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International Conference of Soft Computing and Pattern Recognition (SOCPAR)

作者： Mohd Shahrieel Mohd Aras Syed Najib Bin Syed Salim Eric Chee Sai Hoo Intan Azmira binti Wan Abd Razak Mohd Hendra bin Hairi Department of Mechatronics Faculty of Electrical Engineering UTeM Malacca Malaysia Faculty of Electrical Engineering UTeM Malacca Malaysia Department of Power Faculty of Electrical Engineering UTeM Malacca Malaysia Department of Control & Automation Faculty of Electrical Engineering UTeM Malacca Malaysia

This paper presents a fuzzy logic control for a speed control of DC induction motor. The simulation developed by using Fuzzy MATLAB Toolbox and SIMULINK. The fuzzy logic controller is also introduced to the system for keeping the motor speed to be constant when the load varies. Because of the low maintenance and robustness induction motors have many applications in the industries. The speed control of induction motor is more important to achieve maximum torque and efficiency. The result of the 3×3 matrix fuzzy control rules and 5×5 matrix fuzzy control rules of the theta and speed will do comparison in this paper. Observation the effects of the fuzzy control rules on the performance of the DC-induction motor-speed control.

关键词： Fuzzy control MATLAB Shape Curve fitting Phase detection Image segmentation Iterative algorithms Pattern recognition Information science Data mining

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Initial state compensation of repetitive controller

Initial state compensation of repetitive controller

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World Congress on Intelligent control and automation (WCICA)

作者： Xu Guangjie Bian Runqiang Li Yusen Wang Zhimin She Jin-Hua M. Nakano Department Automation Tianjin Institute of Technology Tianjin China Mechatronics Department Tokyo Engineering University Hachioji Tokyo Japan Department of Control System Engineering Tokyo Institute of Technology Meguro Tokyo Japan

A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexi... 详细信息

关键词： control systems Digital control Transient response Automatic control Delay effects Performance analysis State-space methods Design automation Electronic mail Computer industry

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Identification of Hammerstein-Wiener ARMAX Systems Using Extended Kalman Filter

Identification of Hammerstein-Wiener ARMAX Systems Using Ext...

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2011 Chinese control and Decision Conference（CCDC）

作者： M.Mansouri H.Tolouei M.Aliyari Shoorehdeli Intelligent System Laboratory (ISLAB) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringControl departmentK.N.Toosi University of Technology Advanced Process Automation & Control Laboratory (APAC) faculty of Electrical EngineeringMechatronics departmentK.N.Toosi University of Technology

In this study,Extended Kalman Filter (EKF) algorithm is developed to estimate the parameters of Hammerstein-Wiener (H-W) ARMAX *** basic idea is to estimate the original parameters of the identification model,which are appeared in the form of product terms,***,other algorithms like Extended Forgetting Factor Stochastic Gradient (EFG),Extended Stochastic Gradient (ESG),Forgetting Factor Recursive Least Square (FFRLS) and Kalman Filter (KF),estimate parameters in the product form and they need another algorithms such averaging method (AVE method),singular value decomposition method (SVD method) to separate the ***,the computational complexity of the proposed approach *** show the efficiency of this method the results are compared with EFG and ESG method.

关键词： Hammerstein-Wiener model,Extended Kalman Filter algorithm,Extended Stochastic Gradient algorithm,Extended Forgetting Factor Stochastic Gradient algorithm

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Real-Time Implementation of MEKF using VDPL Localization Algorithm by Utilizing MATLAB & ROS Communication

Real-Time Implementation of MEKF using VDPL Localization Alg...

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Innovations in Intelligent Systems and Applications Conference

作者： Ozan Vahit Altinpinar Emre Can Contarlı Volkan Sezer Department of Mechatronics Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul TURKEY Department of Control and Automation Engineering Smart and Autonomous Systems Laboratory Istanbul Technical University Istanbul TURKEY

ISBN: (数字)9798350379433

ISBN: (纸本)9798350379440

Mobile robots, which are produced to fulfill certain tasks to make our lives easier, are becoming more and more common in our environment day by day. In the long run, these robots can be more cost-effective, faster, and more efficient than humans in accomplishing tasks. In order for mobile robots to fulfill the tasks, they need to be able to safely navigate to specific destinations without hitting obstacles. Safely reaching a given goal most accurately and shortly is the problem of autonomy. This autonomy problem is divided into sub-problems and algorithms are needed to solve each sub-problem. The main sub-problems in the field of autonomy are localization, mapping, local planning, and global planning. The main purpose of this paper is to describe how the position information computed by a MEKF (Modified Extended Kalman Filter) localization algorithm using the VDPL (Virtual Dynamic Point Landmark) algorithm, which was previously designed in MATLAB, is published to the ROS environment via a topic. This position information can be used together with the local and global planning algorithms in the navigation stack to realize fully autonomous driving capability in a real-time environment. Using these algorithms, full-autonomous driving tests were conducted on the Turtlebot3 mobile robot in a real-time environment according to a predefined scenario. The performance results of both simulation and real-world tests show that the MEKF using the VDPL algorithm outperforms the AMCL algorithm in the navigation stack in both cases.

关键词： Location awareness Technological innovation Navigation Heuristic algorithms Real-time systems Planning Mobile robots Kalman filters MATLAB Intelligent systems

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Super-k: A piecewise linear classifier based on Voronoi tessellations

arXiv

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arXiv 2020年

作者： Zengin, Rahman Salim Sezer, Volkan Department of Mechatronics Engineering Istanbul Technical University Istanbul Turkey Department of Control and Automation Engineering Istanbul Technical University Istanbul Turkey Autonomous Mobility Group Electrical and Electronics Engineering Faculty Istanbul Technical University Istanbul Turkey

Voronoi tessellations are used to partition the Euclidean space into polyhedral regions, which are called Voronoi cells. Labeling the Voronoi cells with the class information, we can map any classification problem into a Voronoi tessellation. In this way, the classification problem changes into a query of just finding the enclosing Voronoi cell. In order to accomplish this task, we have developed a new algorithm which generates a labeled Voronoi tessellation that partitions the training data into polyhedral regions and obtains interclass boundaries as an indirect result. It is called Supervised k-Voxels or in short Super-k. We are introducing Super-k as a foundational new algorithm and opening the possibility of a new family of algorithms. In this paper, it is shown via comparisons on certain datasets that the Super-k algorithm has the potential of providing comparable performance of the well-known SVM family of algorithms with less complexity. Copyright © 2020, The Authors. All rights reserved.

关键词： Piecewise linear techniques

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Novel Cascaded Incremental Nonlinear Dynamic Inversion controller Approach for a Tiltrotor VTOL

Novel Cascaded Incremental Nonlinear Dynamic Inversion Contr...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Mark Henkenjohann Udo Nolte Christian Henke Ansgar Trächtler Scientific Automation Fraunhofer Institute for Mechatronic Systems Design Paderborn Germany Chair for Control Engineering and Mechatronics Paderborn University Heinz Nixdorf Institute Paderborn Germany

This paper presents a novel cascaded incremental nonlinear dynamic inversion (INDI) flight controller approach for a tiltrotor VTOL. The main focus is the adaption of INDI to a specific tiltrotor VTOL configuration aiming for optimal exploitation of the actuator capabilities combined with the advantages of a cascaded INDI. For this purpose the tilt angle of the overall thrust vector with respect to the aircraft is introduced as important connection between two cascaded INDIs: For the outer INDI linearizing translational dynamics this serves as virtual control variable. For the inner INDI linearizing rotational dynamics this variable is a pseudo control input. Thus, the tilt mechanisms of the aircraft can be utilized creating rotational and translational dynamics in a cascaded INDI approach linearizing translational and rotational dynamics separately. The approach is evaluated in simulation studies focusing on functionality, linearization and decoupling.

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Smooth Pick-up of Freewheeling PMSM Using EKF-Based Method for Position Sensorless control

Smooth Pick-up of Freewheeling PMSM Using EKF-Based Method f...

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automation, control and Robots (ICACR), International Conference on

作者： Nils Werner Wilcken Martin Grotjahn Thomas Eutebach Institute of Engineering Design Mechatronics and Electromobility (IKME) University of Applied Sciences and Arts Hannover Germany RDS Motion Control Lenze Automation GmbH Aerzen Germany

ISBN: (数字)9781728192079

ISBN: (纸本)9781728192086

In this paper, a new extended Kalman filter (EK) based rotor position observer for permanent magnet synchronous machines (PMSM) is presented. With this method, just one single EKF is sufficent to evaluate the position information from EMF and anisotropy. Thus, PMSM can be controlled in the entire speed range without a position sensor and without the need to switch or synchronize between different observers. Furthermore, the phase delay in the feedback path of the control loop is reduced. With the increased accuracy of the estimated rotor position and speed, the resulting control behavior is optimized. This makes a smooth pick-up of freewheeling PMSM possibly, even if starting conditions are unknown. Demonstrated by measurements, the position sensorless control behavior shows an optimized dynamic.

关键词： Rotors Observers Mathematical model Current measurement Anisotropic magnetoresistance Switches Synchronization

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controller Dynamic Linearization Based Data-Driven Adaptive control for a Vapor-Compression Refrigeration System

Controller Dynamic Linearization Based Data-Driven Adaptive ...

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Data Driven control and Learning Systems (DDCLS)

作者： Jingyu Fang Xian Yu Shuangshuang Xiong College of Mechatronics and Control Engineering Shenzhen University Shenzhen School of Automation Beijing Information Science and Technology University Beijing P. R. China

ISBN: (数字)9798350361674

ISBN: (纸本)9798350361681

This paper applies a data-driven adaptive control method to a benchmark of vapor compression refrigeration system based on the controller dynamic linearization method. Two controllers, namely, a single-input single-output controller and an extended multiple-input multiple-output controller, are designed to track the exit temperature of the evaporator secondary flux and the refrigerant superheat at the evaporator exit, by controlling the valve opening of the evaporator, and the compressor speed. Both the controllers entirely rely on input-output data of the controlled system in the controller design. Comparative results between the applied data-driven adaptive control and the default PID control provided by the benchmark demonstrate the effectiveness of the two designed controllers.

关键词： Learning systems PI control Benchmark testing Valves Temperature control Refrigeration PD control

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Neural Network Regression Analysis of Magnetic Sensor Data for Spatial Magnet Positioning

Neural Network Regression Analysis of Magnetic Sensor Data f...

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Electrical, Electronic and Computing engineering (IcETRAN), International Conference on

作者： Vladimir Sibinović Mirko Raković Department of Automatic Control Faculty of Electronic Engineering University of Niš Niš Serbia Chair of Mechatronics Robotics and Automation Faculty of Technical Science Novi Sad Serbia

ISBN: (数字)9798350386998

ISBN: (纸本)9798350387001

This paper deals with the magnet position estimation based on the measurements from multiple Hall sensors. Estimation of the position is obtained from trained artificial neural networks. Data are gathered using a custom sensor board that has eight three-axis Hall sensors on it, and correlation between magnetic field and position was determined to be able to estimate position in X and Y directions. First measurements were made to determine the optimal height of the magnet for later data gathering. The outcome of the research was evaluated by comparing the ground truth with the estimated values of the best-trained network to determine the error of estimation. Precise measurement of the position of the magnet is intended to be used for the development of a tactile sensor that estimates the contact force through the displacement of the magnet in the deformable layer.

关键词： Magnetic field measurement Systematics Magnetic sensors Layout Estimation Tactile sensors Artificial neural networks

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Super-klust: Another way of piecewise linear classification

arXiv

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arXiv 2021年

With our previous study, the Super-k algorithm, we have introduced a novel way of piecewise-linear classification. While working on the Super-k algorithm, we have found that there is a similar, and simpler way to explain for obtaining a piecewise-linear classifier based on Voronoi tessellations. Replacing the multidimensional voxelization and expectation-maximization stages of the algorithm with a distance-based clustering algorithm, preferably k-means, works as well as the prior approach. Since we are replacing the voxelization with the clustering, we have found it meaningful to name the modified algorithm, with respect to Super-k, as Supervised k Clusters or in short Super-klust. Similar to the Super-k algorithm, the Super-klust algorithm covers data with a labeled Voronoi tessellation, and uses resulting tessellation for classification. According to the experimental results, the Super-klust algorithm has similar performance characteristics with the Super-k algorithm. Copyright © 2021, The Authors. All rights reserved.

关键词： Piecewise linear techniques

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