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LQR, double-PID and pole placement stabilization and tracking control of single link inverted pendulum

LQR, double-PID and pole placement stabilization and trackin...

引用

ieee international conference on control system, computing and engineering (iccsce)

作者： Muhammad Shehu Mohd Ridzuan Ahmad Auwal Shehu Ahmad Alhassan Department of Control and Mechatronics Engineering Universiti Teknologi Malaysia Skudai Johor Malaysia

This paper presents the dynamic behaviour of a nonlinear single link inverted pendulum-on-cart system based on Lagrange Equation. The nonlinear model linearization was presented based on Taylor series approximation. LQR, double-PID and simple pole placement control techniques were proposed for upright stabilization and tracking controls of the system. Simulations results for the various control techniques subjected to a unity magnitude pulse input torque with and without disturbance were compared. The performances of the proposed controllers were investigated based on response time specifications and level of disturbance rejection. Thus, the performance of LQR is more reliable and satisfactory. Finally, future work suggestions were made.

关键词： Mathematical model PD control controllability conferences Force Kinetic energy

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Longitudinal slip control using Magnetorheological brake via Second Order Sliding Mode controller

Longitudinal slip control using Magnetorheological brake via...

引用

ieee international conference on control system, computing and engineering (iccsce)

作者： M.A.M. Yusop M.H.M Ariff H. Zamzuri S.A. Mazlan Vehicle System Engineering ikohza UniversitiTeknologi Malaysia JalanYahya Petra Kuala Lumpur Malaysia

This paper presents an application of Second Order Sliding Mode controller (SOSMC) to regulate the vehicle longitudinal slip using Magnetorheological Fluid (MRF) brake as an actuator for the vehicle braking system. A quarter vehicle with a simple Bingham model is adopted as the control plant and the MRF brake system model respectively. Numerical assessments are conducted for various types of the road surface with the main objective to regulate the longitudinal slip at its optimum friction value. Since the control system is regarded as a highly nonlinear environment, the utilization of SOSMC is considered as decent control solution to cope with the system uncertainties and at the same time reduced the system chattering effect caused by conventional sliding mode control. Results show that the targeted optimum slip reference can be achieved with a smooth input signal compared to conventional SMC.

关键词： Brakes Vehicles Wheels Fluids Roads Friction Vehicle dynamics

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Functional connectivity of EEG regional delta and inter-regional gamma activity correlates with memory recall

Functional connectivity of EEG regional delta and inter-regi...

引用

ieee international conference on control system, computing and engineering (iccsce)

作者： Samer Hanouneh Hafeez Ullah Amin Naufal M. Saad Aamir Saeed Malik Department of Electrical and Electronic Engineering Universiti Teknologi PETRONAS Bandar Seri Iskandar Perak Malaysia

The main objective of this research was to investigate the association between electroencephalogram (EEG) and memory recall in human participant. A sample of 34 healthy participants was recruited and exposed to 10 minutes animated learning contents. After 30 minutes of the learning session, they performed a memory recall task; the correct and incorrect responses in recall task were recorded for computing the memory performance. EEG coherence was computed for six frequency band (delta, theta, alpha, beta, high-beta, and gamma) and the correlation was checked with the memory recall. It was found that the EEG delta coherence correlated (r=0.34-0.37; p-value

关键词： Electroencephalography Coherence Correlation Electrodes Animation conferences control systems

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Cross-Layer Power Allocation Scheme for Wireless Full Duplex Relaying system

Cross-Layer Power Allocation Scheme for Wireless Full Duplex...

引用

2016 8th ieee international conference on Communication Software and Networks(ICCSN 2016)

作者： Mengmeng He Yanjun Hu Hui Zhi Quan Yuan Key Lab of Intelligent Computing and Signal Processing Ministry of Education School of Electronics and Information Engineering Anhui University

In this paper,we propose a cross-layer power allocation scheme over wireless relay networks for quality-of-service(Qo S)*** formulate our original throughput maximization problem into effective capacity maximization problem by applying information theory and the concept of the effective *** our scheme,we focus on full duplex mode and amplify-and-forward(AF)*** particular,our proposed scheme derives closed-form expressions and analyzes the impacts of the SNR of the interference channel on the performance of full duplex relaying *** comparison purpose,we also give the analysis of half duplex relaying *** results show that our proposed power allocation scheme can support diverse Qo S guarantees and achieve better effective capacity than equal power allocation scheme and direct transmission *** analysis also indicate that the perfect full duplex mode can achieve twice optimal effective capacity of the half duplex mode.

关键词： power allocation scheme effective capacity full duplex quality-of-service(Qo S) amplify-and-forward(AF)

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Simplified online Q-learning for LEGO EV3 robot

Simplified online Q-learning for LEGO EV3 robot

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ieee international conference on control system, computing and engineering (iccsce)

作者： Ke Xu Fengge Wu Junsuo Zhao Science and Technology on Integrated Information System Laboratory Institute of Software Chinese Academy of Sciences

Q-learning is a kind of model-free reinforcement learning algorithm which is effective in Robot's navigation applications. Unfortunately, Lego Mindstorms EV3 robot's file writing speed is sometimes too slow to implement Q-learning algorithm. In this paper, an approach is proposed to simplify Q-learning discrete value table into a new version that stores only one optimum action and its Q-value instead of storing every action's Q-value in each state. Exploration and contrast experiments show that our algorithm learns much faster than the original Q-learning without losing the ability to find a better policy in navigation task.

关键词： Robot sensing systems control systems Navigation Computational modeling Infrared sensors Learning (artificial intelligence)

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Optimization based path planning via Big Bang-Big Crunch with Local Search

Optimization based path planning via Big Bang-Big Crunch wit...

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ieee international conference on control system, computing and engineering (iccsce)

作者： Sabri Yılmaz Metin Gökaşan Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

In this paper a search for the trajectory that minimizes the cost function is studied. In robotic studies the cost function can be defined as a function of time, tracking error or applied torque. In this study the cost function is selected as a function of applied torque, so the main aim is minimizing the energy consumption. For this purpose a simple robot manipulator is chosen, and its kinematic and dynamic models are derived by Denavit-Hartenberg convention and Euler-Lagrange method. Then two different trajectory polynomials are described, one is solved from boundary conditions without optimization and one is solved by optimization and the same boundary conditions. These two different trajectory polynomials and their cost functions values are compared. The effect and efficiency of optimization are examined.

关键词： Trajectory Cost function Boundary conditions Robots Acceleration Angular velocity

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A fuzzy self-adaptive PID tracking control of autonomous surface vehicle

A fuzzy self-adaptive PID tracking control of autonomous sur...

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ieee international conference on control system, computing and engineering (iccsce)

作者： M. H. A. Majid M. R. Arshad Underwater Control and Robotic Group (UCRG) SPS Penang Malaysia

Proportional Integral Derivative (PID) controller is a conventional controller, which is widely used in industrial control system. In this paper, a PID control system is used for path tracking of an autonomous surface vehicle (ASV). The PID controller is selected because it is easy to implement as an embedded controller and practically easy to understand compared to other control methods. However, to improve the response of the PID controller, a fuzzy inference system (FIS) is used to tune the controller parameters based on a set of control rules. Three parallel fuzzy self-adaptive PID controllers is used to track the desired position and angular orientation of the ASV along the surge, sway and yaw directions. Through kinematic modeling of the ASV, the desired model for tracking the desired path could be obtained. Simulation results show that the Fuzzy-PID controller performs better compared to the ordinary PID controller in term of improving settling time and reducing overshoot of the control signal.

关键词： Niobium Fuzzy logic Tuning Surges control systems Robots Kinematics

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A model-free PID tuning to slosh control using simultaneous perturbation stochastic approximation

A model-free PID tuning to slosh control using simultaneous ...

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ieee international conference on control system, computing and engineering (iccsce)

作者： M.A. Ahmad M.A. Rohani R.M.T. Raja Ismail M.F. Mat Jusof M.H. Suid A.N.K. Nasir Instrumentation & Control Engineering Research Group (ICE) Universiti Malaysia Pahang Pekan Pahang Malaysia

This paper addresses an initial study of a model-free PID tuning based on simultaneous perturbation stochastic approximation (SPSA) for liquid slosh control. The SPSA method is used to optimize the PID parameters such that the liquid slosh is minimized. In order to validate our model-free design, a liquid slosh model is considered to represent the lateral slosh motion. The simulation results demonstrate that the proposed model-free method has a good potential in reducing the liquid slosh without explicitly modeling the liquid slosh behavior.

关键词： Liquids Tuning Algorithm design and analysis Stochastic processes Linear programming control systems Mathematical model

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Design of low quantum cost reversible BCD adder

Design of low quantum cost reversible BCD adder

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ieee international conference on control system, computing and engineering (iccsce)

作者： Chua Shin Cheng Lenin Gopal Amandeep S. Sidhu Ashutosh Kumar Singh Department of Electrical and Computer Engineering Curtin University Sarawak Campus Miri Sarawak Malaysia Department of Computer Applications NIT Kurukshetra Haryana India

Reversible logic is one of the emerging computational methodologies which assures zero power dissipation through theoretical laws of thermodynamics. It has received significant interest in application on quantum computing, nanotechnologies and low power computing devices. In this work, we present a reversible logic implementation for Binary Coded Decimal (BCD) adder which is designed to obtain lowest quantum cost value. Other parameters such as ancilla input, garbage output and delay are kept at minimal. Experiment result shows that the proposed work outperforms other designs in terms of quantum cost. Considering for a 1 digit BCD adder, it has a 4% improvement in terms of quantum cost compared to the current best existing ones. The improvement range increases as the BCD digit becomes larger.

关键词： Adders Logic gates Delays conferences control systems Quantum computing Computers

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Research on the real-time module of the industrial robot control system based on the RTAI

Research on the real-time module of the industrial robot con...

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ieee international conference on control system, computing and engineering (iccsce)

作者： Jing Bai Mei-Yuan Gao Kai-Ge Zhang Xi-Hong Yu Xian-Sheng Qin School of Mechanical Engineering Northwestern Polytechnical University Xi'an China

In order to make full use of the existing free software in the robot control field, this paper designed a configurable industrial robot real-time module under the environment of RTAI. This paper designed the basic component model and set the standard of the interface between components; the functions of the real-time module were divided into various components, forming relatively independent parts; and then through changing the configuration files, the real-time module could meet the requirements of users in different conditions. The motion control component, trajectory planning component, PID component and communication component were the most basic functions of industrial robots and formed the framework of the control system. It was improved that the configurable real-time motion control module designed in this paper could easily be invoked by other software, meet the industry requirement and satisfy the various requirements.

关键词： Real-time systems Software Service robots Data structures Robot control Motion control

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