In this paper, linear active disturbance rejection control (LADRC) is investigated for the load frequency control (LFC) systems with wind turbine. the wind power is considered as a stochastic load to the power grid. T...
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ISBN:
(纸本)9781509035496
In this paper, linear active disturbance rejection control (LADRC) is investigated for the load frequency control (LFC) systems with wind turbine. the wind power is considered as a stochastic load to the power grid. To compensate the stochastic disturbance with LADRC, we adopt a two-stage design method. First an LQG controller is designed to handle the stochastic nature of the load, then the intrinsic link between LQG and LADRC is analyzed and the designed LQG controller is converted to a conventional LADRC so that the LADRC maintains the same property of rejecting stochastic disturbance withthe LQG controller. Simulation results show that the designed LADRC withthe proposed method can damp the stochastic load disturbance very well.
automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic...
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ISBN:
(纸本)9781509035496
automation for slaughterhouse challenges the design of the control system due to the variety of the objects. Realtime sensing provides instantaneous information about each piece of work and thus, is useful for robotic system developed for slaughterhouse. In this work, a pick and place task which is a common task among tasks in slaughterhouse is selected as the scenario for the system demonstration. A vision system is utilized to grab the current information of the object, including position and orientation. the information about the object is then transferred to the robot side for path planning. An online and offline combined path planning algorithm is proposed to generate the desired path for the robot control. An industrial robot arm is applied to execute the path. the system is implemented for a lab-scale experiment, and the results show a high success rate of object manipulation in the pick and place task. the approach is implemented in ROS which allows utilization of the developed algorithm on different platforms with little extra effort.
Plug-in hybrid electric vehicle (PHEV) is a kind of hybrid electric vehicles (HEV) that has a large capacity battery to satisfy the requirement of the distance for commuters. the parallel PHEV has two kinds of power s...
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ISBN:
(纸本)9781509035496
Plug-in hybrid electric vehicle (PHEV) is a kind of hybrid electric vehicles (HEV) that has a large capacity battery to satisfy the requirement of the distance for commuters. the parallel PHEV has two kinds of power source, internal combustion engine (ICE) and electric motor (EM). To have a superior fuel economy, a control strategy to split the driving power to ICE and EM is important. In this paper, we propose a model predictive control strategy to regulate the individual power from ICE and EM in a parallel PHEV to minimize fuel consumption. the control strategy can improve fuel economy comparing with other strategies, and the proposed strategy also considers the computational burden for real time implement.
A nonlinear output feedback control method is presented, which achieves asymptotic altitude and attitude trajectory tracking of a quadrotor system in the presence of model uncertainty and unknown external disturbances...
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ISBN:
(纸本)9781509035496
A nonlinear output feedback control method is presented, which achieves asymptotic altitude and attitude trajectory tracking of a quadrotor system in the presence of model uncertainty and unknown external disturbances. To address a practical scenario where velocity measurements are not available, a bank of dynamic filters is utilized, which acts as a velocity observer in the closed-loop system. A primary focus of the proposed control method is detailed development that shows how a computationally minimal strategy can be utilized to compensate for multiple sources of uncertainty without the use of adaptive parameter estimation or function approximators. A rigorous Lyapunov-based stability analysis is utilized to prove semi-global asymptotic trajectory tracking in the presence of parametric uncertainty and unmodelled external disturbances. Numerical simulation results are also provided to demonstrate the performance of the proposed control law.
the recent emergence of unmanned aerial vehicles asked for both well-performing auto-flight systems and fly-bywire architectures. Towards this end, the trajectory control module of an integrated auto-flight control sy...
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ISBN:
(纸本)9781509035496
the recent emergence of unmanned aerial vehicles asked for both well-performing auto-flight systems and fly-bywire architectures. Towards this end, the trajectory control module of an integrated auto-flight control system is introduced in this paper, which utilizes nonlinear second-order error dynamics of the position error and uses nonlinear dynamic inversion as a control methodology. Flight test results of a flightplan mission conducted on the institute's general aviation aircraft - a DA42 augmented with experimental fly-by-wire - are presented and the controller's performance is evaluated.
In recent years mobile robotic wireless sensor networks have been a popular choice for modelling spatial phenomena. this research is highly demanding and non-trivial due to challenges from both network and robotic asp...
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ISBN:
(纸本)9781509035496
In recent years mobile robotic wireless sensor networks have been a popular choice for modelling spatial phenomena. this research is highly demanding and non-trivial due to challenges from both network and robotic aspects. In this paper, we address the spatial modelling of a physical phenomena withthe network connectivity constraints while the mobile robots are striving to achieve the minimum modelling mismatch in terms of root mean square error (RMSE). We have resolved it through Gauss markov random field based approach which is a computationally efficient implementation of Gaussian processes. In this strategy, the Mobile Robotic Wireless Sensor Node (MRWSN) are centrally controlled to maintain the connectivity while minimizing the RMSE. Once the number of MRWSNs reach their maximum coverage, a new MRWSN is requested at the most informative location. the experimental results are convincing and they show the effectiveness of the algorithm.
this paper is concerned withthe problem of output feedback adaptive control for switched systems with unmodeled dynamics and relative degree rho. Firstly, for the former rho states, based on the local filters, an ada...
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ISBN:
(纸本)9781509035496
this paper is concerned withthe problem of output feedback adaptive control for switched systems with unmodeled dynamics and relative degree rho. Firstly, for the former rho states, based on the local filters, an adaptive controller is designed by using a backstepping recursive design method and a common coordinate transformation for all subsystems. Second, a common Lyapunov function is constructed to establish the boundedness of all signals in the resulting closed-loop switched systems under arbitrary switching signals. Finally, it is shown that a system output can track the desired trajectory.
the main inconvenience of time-delay systems is that the plant output is delayed with respect to the plant input. So, in order to monitor, control or evaluate its behavior current information is not available. Dead-ti...
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ISBN:
(纸本)9781509035496
the main inconvenience of time-delay systems is that the plant output is delayed with respect to the plant input. So, in order to monitor, control or evaluate its behavior current information is not available. Dead-time compensators, mainly designed to control delayed plants, are aimed to provide undelayed data from the plant. Obviously, there is always an error between the estimated data and the undelayed process variables. the estimator behavior depends on the plant characteristics: stable/unstable, minimum/non-minimum phase, singleinput-single-output/multiple-input-multiple-output or uncertain. In this paper, several structures to predict and estimate undelayed variables from the linear plant are reviewed and its advantages and drawbacks are discussed. the estimation error is evaluated and some solutions are proposed.
this study examines the use of a humanoid robot for not only entertainment but also industrial tasks in a human-occupied environment. An impact task model based on input shaping control of a robot hand equipped with a...
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ISBN:
(纸本)9781509035496
this study examines the use of a humanoid robot for not only entertainment but also industrial tasks in a human-occupied environment. An impact task model based on input shaping control of a robot hand equipped with a flexible rubber stick (RS) is discussed and its efficacy is demonstrated. To maintain safety, limited space and a low-power servo motor are considered. the input shaping amplifies necessary vibration while reducing unnecessary vibration. the humanoid robot performs the impact task with high accuracy using the flexible RS and also realizes efficient motion via a double arm. the proposed approach has potential for both industrial and entertainment applications of a humanoid robot in a human-occupied environment.
Considering time-delay networked control systems with packet dropout and limited communication, the fault detection is studied via delta operator. Depicting the model of data losses as Bernoulli distribution and explo...
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ISBN:
(纸本)9781509035496
Considering time-delay networked control systems with packet dropout and limited communication, the fault detection is studied via delta operator. Depicting the model of data losses as Bernoulli distribution and exploiting limited output channels for data transmission, an H-infinity fault detection filter and a residual generator are developed on the basis of the state observer. then, sufficient conditions for the residual systems to be asymptotically stable and ensure the H-infinity performance index are given in terms of Lyapunov functional technique and linear matrix inequalities (LMIs) approach in delta domain. the designed filter can ensure that the residual signal is sensitive to failures. Finally, the applicability of the presented method is demonstrated by a simulation example.
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