In this paper, a cooperative metaheuristic for the solution of the Unit Commitment problem is presented. This problem is known to be a large scale, mixed integer problem. Due to combinatorial complexity, the exact sol...
详细信息
ISBN:
(纸本)9789728865825
In this paper, a cooperative metaheuristic for the solution of the Unit Commitment problem is presented. This problem is known to be a large scale, mixed integer problem. Due to combinatorial complexity, the exact solution is often intractable. Thus, a metaheuristic based method has to be used to compute a near optimal solution with low computation times. A new approach is presented here. The main idea is to couple a genetic algorithm to compute binary variables (on/off status of units), and an ant colony based algorithm to compute real variables (produced powers). Finally, results show that the cooperative method leads to the tractable computation of a satisfying solution for medium scale Unit Commitment problems.
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. The test bed consists of a small unmanned helicopter, mounted on a flying stand that pe...
详细信息
ISBN:
(纸本)9789898111319
In this paper we present an experimental test bed for the development and evaluation of control systems for unmanned helicopters. The test bed consists of a small unmanned helicopter, mounted on a flying stand that permits all possible movements but prevents the helicopter from damaging or crashing. A fuzzy controller is developed in MATLAB and tested in the helicopter using the test bed. The controller is able to perform hovering and altitude control. Experimental results are presented for various test cases.
In this paper, a Sliding Mode control with chattering reduction based on reduced order model using Linear Quadratic Integral control as sliding surface, is implemented to One Degree of Freedom Vertical Take-Off Landin...
详细信息
ISBN:
(纸本)9789897583049
In this paper, a Sliding Mode control with chattering reduction based on reduced order model using Linear Quadratic Integral control as sliding surface, is implemented to One Degree of Freedom Vertical Take-Off Landing System (VTOL). The controller performance is measured using Integral of the Square Error index by simulation and real tests. Finally, the Sliding Mode control with a Linear Quadratic Integral control as sliding surface performance for reference tracking and, robustness against VTOL system physical parameter uncertainties and external disturbances are verified by experimental results.
In this paper, we propose two cases of study for control reconfiguration of Discrete Event Systems. The main contributions are based on a safe centralized and distributed control synthesis founded on timed properties....
详细信息
ISBN:
(纸本)9789897583803
In this paper, we propose two cases of study for control reconfiguration of Discrete Event Systems. The main contributions are based on a safe centralized and distributed control synthesis founded on timed properties. In fact, if a sensor fault is detected, the controller of the normal behavior is reconfigured to a timed controller where the timed information replaces the information lost on the faulty sensor. Finally, we apply our contribution to a manufacturing system to illustrate our results and compare between the two frameworks.
Catching requires the ability to predict the position and intercept a moving object at relatively high speeds. Because catching is a contact task, it requires an understanding of the interaction between the forces app...
详细信息
ISBN:
(纸本)9789728865832
Catching requires the ability to predict the position and intercept a moving object at relatively high speeds. Because catching is a contact task, it requires an understanding of the interaction between the forces applied and position of the object being captured. The application of force to a mass results in a change in acceleration. The rate of change of acceleration is called jerk. Jerk causes wear on the manipulator over time and can also damage the object being captured. This paper uses a curve that asymptotes to zero gradient at +/- infinity to develop an impedance controller, to decelerate an object to a halt after it has been coupled with the end effector. It is found that this impedance control method minimizes the jerk that occurs during capture, and eliminates the jerk spikes that are existent when using spring dampers, springs or constant force to decelerate an object.
The article deals with a problem of output control for linear systems under unknown mismatched disturbances. This algorithm is based on the modified backstepping method and the auxiliary loop method. The proposed cont...
详细信息
ISBN:
(纸本)9789897583803
The article deals with a problem of output control for linear systems under unknown mismatched disturbances. This algorithm is based on the modified backstepping method and the auxiliary loop method. The proposed control scheme is a robust approach intended to unknown mismatched disturbances estimation and compensation. Efficiency of the method is verified by computer modelling and practical approbation of the algorithm using a laboratory platform called "Twin Rotor MIMO System".
The paper aims at a discussion of the effects of the containment measures against COVID-19 through the analysis of the reproduction number. Starting from a mathematical model in which several controls are considered, ...
详细信息
ISBN:
(纸本)9789897585227
The paper aims at a discussion of the effects of the containment measures against COVID-19 through the analysis of the reproduction number. Starting from a mathematical model in which several controls are considered, including the vaccination, and introducing also an hypotised limited duration of the immunity acquired both from vaccine and from healing from the illness, the steady state behaviour, both in the uncontrolled and in the controled cases is studied. The expressions for the basic reproduction number and the actual reproduction number under control actions are computed by means of the next generation matrix approach. This function is numerically investigated, showing some graphs which illustrate, qualitatively and quantitatively, in an intuitive way the positive effects of the controls and the negative contribution of the absence of a lifetime immunization from virus.
This paper presents a foot planner algorithm for bipedal walking along an arbitrary curve. It takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Number...
详细信息
ISBN:
(纸本)9789897583049
This paper presents a foot planner algorithm for bipedal walking along an arbitrary curve. It takes a parametrically defined desired path as an input and calculates feet positions and orientations at each step. Number of steps that are required to complete the path depends on a maximum step length and maximum foot rotation angle at each step. Provided with results of the foot planner, our walking engine successfully performs robot locomotion. Verification tests were executed with AR601M humanoid robot.
We address an optimal reachability problem in constrained environments for hyper-redundant and soft planar manipulators. Both the discrete and continuous devices are inextensible and they are characterized by a bendin...
详细信息
ISBN:
(纸本)9789897584428
We address an optimal reachability problem in constrained environments for hyper-redundant and soft planar manipulators. Both the discrete and continuous devices are inextensible and they are characterized by a bending moment, representing a natural resistance to leave the position at rest, an inequality constraint forcing the bending below a fixed threshold, and a control term prescribing local bending. After introducing the model and characterizing the associated equilibria, we set the problem in the framework of optimal control theory and we present some simulations related to its numerical solution.
The paper deals with a problem of parameter identification for a model of Twin Rotor MIMO System laboratory bench, which is described by a nonlinear multi-channel system with cross-couplings. The chosen method is base...
详细信息
ISBN:
(纸本)9789897584428
The paper deals with a problem of parameter identification for a model of Twin Rotor MIMO System laboratory bench, which is described by a nonlinear multi-channel system with cross-couplings. The chosen method is based on the Dynamic Regressor Extention and Mixing (DREM) procedure that guarantees monotonic convergence of the estimations even in case of multiple related parameters simultaneously identification. Results are verified by computer simulation.
暂无评论