Most manufactured electrical cables suffer from reductions in their physical, mechanical and electrical properties. These setbacks are mainly attributed to the improper control of wire tension during the cable manufac...
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Most manufactured electrical cables suffer from reductions in their physical, mechanical and electrical properties. These setbacks are mainly attributed to the improper control of wire tension during the cable manufacturing process. Hence, this paper systematically reviewed different control algorithms involved in controlling tension in moving webs, which include conventional control, advanced control, observer-based control, artificial intelligence-based control and hybrid control techniques. Thus, the review provided information about existing tension control techniques in moving webs, including their strengths and weaknesses. It was observed in this review that although a significant research effort has been made on web tension control systems, a thorough literature review is still lacking. It was concluded that controller optimisation using hybrid control algorithms is gaining popularity in web tension control due to their improved control response. Hence, its application in wire tension control can better help cable manufacturers improve the quality of manufactured cables.
This paper aims to develop a distributed layered control framework for the navigation, planning, and control of multi-agent quadrupedal robots subject to environments with uncertain obstacles and various disturbances....
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This paper aims to develop a distributed layered control framework for the navigation, planning, and control of multi-agent quadrupedal robots subject to environments with uncertain obstacles and various disturbances. At the highest layer of the proposed layered control, a reference path for all agents is calculated, considering artificial potential fields (APF) under a priori known obstacles. Second, in the middle layer, we employ a distributed nonlinear model predictive control (NMPC) scheme with a one-step delay communication protocol (OSDCP) subject to reduced-order and linear inverted pendulum (LIP) models of agents to ensure the feasibility of the gaits and collision avoidance, addressing the degree of uncertainty in real-time. Finally, low-level nonlinear whole-body controllers (WBCs) impose the full-order locomotion models of agents to track the optimal and reduced-order trajectories. The proposed controller is validated for effectiveness and robustness on up to four A1 quadrupedal robots in simulations and two robots in the experiments.1 Simulations and experimental validations demonstrate that the proposed approach can effectively address the real-time planning and control problem. In particular, multiple A1 robots are shown to navigate various environments, maintaining collision-free distances while being subject to unknown external disturbances such as pushes and rough terrain.
Microgrids provide a viable way to integrate renewable energy sources, enhance energy security, and boost grid resilience. However, substantial operational and technological challenges exist in achieving smooth synchr...
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Microgrids provide a viable way to integrate renewable energy sources, enhance energy security, and boost grid resilience. However, substantial operational and technological challenges exist in achieving smooth synchronization with the larger power grid. The primary challenges associated with microgrids, and grid synchronization are examined extensively in this paper. These difficulties include phase and frequency coordination, problems with power quality, methods for islanding and reconnecting, infrastructure for communication and control, and regulatory barriers. The research examines new developments in smart grid technology, sophisticated control algorithms, and creative finance strategies that may enable more seamless synchronization and help microgrids reach their full potential. The research also proposes a method for managing energy while emphasizing the importance of implementing an effective energy management plan, particularly in energy storage systems. A method is suggested for managing energy storage and controlling energy storage system charge and discharge in a microgrid connected to a solar system, using linear programming optimization methods to minimize variable electricity prices and compare it with heuristic optimization approaches. In order to overcome the remaining obstacles and clear the path for the broad deployment of microgrids, the article ends with suggestions for future research and development projects.
We show that the Glover-Doyle algorithm can be formulated simply by using the (J,J')-lossless factorization method and chain scattering matrix description. This algorithm was first stated by Glover and Doyle in 19...
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We show that the Glover-Doyle algorithm can be formulated simply by using the (J,J')-lossless factorization method and chain scattering matrix description. This algorithm was first stated by Glover and Doyle in 1988. Because the corresponding diagonal block of the (J,J')lossless matrix in the general 4-block H-infinity control problem of the Glover-Doyle algorithm is not square, a new type of chain scattering matrix description is developed. With this description in hand, we obtain two types of state-space solution, which are similar to each other. Thus a similarity transformation between these solutions in the 4-block H-infinity control problem can also be obtained. The main idea of the solution is illustrated by means of block diagrams.
In this paper, some results of research concerning the development of guidance of bombs were presented. The paper presents conceptions of an impulse (gasodynamic) control system, the measurement unit based on IMU/GPS ...
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In this paper, some results of research concerning the development of guidance of bombs were presented. The paper presents conceptions of an impulse (gasodynamic) control system, the measurement unit based on IMU/GPS signals and control algorithms based on predicted trajectories. The presented results of simulation research are based on the numerical model of the bomb and real signals from measurement devices.
One of the important aspects of modern animal husbandry farms operations is to provide optimal and healthy environment for the animals and to increase productivity by precise indoors environment control, achieving low...
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One of the important aspects of modern animal husbandry farms operations is to provide optimal and healthy environment for the animals and to increase productivity by precise indoors environment control, achieving lower energy consumption of the buildings and optimal amounts of food intake of the animals. This complex task can be achieved by the proposed Cost Oriented Cyber Physical System (COCPS) for intelligent control of animal husbandry farms. By implementing the described control algorithms, the COCPS by monitoring a wide range of indoor environment parameters can control a large variety of subsystems, in order to create beneficial and healthy environment for the animals and increase their productivity. Copyright (C) 2022 The Authors.
This paper presents an innovative approach to analyzing and optimizing the performance of nonlinear hydraulic actuators for vehicle suspension systems. It focuses on dynamic behavior modeling and advanced control stra...
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This paper presents an innovative approach to analyzing and optimizing the performance of nonlinear hydraulic actuators for vehicle suspension systems. It focuses on dynamic behavior modeling and advanced control strategies designed to improve both driver comfort and vehicle performance. The study uses a comprehensive set of differential equations to model hydraulic operations, incorporating state-of-the-art control methodologies such as nonlinear PID (NL-PID) and advanced techniques such as genetic algorithms (GA), ant colony optimization (ACO), and particle swarm optimization (PSO). The novelty of this work lies in the development and application of the NL-PID-ACO control strategy, which shows superior performance in minimizing chassis displacement and sprung mass acceleration. Specifically, the NL-PID-ACO reduced displacement to 0.0126 m, representing a 35.38% improvement over the NL-PID-PSO, and achieved an optimal acceleration of 0.0632 m/s2, a reduction of 90.6% compared to passive systems. On average, the NL-PID-ACO achieved a displacement of 0.0016 m and an acceleration of 0.078 m/s2, corresponding to a 63.38% improvement over passive suspension systems. These findings underscore the unprecedented efficiency of the NL-PID-ACO control strategy, highlighting its potential as a transformative solution for optimizing the performance of nonlinear hydraulic actuators, ultimately contributing to enhanced driver comfort and vehicle dynamics.
One of the important aspects of modern animal husbandry farms operations is to provide optimal and healthy environment for the animals and to increase productivity by precise indoors environment control, achieving low...
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One of the important aspects of modern animal husbandry farms operations is to provide optimal and healthy environment for the animals and to increase productivity by precise indoors environment control, achieving lower energy consumption of the buildings and optimal amounts of food intake of the animals. This complex task can be achieved by the proposed Cost Oriented Cyber Physical System (COCPS) for intelligent control of animal husbandry farms. By implementing the described control algorithms, the COCPS by monitoring a wide range of indoor environment parameters can control a large variety of subsystems, in order to create beneficial and healthy environment for the animals and increase their productivity.
The paper addresses development of control algorithms for two different autonomousaerial delivery systems. The first one is based on a solid circular parachute and the second one - on a ram-air parafoil. While the fir...
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The paper addresses development of control algorithms for two different autonomousaerial delivery systems. The first one is based on a solid circular parachute and the second one - on a ram-air parafoil. While the first, low-glide-ratio system is crucially dependent on the accuracy of the wind prediction, the second, high-glide-ratiosystem is capable of effectively rejecting moderate winds. This fundamental difference dictates different control laws described in this paper. The paper applies optimal control analysis to both systems and proceeds with thedevelopment of the practical guidance and control algorithms. Simulation results forboth systems as well as flight test results for the parachute-based system are included.
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