In this paper, a novel control method of the redundant force branch based on the force/position hybrid control structure of Smith predictor compensation is proposed. A fuzzy PI controller is designed based on Smith pr...
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In this paper, a novel control method of the redundant force branch based on the force/position hybrid control structure of Smith predictor compensation is proposed. A fuzzy PI controller is designed based on Smith predictor compensation structure and it is included in the redundant force branch. This method can obtain good tracking and dynamic performance. However, fuzzy control doesn't have self-learning and adaptive ability, so fuzzy neural network (FNN) controller is used in the redundant force branch. The simulation results show that the proposed FNN algorithm based on delay compensation force/position hybrid control structure can improve the adaptability and the control accuracy of driving force of redundant branch.
The last few decades have witnessed over exploitation of natural resources by humans and this has led to various types of pollution including air pollution thereby leading to global warming. Aviation industry is one t...
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ISBN:
(纸本)9781728136950
The last few decades have witnessed over exploitation of natural resources by humans and this has led to various types of pollution including air pollution thereby leading to global warming. Aviation industry is one the contributors to the aforementioned problem. This paper is intended to represent the utilization of a renewable source of energy i.e. solar energy to extend the flight of a small aircraft, thereby reducing pollution and marching towards sustainable development. An aircraft is made with a solar panel consisting of Photo-Voltaic Cells installed on its wings that not only utilizes the sun's radiation for immediate use but it also stores the remaining part of energy by charging the attached battery for the flight duration during night and cloudy weather. Thus, the science of photo-voltaic is used in conjunction with the aerodynamics which helps in the flight of the aircraft.
This paper develops novel procedures for design of iterative learning control schemes applied to spatially interconnected systems. In particular, differential linear repetitive process stability theory is used to desi...
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ISBN:
(数字)9781728113982
ISBN:
(纸本)9781728113999
This paper develops novel procedures for design of iterative learning control schemes applied to spatially interconnected systems. In particular, differential linear repetitive process stability theory is used to design stabilizing and learning controllers for spatially interconnected systems composed of a finite number of linear continuous-time subsystems, where each one directly interacts with neighbouring subsystems. control law design is based on linear matrix inequality computations. Specifically, sufficient conditions for the existence of the required decentralized controllers are developed together with a design algorithm for the associated control law matrices. A simulation based case study on periodically interconnected subsystems in one spatial dimension is given to demonstrate the feasibility and effectiveness of the new design.
Recently, cloud computers are widely used due to the development of computing environment and network speed. Unikernel is considered to be an attractive operating system in the manycore environment that effectively pr...
Recently, cloud computers are widely used due to the development of computing environment and network speed. Unikernel is considered to be an attractive operating system in the manycore environment that effectively provides cloud computers. HalVM is a unikernel coded in Haskell. In this paper, we analyze the performance of Haskell running in a unikernel, which has shown good parallel programming performance in a manycore environment. In this paper, we analyze the performance of Haskell running in a unikernel, while Haskell has shown good performance in a manycore environment. To do this, we select HaLVM as the target operating system and analyze the performance by testing various Haskell parallel programming models. Test result shows that HaLVM is scalable only on IVC. We also implement a library to make programming with IVC more convenient, and use this library to compare extensibility experiments. Our test shows HaLVM's scalability is 112.42% higher than Linux environment.
DC motor has as a key aspect of industrial applications. Thus, due to their high performance, BLDC motors are preferred as a small horsepower motor. However, it is hard to acquire the good controlling performance with...
DC motor has as a key aspect of industrial applications. Thus, due to their high performance, BLDC motors are preferred as a small horsepower motor. However, it is hard to acquire the good controlling performance with traditional tuning approaches in order to solve the speed control. This paper provides an approach of determining the optimum control parameters of PID for the BLDC speed control using the Ant Colony Optimization (ACO), which is an intelligent algorithm based on feeding behavior of the swarm. The efficiency and validity of the design method based on ACO are shown in the Simulation outcomes.
This article was published online on December 15, 2023, with errors in the author and affiliation lists; several authors were linked to incorrect affiliations.
This article was published online on December 15, 2023, with errors in the author and affiliation lists; several authors were linked to incorrect affiliations.
Optimization issues are of great importance to both the industrial and scientific worlds. Artificial Fish Swarm Algorithm (AFSA) is a clever optimization algorithm founded on a behaviour inspired by the nature. The en...
Optimization issues are of great importance to both the industrial and scientific worlds. Artificial Fish Swarm Algorithm (AFSA) is a clever optimization algorithm founded on a behaviour inspired by the nature. The enhanced artificial fish swarm algorithm (EAFSA), settled on chaotic model, is applied to optimize the Proportional Integral Derivatives PID parameters, which increases the dynamic of the tuning mechanism and improves its fundamental behaviour. The simulation results show that this optimization algorithm gives faster response, shorter adjustment time and smaller overshoot.
We present a technique for kernel-based identification of Wiener systems. We model the impulse response of the linear block with a Gaussian process. The static nonlinearity is modeled with a combination of basis funct...
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Active prosthetic devices have been controlled using several methods such as Echo control, EMG signal based Position control and Finite State Machine (FSM) based Impedance/Compliance control. This manuscript proposes ...
Active prosthetic devices have been controlled using several methods such as Echo control, EMG signal based Position control and Finite State Machine (FSM) based Impedance/Compliance control. This manuscript proposes Virtual Constraint control of active prosthesis which obviates any need for the classification of EMG signals, identification of the gait phase for state switching and potentially avoids an exhaustive procedure for the tuning of impedance parameters. In this paper, a Discrete Fourier Transform (DFT) based Virtual Constraint control is presented to characterize the ankle-foot joint trajectory as a function of the human-inspired phase variable in a unified manner. An optimization-based algorithm is employed for the robust generation of continuously monotonic and linear phase variable for DFT based Virtual Constraint control. The results are generalized across various walking speeds for a specific user during the level ground walking.
In this paper, we study a distributed parameter estimation problem with an asynchronous communication protocol over multi-agent systems. Different from traditional time-driven communication schemes, in this work, data...
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