing force directly affects the quality of polishing, so accurate tracking and control of polishing force is one of the most important conditions for improving the accuracy of robot polishing. The traditional force control strategy is difficult to adapt to the strong coupling of force control and position control during the robot polishing process. Therefore, based on the analysis of force-based impedance control and position-based impedance control, this paper proposed a type of adaptive controller. Based on force feedback control of active compliance control, the controller can adaptively estimate the stiffness and position of the external environment and eliminate the steady-state force error produced by traditional impedance control. The simulation results of the model show that the adaptive controller has good adaptability to changing environmental positions and environmental stiffness, and can accurately track and control polishing force.

Keywords: robot polishing, force feedback, impedance control, adaptive control

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 545

Authors: N. Popovich, P. Yan

Abstract:

In this paper, the process of obtaining Q and R matrices for optimal pitch aircraft control system has been described. Since the innovation of optimal control method, the determination of Q and R matrices for such system has not been fully specified. The value of Q and R for optimal pitch aircraft control application, have been simulated and calculated. The suitable results for Q and R have been observed through the performance index (PI). If the PI is small “enough", we would say the Q & R values are suitable for that certain type of optimal control system. Moreover, for the same value of PI, we could have different Q and R sets. Due to the rule-free determination of Q and R matrices, a specific method is brought to find out the rough value of Q and R referring to rather small value of PI.

Keywords: Aircraft, control, digital, optimal, Q and R matrices

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1696

Authors: Ming-Hui Lee, Shou-Jen Hsu

Abstract:

This study presents an active vibration control technique to reduce the earthquake responses of a retained structural system. The proposed technique is a synthesis of the adaptive input estimation method (AIEM) and linear quadratic Gaussian (LQG) controller. The AIEM can estimate an unknown system input online. The LQG controller offers optimal control forces to suppress wall-structural system vibration. The numerical results show robust performance in the active vibration control technique.

Keywords: Active vibration control, AIEM, LQG, Optimal control

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1822

Authors: Toshiyuki Satoh, Hiroki Hara, Naoki Saito, Jun-ya Nagase, Norihiko Saga

Abstract:

This paper addresses a control system design for a table drive system based on the disturbance observer (DOB)-based predictive functional critical control (PFCC). To empower the previously developed DOB-based PFC to handle constraints on controlled outputs, we propose to take a critical control approach. To this end, we derive the transfer function representation of the PFC controller and yield a detailed design procedure. The effectiveness of the proposed method is confirmed through an experimental evaluation.

Keywords: Critical control, disturbance observer, mechatronics, motion control, predictive functional control, table drive systems.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1826

Authors: Gwanghee Heo, Geonhyeok Bang, Chunggil Kim, Chinok Lee

Abstract:

This paper attempts to develop a wireless feedback control system as a primary step eventually toward a bio-inspired structure system where inanimate structure behaves like a life form autonomously. It is a standalone wireless control system which is supposed to measure externally caused structural responses, analyze structural state from acquired data, and take its own action on the basis of the analysis with an embedded logic. For an experimental examination of its effectiveness, we applied it on a model of two-span bridge and performed a wireless control test. Experimental tests have been conducted for comparison on both the wireless and the wired system under the conditions of Un-control, Passive-off, Passive-on, and Lyapunov control algorithm. By proving the congruence of the test result of the wireless feedback control system with the wired control system, its control performance was proven to be effective. Besides, it was found to be economical in energy consumption and also autonomous by means of a command algorithm embedded into it, which proves its basic capacity as a bio-inspired system.

Keywords: Structural vibration control, wireless system, MR damper, feedback control, embedded system.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 690

Authors: Y. Areepong

Abstract:

The main goal of this paper is to study Statistical Process Control (SPC) with Exponentially Weighted Moving Average (EWMA) control chart when observations are serially-correlated. The characteristic of control chart is Average Run Length (ARL) which is the average number of samples taken before an action signal is given. Ideally, an acceptable ARL of in-control process should be enough large, so-called (ARL₀). Otherwise it should be small when the process is out-of-control, so-called Average of Delay Time (ARL₁) or a mean of true alarm. We find explicit formulas of ARL for EWMA control chart for Seasonal Autoregressive and Moving Average processes (SARMA) with Exponential white noise. The results of ARL obtained from explicit formula and Integral equation are in good agreement. In particular, this formulas for evaluating (ARL₀) and (ARL₁) be able to get a set of optimal parameters which depend on smoothing parameter (λ) and width of control limit (H) for designing EWMA chart with minimum of (ARL₁).

Keywords: Average Run Length1, Optimal parameters, Exponentially Weighted Moving Average (EWMA) control chart.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1940

Authors: Ching-Shoei Chiang, Sheng-Hsin Tsai, James Chen

Abstract:

The PH curve can be constructed by given parameters, but the shape of the curve is not so easy to image from the value of the parameters. On the contract, Bézier curve can be constructed by the control polygon, and from the control polygon, we can image the figure of the curve. In this paper, we want to use the hodograph of Bézier curve to construct PH curve by selecting part of the control vectors, and produce other control vectors, so the property of PH curve exists.

Keywords: PH curve, hodograph, Bézier curve.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1448

Authors: A. R. Tavakolpour-Saleh, A. R. Setoodeh, E. Ansari

Abstract:

This paper presents modeling and control of a highly nonlinear system including, non-interacting two spherical tanks using iterative learning control (ILC). Consequently, the objective of the paper is to control the liquid levels in the nonlinear tanks. First, a proportional-integral-derivative (PID) controller is applied to the plant model as a suitable benchmark for comparison. Then, dynamic responses of the control system corresponding to different step inputs are investigated. It is found that the conventional PID control is not able to fulfill the design criteria such as desired time constant. Consequently, an iterative learning controller is proposed to accurately control the coupled nonlinear tanks system. The simulation results clearly demonstrate the superiority of the presented ILC approach over the conventional PID controller to cope with the nonlinearities presented in the dynamic system.

Keywords: Iterative learning control, spherical tanks, nonlinear system.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1187

Authors: Ali Emad

Abstract:

Enhancement of the performance of a reverse osmosis (RO) unit through periodic control is studied. The periodic control manipulates the feed pressure and flow rate of the RO unit. To ensure the periodic behavior of the inputs, the manipulated variables (MV) are transformed into the form of sinusoidal functions. In this case, the amplitude and period of the sinusoidal functions become the surrogate MV and are thus regulated via nonlinear model predictive control algorithm. The simulation results indicated that the control system can generate cyclic inputs necessary to enhance the closedloop performance in the sense of increasing the permeate production and lowering the salt concentration. The proposed control system can attain its objective with arbitrary set point for the controlled outputs. Successful results were also obtained in the presence of modeling errors.

Keywords: Reverse osmosis, water desalination, periodic control, model predictive control.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2189

Authors: Pavol Tanuska, Pavel Vazan, Michal Kebisek, Dominika Jurovata

Abstract:

The paper gives the results of the project that was oriented on the usage of knowledge discoveries from production systems for needs of the hierarchical process control. One of the main project goals was the proposal of knowledge discovery model for process control. Specifics data mining methods and techniques was used for defined problems of the process control. The gained knowledge was used on the real production system thus the proposed solution has been verified. The paper documents how is possible to apply the new discovery knowledge to use in the real hierarchical process control. There are specified the opportunities for application of the proposed knowledge discovery model for hierarchical process control.

Keywords: Hierarchical process control, knowledge discovery from databases, neural network.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1711

Authors: Yusuke Kuramitsu, Tomoaki Hashimoto, Hirokazu Tahara

Abstract:

The control problem of underactuated spacecrafts has attracted a considerable amount of interest. The control method for a spacecraft equipped with less than three control torques is useful when one of the three control torques had failed. On the other hand, the quantized control of systems is one of the important research topics in recent years. The random dither quantization method that transforms a given continuous signal to a discrete signal by adding artificial random noise to the continuous signal before quantization has also attracted a considerable amount of interest. The objective of this study is to develop the control method based on random dither quantization method for stabilizing the rotational motion of a rigid spacecraft with two control inputs. In this paper, the effectiveness of random dither quantization control method for the stabilization of rotational motion of spacecrafts with two torque inputs is verified by numerical simulations.

Keywords: Spacecraft control, quantized control, nonlinear control, random dither method.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 659

Authors: Gaofetoge Lenetha, Malerato Moloi, Ntsoaki Malebo

Abstract:

Microbial contamination of ready-to-eat foods and beverages sold by street vendors has become an important public health issue. In developing countries including South Africa, health risks related to such kinds of foods are thought to be common. Thus, this study assessed knowledge, attitude and practices of street food vendors. Street vendors in the city of Mangaung Metro were investigated in order to assess their knowledge, attitudes and handling practices. A semi-structured questionnaire and checklist were used in interviews to determine the status of the vending sites and associa. ted food-handling practices. Data was collected by means of a face-to-face interview. The majority of respondents were black females. Hundred percent (100%) of the participants did not have any food safety training. However, street vendors showed a positive attitude towards food safety. Despite the positive attitude, vendors showed some non-compliance when it comes to handling food. During the survey, it was also observed that the vending stalls lack basic infrastructures like toilets and potable water that is currently a major problem. This study indicates a need for improvements in the environmental conditions at these sites to prevent foodborne diseases. Moreover, based on the results observed food safety and food hygiene training or workshops for street vendors are highly recommended.

Keywords: Food hygiene, foodborne illnesses, food safety, street foods.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1060

Authors: Ai Cheo Yeo, Md. Mahbubur Rahim, Yin Ying Ren

Abstract:

Persuasive technology has been applied in marketing, health, environmental conservation, safety and other domains and is found to be quite effective in changing people-s attitude and behaviours. This research extends the application domains of persuasive technology to information security awareness and uses a theory-driven approach to evaluate the effectiveness of a web-based program developed based on the principles of persuasive technology to improve the information security awareness of end users. The findings confirm the existence of a very strong effect of the webbased program in raising users- attitude towards information security aware behavior. This finding is useful to the IT researchers and practitioners in developing appropriate and effective education strategies for improving the information security attitudes for endusers.

Keywords: Information security, persuasive technology, ITsecurity-aware behaviour, theory of planned behaviour survey.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2357

Authors: Hakan Işık, Esra Saraçoğlu

Abstract:

In this study, a comparison of two control methods, Proportional Control (PC) and Fuzzy Logic Control (FLC), which have been used to develop an ideal thermoelectric renal hypothermia system in order to use in renal surgery, has been carried out. Since the most important issues in long-lasting parenchymatous renal surgery are to provide an operation medium free of blood and to prevent renal dysfunction in the postoperative period, control of the temperature has become very important in renal surgery. The final product is seriously affected from the changes in temperature, therefore, it is necessary to reach some desired temperature points quickly and avoid large overshoot. PIC16F877 microcontroller has been used as controller for both of these two methods. Each control method can simply ensure extra renal hypothermia in the targeted way. But investigation of advantages and disadvantages of every control method to each other is aimed and carried out by the experimental implementations. Shortly, investigation of the most appropriate method to use for development of system and that can be applied to people safely in the future, has been performed. In this sense, experimental results show that fuzzy logic control gives out more reliable responses and efficient performance.

Keywords: renal hypothermia, renal cooling, temperature control, proportional control fuzzy logic control

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1406

Authors: V. Chitra, R. S. Prabhakar

Abstract:

Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. Various speed control techniques like, Direct Torque Control, Sensorless Vector Control and Field Oriented Control are discussed in this paper. Soft computing technique – Fuzzy logic is applied in this paper for the speed control of induction motor to achieve maximum torque with minimum loss. The fuzzy logic controller is implemented using the Field Oriented Control technique as it provides better control of motor torque with high dynamic performance. The motor model is designed and membership functions are chosen according to the parameters of the motor model. The simulated design is tested using various tool boxes in MATLAB. The result concludes that the efficiency and reliability of the proposed speed controller is good.

Keywords: Induction motor, Field Oriented Control, Fuzzy logic controller, Maximum torque, Membership function.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3149

Authors: R. Khaniki, M.B. Menhaj, H. Eliasi

Abstract:

This paper describes the application of a model predictive controller to the problem of batch reactor temperature control. Although a great deal of work has been done to improve reactor throughput using batch sequence control, the control of the actual reactor temperature remains a difficult problem for many operators of these processes. Temperature control is important as many chemical reactions are sensitive to temperature for formation of desired products. This controller consist of two part (1) a nonlinear control method GLC (Global Linearizing Control) to create a linear model of system and (2) a Model predictive controller used to obtain optimal input control sequence. The temperature of reactor is tuned to track a predetermined temperature trajectory that applied to the batch reactor. To do so two input signals, electrical powers and the flow of coolant in the coil are used. Simulation results show that the proposed controller has a remarkable performance for tracking reference trajectory while at the same time it is robust against noise imposed to system output.

Keywords: Generalized Predictive Control (GPC), TemperatureControl, Global Linearizing Control (GLC), Batch Reactor.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1457

Authors: R. Khaniki, M.B. Menhaj, H. Eliasi

Abstract:

This paper describes the application of a model predictive controller to the problem of batch reactor temperature control. Although a great deal of work has been done to improve reactor throughput using batch sequence control, the control of the actual reactor temperature remains a difficult problem for many operators of these processes. Temperature control is important as many chemical reactions are sensitive to temperature for formation of desired products. This controller consist of two part (1) a nonlinear control method GLC (Global Linearizing Control) to create a linear model of system and (2) a Model predictive controller used to obtain optimal input control sequence. The temperature of reactor is tuned to track a predetermined temperature trajectory that applied to the batch reactor. To do so two input signals, electrical powers and the flow of coolant in the coil are used. Simulation results show that the proposed controller has a remarkable performance for tracking reference trajectory while at the same time it is robust against noise imposed to system output.

Keywords: Generalized Predictive Control (GPC), TemperatureControl, Global Linearizing Control (GLC), Batch Reactor.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1735

Authors: Roberto Sabatini, Celia Bartel, Anish Kaharkar, Tesheen Shaid, Subramanian Ramasamy

Abstract:

Two multisensor system architectures for navigation and guidance of small Unmanned Aircraft (UA) are presented and compared. The main objective of our research is to design a compact, light and relatively inexpensive system capable of providing the required navigation performance in all phases of flight of small UA, with a special focus on precision approach and landing, where Vision Based Navigation (VBN) techniques can be fully exploited in a multisensor integrated architecture. Various existing techniques for VBN are compared and the Appearance-Based Navigation (ABN) approach is selected for implementation. Feature extraction and optical flow techniques are employed to estimate flight parameters such as roll angle, pitch angle, deviation from the runway centreline and body rates. Additionally, we address the possible synergies of VBN, Global Navigation Satellite System (GNSS) and MEMS-IMU (Micro-Electromechanical System Inertial Measurement Unit) sensors, and the use of Aircraft Dynamics Model (ADM) to provide additional information suitable to compensate for the shortcomings of VBN and MEMS-IMU sensors in high-dynamics attitude determination tasks. An Extended Kalman Filter (EKF) is developed to fuse the information provided by the different sensors and to provide estimates of position, velocity and attitude of the UA platform in real-time. The key mathematical models describing the two architectures i.e., VBN-IMU-GNSS (VIG) system and VIGADM (VIGA) system are introduced. The first architecture uses VBN and GNSS to augment the MEMS-IMU. The second mode also includes the ADM to provide augmentation of the attitude channel. Simulation of these two modes is carried out and the performances of the two schemes are compared in a small UA integration scheme (i.e., AEROSONDE UA platform) exploring a representative cross-section of this UA operational flight envelope, including high dynamics manoeuvres and CAT-I to CAT-III precision approach tasks. Simulation of the first system architecture (i.e., VIG system) shows that the integrated system can reach position, velocity and attitude accuracies compatible with the Required Navigation Performance (RNP) requirements. Simulation of the VIGA system also shows promising results since the achieved attitude accuracy is higher using the VBN-IMU-ADM than using VBN-IMU only. A comparison of VIG and VIGA system is also performed and it shows that the position and attitude accuracy of the proposed VIG and VIGA systems are both compatible with the RNP specified in the various UA flight phases, including precision approach down to CAT-II.

Keywords: Global Navigation Satellite System (GNSS), Lowcost Navigation Sensors, MEMS Inertial Measurement Unit (IMU), Unmanned Aerial Vehicle, Vision Based Navigation.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 3109

Authors: M. Caramihai, Irina Severin

Abstract:

This paper deals with the design of an intelligent control structure for a bioprocess of Hansenula polymorpha yeast cultivation. The objective of the process control is to produce biomass in a desired physiological state. The work demonstrates that the designed Hybrid Control Techniques (HCT) are able to recognize specific evolution bioprocess trajectories using neural networks trained specifically for this purpose, in order to estimate the model parameters and to adjust the overall bioprocess evolution through an expert system and a fuzzy structure. The design of the control algorithm as well as its tuning through realistic simulations is presented. Taking into consideration the synergism of different paradigms like fuzzy logic, neural network, and symbolic artificial intelligence (AI), in this paper we present a real and fulfilled intelligent control architecture with application in bioprocess control.

Keywords: Bioprocess, intelligent control, neural nets, fuzzy structure, hybrid techniques.

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1196