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3rd International Conference on Robotics, Automation and Artificial Intelligence (RAAI)

作者： Rosyid, Abdur El-Khasawneh, Bashar Khalifa Univ Mech & Nucl Engn Dept Abu Dhabi U Arab Emirates

ISBN: (纸本)9798350307573;9798350307566

The highly nonlinear coupled dynamics in a parallel-kinematics manipulator typically cannot be simply treated as disturbance. model-based control schemes are usually used to address this issue. This paper presents the improvement of contouring accuracy of a planar 3PRR parallel-kinematics manipulator by applying two model-based control schemes namely decentralized PID control with centralized computed torque feedforward and centralized inverse dynamics control with feedforward. The simulation shows that both control schemes provide better contouring accuracy than decentralized PID control scheme. Furthermore, it is shown that the decentralized PID control with centralized computed torque feedforward outperforms the centralized inverse dynamics control with feedforward given an accurate dynamic model of the manipulator.

关键词： parallel manipulator contouring accuracy model-based control

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Full dynamic model of 3-UPU translational parallel manipulator for model-based control schemes

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ROBOTICA 2022年第8期40卷 2815-2830页

作者： Hassani, Ali Khalilpour, S. A. Bataleblu, Abbas Taghirad, Hamid D. KN Toosi Univ Technol Fac Elect Engn Ind Control Ctr Excellence Adv Robot & Automated Syst ARAS Tehran *** Iran

Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a general 3-UPU translational parallel manipulator (TPM) are derived, and then, by using the principle of the virtual work theorem, the full implicit dynamic model is derived. Furthermore, by making some modifications, the explicit dynamic formulation of the robot is attained, which is the basis of a wide range of advanced model-based controllers. To validate the proposed formulation, a prototype of the 3-UPU TPM is modeled in MSC-ADAMS(R) software, and the results of the dynamic formulation are validated using this model. The results show the high accuracy of the proposed dynamic formulation presented in this article.

关键词： 3-UPU TPM parallel robots dynamics explicit dynamic formulation virtual work method model-based control

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model-based control of Brake Mean Effective Pressure in a Euro 6 1.6L Diesel Engine Featuring Multi-After-Injection Patterns

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SAE INTERNATIONAL JOURNAL OF ENGINES 2021年第5期14卷 713-732页

作者： Finesso, Roberto Marello, Omar Spessa, Ezio Alfieri, Vincenzo Colaiemma, Adriana De Matteis, Gabriele Scavone, Luca Politecn Torino Turin Italy Punch Torino SpA Turin Italy

A real-time model-based approach for control of the Brake Mean Effective Pressure (BMEP) has been developed and assessed for a Euro 6 1.6L GM diesel engine. The model provides the fuel quantity necessary to achieve a desired BMEP target. The engine features complex injection patterns, including pilot, main and multi-after injections. The approach is based on the use of feed-forward artificial neural networks (ANNs), which have been trained using virtual tests simulated by a previously developed, low-throughput, mean-value, physical combustion model. The physical combustion model is based on an improved version of the accumulated fuel mass approach and is capable of predicting the heat release and the in-cylinder pressure. The latter quantity is in turn used to extract the Indicated Mean Effective Pressure (IMEP). The BMEP is then obtained from the IMEP while taking into account the friction and accessory-related contributions. A novelty of this study is the assessment of the low-throughput physical combustion model for complex injection patterns, including not only the pilot and main shots but also multi-after injection pulses. The physical model and the ANN-based model have been assessed considering experimental data acquired at the General Motors-Global Propulsion Systems (GM-GPS) facilities under steady-state and transient conditions over several driving cycles.

关键词： Combustion model-based control Diesel BMEP multi-after injections

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model-based control of a VSC-based power generator with synthetic inertia provision in an isolated micro-grid

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IET GENERATION TRANSMISSION & DISTRIBUTION 2020年第22期14卷 5037-5046页

作者： Hardan, Faysal Norman, Rosemary Leithead, William Newcastle Univ Sch Engn Newcastle Upon Tyne NE1 7RU Tyne & Wear England Univ Strathclyde Elect & Elect Engn Dept Glasgow G1 1XW Lanark Scotland

Distributed energy resources such as solar photovoltaic, wind and energy storage systems are increasingly being utilised within isolated and grid-connected microgrids. Their integration has prompted the move towards more advanced coordinated control for flexible, efficient and secure operation of microgrid-based power systems. This study presents a new power control method based on a canonical inverse model and implied synthetic inertia (SI), which is implemented on a voltage source converter-based power generator (VSC-PG) for frequency response support. The control method augments a traditional power controller whilst the SI technique is blended with a new switching mechanism which enhances the performance of the VSC-PG when it is utilised with SI provision capability. The switching mechanism acts only when necessary, without contradicting the main frequency regulating sources. For assessment, the above method and SI technique have been designed and modelled for a 630 kVA VSC-PG with DC-link battery bank. The VSC-PG was connected within an isolated/remote microgrid formed by an 11 kV feeder, 1 MVA diesel generator and variable load. The performances of the proposed power controller and SI provider have been tested and analysed using detailed Matlab/Simulink simulations and found to compare favourably with methods published in the literature.

关键词： distributed power generation power control power distribution control frequency control power generation control voltage-source convertors diesel-electric generators DC-link battery bank remote microgrid Matlab-Simulink simulations apparent power 630 0 kVA voltage 11 0 kV apparent power 1 0 MVA implied synthetic inertia solar photovoltaic systems isolated microgrid power generator frequency regulating sources VSC-PG SI provider diesel generator SI provision capability switching mechanism SI technique power controller frequency response support voltage source converter canonical inverse model power control method microgrid-based power systems advanced coordinated control grid-connected microgrids energy storage systems distributed energy resources synthetic inertia provision VSC-based power generator model-based control

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model-based Dynamic control of Two-Degree-of-Freedom Modulation for Dual Active Half-Bridge Converter

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IEEE TRANSACTIONS ON POWER ELECTRONICS 2025年第6期40卷 8367-8379页

作者： Kim, Gun-Su Kang, Su-Bin Kim, Hyeon-Sik Won, Jehyuk Gachon Univ Dept Next Generat Smart Energy Syst Convergence Seongnam 13120 South Korea Gachon Univ Dept Elect Engn Seongnam 13120 South Korea Kangwon Natl Univ Dept Elect & Elect Engn Chunchon 24341 South Korea

This article proposes a model-based dynamic control for dual active half-bridge converters to satisfy both a loss-minimizing operation and a high-dynamic response. First, the loss-minimizing operation is analyzed based on a two-degree-of-freedom (2-DOF) modulation scheme, where control variables consist of a phase shift and a duty ratio. The modulation scheme is optimized to minimize the transformer root-mean-square current or to achieve a zero-voltage-switching condition under varying conditions. Moreover, the output voltage control should be designed to provide fast dynamic performance under source and load variations. Therefore, the voltage controller is unified with the modulation schemes, where a model-based control is adopted to improve the dynamics of 2-DOF modulation. A model-based calculation part reduces the burden of an error compensation part with a load current feedforward. Finally, the effectiveness of the proposed method is verified by the experimental results.

关键词： Modulation Zero voltage switching Voltage control 2-DOF PI control Mathematical models Capacitors Switches Steady-state Phase modulation Dual active half-bridge converter (DAHB) minimum root-mean-square (RMS) current model-based control zero-voltage switching (ZVS)

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A model-based tracking control scheme for nonlinear industrial processes involving joint unscented Kalman filter

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Journal of control and Decision 2025年第1期12卷 111-122页

作者： Sanjay Bhadra Atanu Panda Parijat Bhowmick Somasundar Kannan Department of Electrical Engineering University of Engineering and Management Kolkata(UEMK)New TownKolkataWest BengalIndia Department of Electrical Engineering Maulana Abul Kalam Azad University of TechnologyHaringhataNadiaWest BengalIndia Department of Electronics and Communication Engineering Institute of Engineering and Management(IEM)KolkataWest BengalIndia Department of Electronics and Electrical Engineering IIT GuwahatiGuwahatiAssamIndia Department of Electrical Engineering Robert Gordon UniversityAberdeenScotlandUK

This paper proposes a model-based reference tracking scheme for stable,MIMO,nonlinear processes.A Joint Unscented Kalman Filtering technique is exploited here to develop a stochastic model of the physical process via simultaneous estimation of the process states and the time-varying/uncertain *** the existing nonlinear model predictive controllers,the proposed scheme does not involve any dynamic optimisation process,which helps to reduce the overall complexity,computation overburden and execution ***,the proposed methodology offers robustness to process model-mismatch and considers the effects of stochastic disturbances.A nonlinear two-tank liquid-level control problem and a nonlinear coupled level-temperature control process are studied to demonstrate the usefulness of the proposed scheme.

关键词： model-based control JUKF nonlinear MPC TITO coupled-tank process level-temperature control

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model-based control of axisymmetric hexarot parallel manipulators

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RESULTS IN control AND OPTIMIZATION 2022年 7卷

作者： Pedrammehr, Siamak Qazani, Mohammad Reza Chalak Asadi, Houshyar Ettefagh, Mir Mohammad Nahavandi, Saeid Deakin Univ Inst Intelligent Syst Res & Innovat IISRI Waurn Ponds Vic Australia Univ Tabriz Fac Mech Engn Tabriz Iran

In this research, the control of a hexarot parallel mechanism is investigated. Parallel kinematic simulators or machine tools manipulators suffer from many problems to have a good motion tracking. The inverse kinematics and dynamic formulation that have been developed recently via the Newton-Euler method for a general hexarot mechanism is briefly presented. PID controller and fuzzy incremental controller have been designed and developed as an alternative option of the model -based controller. The efficiency of the model -based controller compared to other controllers has been evaluated. An important contribution of this paper is an appropriate control strategy that improves the tracking performance utilizing the cost effective joint -space sensor. The control scheme development starts with the robust design of the controller -observer of the single actuators. The single objective genetic algorithm is used to tune the controller gains to achieve the least tracking error of joint position. This, moreover, is improved by a centralized feedforward dynamics compensation of the gravity. The validity of the developed model is checked under Simulink environment of MATLAB software, and it is found that the developed model -based controller has the preferable tracking performance rather than the traditional PID and fuzzy incremental controllers The proposed model -based controller is able to decrease the motion tracking error from 55, 20 and 12 to 4 (deg2) for spiral motion compared with PID, FIC and observer -PD, respectively.

关键词： Hexarot manipulator model-based control Fuzzy control Dynamics

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model-based control System Design of Brushless Doubly Fed Reluctance Machines Using an Unscented Kalman Filter

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ENERGIES 2021年第24期14卷 8222页

作者： Benomar, Yassine Croonen, Julien Verrelst, Bjoern Van Mierlo, Joeri Hegazy, Omar Vrije Univ Brussel VUB Mobil Logist & Automot Technol Res Ctr MOBI Dept Elect Engn & Energy Technol ETEC Fac Engn B-1050 Brussels Belgium Flanders Make B-3001 Heverlee Belgium Vrije Univ Brussel VUB MECH Dept Pl Laan 2 B-1050 Brussels Belgium

The Brushless Doubly Fed Reluctance Machine (BDFRM) is an emerging alternative for variable speed drive systems, providing a significant downsizing of the power electronics converter. This paper proposes a new view on the machine equations, allowing the reuse of the standard control system design for conventional synchronous and asynchronous machines: a cascade control system with an inner current control- and outer speed control loop. The assumptions and simplifications made on the machine model allow for a simple, model-based approach to set the controller gains in a brushless doubly fed machine drive system. The cascade control scheme is combined with an Unscented Kalman Filter as a state observer, capable of estimating the load torque and losses. The performance of the proposed control system design is checked in simulation and tested in real-time on a low power BDFRM prototype.

关键词： electrical drives control system design model-based control Unscented Kalman Filter electrical machines reluctance drives

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Multi-Agent System for Closed Loop model-based control of Dissolved Oxygen Concentration 25

Multi-Agent System for Closed Loop Model-Based Control of Di...

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25th International Conference on Methods and models in Automation and Robotics

作者： Pospiech, Jakub Silesian Tech Univ Dept Automat Control & Robot Gliwice Poland

ISBN: (纸本)9781728173818;9781728173801

This paper presents a proposition of Multi-Agent System design dedicated to control dissolved oxygen concentration inside reactor with activated sludge. Designed Multi-Agent System is able to switch between multiple available control algorithms to reach the best possible control quality. Design goal was to create encapsulated agents where modification of one agent's code would not cause the necessity to change any other agent in system. Created Multi-Agent system was tested in laboratory setup with a well-mixed bioreactor. Experimental comparison with conventional on-off controller showed improvement in control precision.

关键词： Adaptive control model-based control Multi-Agent Systems practical-validation process control

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model-based Tracking control of a Soft Growing Robot for Colonoscopy

IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS

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IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS 2024年第4期6卷 1354-1362页

作者： Borvorntanajanya, Korn Treratanakulchai, Shen Baena, Ferdinando Rodriguez y Franco, Enrico Imperial Coll London Hamlyn Ctr Robot Surg London SW7 2AZ England Mahidol Univ Fac Engn BART LAB Nakhon Pathom 10500 Thailand

This paper investigates the model based tracking control of soft growing robots with pneumatic actuation that extend according to the principle known as eversion. A model of the system which accounts for the pressure dynamics is presented. A new control law is constructed with a high-order sliding-mode approach and a nonlinear observer is employed to compensate for the effect of external forces. Numerical simulations and experiments demonstrate the effectiveness of the proposed controller compared to our former energy-shaping implementation and to a baseline sliding-mode controller. Experiments with a training phantom demonstrate that the new controller resulted in a reduced peak pressure, approximately 14.8% lower, a reduced tracking error, approximately 4.9% lower RMSE, and a reduced consumption of compressed air, approximately 3.9% lower, compared to a baseline sliding-mode algorithm.

关键词： Robots Servomotors Prototypes Pneumatic systems Medical robotics Biomimetics Torque Colonoscopy Navigation Isothermal processes Soft growing robots model-based control minimally invasive surgery

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