This paper presents an adaptive distributed control method based on an iterative learning scheme for a flexible manipulator to realize trajectory tracking and vibration reducing. The dynamical model of the flexible ma...
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This paper presents an adaptive distributed control method based on an iterative learning scheme for a flexible manipulator to realize trajectory tracking and vibration reducing. The dynamical model of the flexible manipulator is captured by partial differential equations (PDEs). The control objective is to design a boundary controller and a distributed controller so that the motion of the flexible manipulator can track a desired position, and the deflection can be suppressed simultaneously subjecting to systemparameters uncertainties and spatio-temporal distributed disturbances. A Lyapunov based stability analysis is carried out to achieve stability of the controlled system. Finally, simulation results evaluate the validity of the derived control scheme.
This work focuses on the receding horizon optimal control for a solar-thermal district heating (STDH) system containing lumped parameter and distributedparameter subsystems. A common STDH system includes solar collec...
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This work focuses on the receding horizon optimal control for a solar-thermal district heating (STDH) system containing lumped parameter and distributedparameter subsystems. A common STDH system includes solar collector system, a short-term energy storage tank and a district heating loop system with a secondary gas boiler system. The inclusion or exclusion of these components leads to different operational and working modes. Detailed system description and mathematical models are provided, and three working modes are introduced and in each mode several operations are demonstrated and addressed. Single-objective and multiobjective problems are formulated. Moreover, in the mode where gas boiler system is included to help addressing the district heating demand, the internal model based boundary servo-control approach is proposed and applied to obtain desired boiler water temperatures such that the expected district heating demand can be satisfied. Moreover, a boundary state observer is designed for the considered solar collector system. (c) 2017 American Institute of Chemical Engineers AIChE J, 64: 1217-1233, 2018
Electrochemical thermodynamics is the foundation of the microvia fill process, whose model represents the mass conservation of species (copper ions and surfactants) in the condition of moving boundary. The shape of vi...
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Electrochemical thermodynamics is the foundation of the microvia fill process, whose model represents the mass conservation of species (copper ions and surfactants) in the condition of moving boundary. The shape of via changes due to the deposed metallic copper, whose growth depends on the blocking effect of surfactants, which in turn depends on the boundary curvature. The via filling process is controlled through the boundary by adjusting the electric current flowing through the bath system. Maximizing the current raises the via fill process speed but ends up in depletion of the copper ions at the bottom of via causing an incomplete via fill (poorly fabricated board). In this paper the problem is solved by adjusting the concentration of copper ions to a reference value near the panel surface of the plated board. The stabilizing control is proposed based on the developed via fill model. By applying the control, the via fill process can be sped up by ca. 20% and the via dimple minimized 5% without risking product output quality.
This paper presents an approach for the efficient numerical implementation of transformation based state feedback laws for linear distributed parameter systems. The control laws considered may originate from backstepp...
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The iterative learning control technique is generalized to distributed parameter systems based on actuator-sensor network. Firstly, an open-loop D-type and a closed-loop D-type ILC schemes are presented for a class of...
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ISBN:
(纸本)9781509054015
The iterative learning control technique is generalized to distributed parameter systems based on actuator-sensor network. Firstly, an open-loop D-type and a closed-loop D-type ILC schemes are presented for a class of distributed parameter system with single sensor-actuator respectively. Then, we derive sufficient conditions for tracking error convergence. Secondly, we consider distributed parameter systems with multiple sensors-actuators and obtain the convergence of tracking error under an open-closed-loop D-type ILC scheme. The numerical simulation results illustrate the effectiveness of the proposed ILC schemes.
Control design for a fluid in a pipe with arbitrary cross-sectional area is considered. The position (resp. the velocity) of a piston moving within the tube acts as control input. The system dynamics are described by ...
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Control design for a fluid in a pipe with arbitrary cross-sectional area is considered. The position (resp. the velocity) of a piston moving within the tube acts as control input. The system dynamics are described by the so-called Saint-Venant equations defined on a varying spatial domain. The flatness-based approach is utilized in order to parameterize rest-to-rest transitions of the system by means of the water level at the uncontrolled boundary. This way the contribution extends previous results to systems with moving boundary. The proposed control scheme is validated in experimental studies.
In this paper, the vibration reduction of spacecraft with flexible appendages subject to external boundary disturbance and input restriction is focused on. Under Hamilton's principle, a spacecraft system with rest...
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ISBN:
(纸本)9781538672556
In this paper, the vibration reduction of spacecraft with flexible appendages subject to external boundary disturbance and input restriction is focused on. Under Hamilton's principle, a spacecraft system with restricted input is modeled as a set of partial differential equations (PDEs) and ordinary differential equations (ODEs). By Lyapunov direct method, a boundary control is developed to suppress the elastic deflection of flexible appendages. Two disturbance observers are developed to compensate fir the influences of external disturbances. Two auxiliary systems are considered for eliminating the influences of input constraints. The uniformly ultimate houndness stability of system states is proved under the designed boundary control. Numerical simulation is carried out to demonstrate the performance of the studied boundary control scheme.
Boundary control of oxidizing species at the cathode surface is considered in an electrochemical system, which is the plant of two electrodes and plant of three electrodes submerged in the stirred and unstirred electr...
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Boundary control of oxidizing species at the cathode surface is considered in an electrochemical system, which is the plant of two electrodes and plant of three electrodes submerged in the stirred and unstirred electrolytes. The exact feedforward controls are found using ideas of motion planning, Laplace transform and other techniques that in the end solve the inverse problem for the given time-variable reference of species at the cathode surface. The uncertainty of surface reaction existing in the system is suppressed with two modifications of controls. In the first case, the feedforward control is extended with a PI feedback that uses measured in the process electric current passing through the system. In the second case, an adaptive feedforward control is established for the case when the exchange current density is unknown drifting parameter and is estimated as it changes using a conditionally Gaussian filter. In both cases, the process control is simulated and revealed to be effective. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
A floating ocean thermal energy conversion (FOTEC) is investigated with considering the mooring dynamics and the effect of the external disturbances In this paper. The main contributions of this paper are to analyze a...
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ISBN:
(纸本)9781538672556
A floating ocean thermal energy conversion (FOTEC) is investigated with considering the mooring dynamics and the effect of the external disturbances In this paper. The main contributions of this paper are to analyze and describe the dynamics of the flexible string-beam-coupled system where the flexible pipe is with free motion, and to design boundary cooperative controls to position the vessel and reduce the deformation of the flexible pipe. The theoretic analysis and experimental experiments are made to present the effectiveness of the proposed cooperative control laws.
This paper focuses on observer design for the biologic system to estimate the sensitive population S. In fact, we synthesis two types of observer: the first one concerns this non-linear system when the state variables...
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ISBN:
(纸本)9781538653050
This paper focuses on observer design for the biologic system to estimate the sensitive population S. In fact, we synthesis two types of observer: the first one concerns this non-linear system when the state variables depend only on time (finite dimension). It is done by transforming the system into a form of extended nonlinear normal form observability. The second one is constructed while considering the development of modelisation researches where engineers propose a new model of the biological system which state variables depend on both time and space (infinite dimension). This system model is called distributed parameter system. The conception of the observer is based on the backstepping technique which transforms the original system into an exponentially stable error system.
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