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On Dwell Time Minimization for Switched Delay Systems: Time-Scheduled Lyapunov Functions

IFAC-PapersOnLine 2016年第10期49卷 37-40页

作者： Koru, Ahmet Taha Delibai, Akin Özbay, Hitay Mechatronics Engineering Department Yildiz Technical University stanbul Turkey Control and Automation Engineering Department Yildiz Technical University stanbul Turkey Electrical and Electronics Engineering Department Bilkent University Ankara Turkey

In the present paper, dwell time stability conditions of the switched delay systems are derived using scheduled Lyapunov-Krasovskii functions. The derivative of the Lyapunov functions are guaranteed to be negative semidefinite using free weighting matrices method. After representing the dwell time in terms of linear matrix inequalities, the upper bound of the dwell time is minimized using a bisection algorithm. Some numerical examples are given to illustrate effectiveness of the proposed method, and its performance is compared with the existing approaches. The yielding values of dwell time via the proposed technique show that the novel approach outperforms the previous ones. © 2016

关键词： Lyapunov functions Linear matrix inequalities Numerical methods Time delay Bisection algorithms Dwell time Free weighting matrices Lyapunov Krasovskii function Negative semi definite Switched delay systems Switched system Upper Bound

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Accelerometer Optimization Placement Using Improved Particle Swarm Optimization Algorithm Based on Structural Damage Identification

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IOP Conference Series: Materials Science and engineering 2018年第1期466卷

作者： Zhuoda Jiang Yang Gao Key Laboratory of Numerical Control of Jiangxi Province Jiujiang University Jiangxi China (332005 School of Mechatronics Engineering and Automation Shanghai University Shanghai China (200072

In this paper, an Accelerometer optimization arrangement method based on Structural Damage Identification (SDI) is proposed. Firstly, the method constructs a fitness function according to the selection of the optimal measuring point of the displacement mode based on SDI, which selects a group of points with the largest displacement. Secondly, the efficient intelligent optimization is adopted. The algorithm, the improved particle swarm optimization algorithm, searches for the optimal placement position of the sensor. Finally, the feasibility and effectiveness of the proposed method for sensor optimal placement and damage identification are verified by an example of the wheel frame structure. Simulation and experimental results demonstrate the effectiveness of the proposed method.

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The effects of parameter variation in open-loop and closed-loop control scheme for an electro-hydraulic actuator system

International Journal of Control and Automation

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International Journal of control and automation 2016年第11期9卷 283-294页

作者： Soon, C.C. Ghazali, R. Jaafar, H.I. Hussien, S.Y.S. Sam, Y.M. Rahmat, M.F. Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Hang Tuah Jaya Melaka76100 Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

It is well known that the electro-hydraulic actuator (EHA) system is exposed to the disturbances, uncertainties, and parameter variations which are caused by the changes in operating conditions for instance, total moving mass, supply pressure, servo-valve gain, bulk modulus, leakage coefficient, and friction. These problems pose to a great challenge in modelling and controller development for an EHA system. Degradation of the desired performance can be imposed if an improper control strategy is utilized. This paper discusses the fundamental study on the significant effect that leads to degradation of EHA system performance due to variation in the system parameters. A nonlinear EHA system model is developed and implemented in the simulation studies in open-loop and closed-loop control configuration. The finding shows that the servo-valve gain resulted the most influential parameters to the EHA system performance as compared to the total moving mass and supply pressure parameters. In order to overcome these issues, the utilized controller should be robust enough to overcome the entire operating range that against such disturbances, uncertainties, and parameter variations. Therefore, a nonlinear and the intelligent control approach may be necessary to be designed in order to overcome these difficulties. © 2016 SERSC.

关键词： Closed loop control systems

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Development of the vibration analysis and suppression technology for laser galvanometers based on inertial sensing technology

Development of the vibration analysis and suppression techno...

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SICE International Symposium on control Systems (ISCS)

作者： Wen-Chuan Chen Yu-Liang Hsu Po-Huan Chou Hsin-Hung Lee Hsing-Cheng Chang Shih-Chin Yang Chin-Sheng Chen Department of Automatic Control Engineering Feng Chia University Taichung Taiwan Institute of Automation Technology National Taipei University of Technology Taipei Taiwan Mechatronics Control Department Industrial Technology Research Institute Hsinchu Taiwan Department of Mechanical Engineering National Taiwan University Taipei Taiwan

ISBN: (纸本)9781509056149

This paper presents an inertial-sensing-based vibration analysis and suppression system for laser galvanometers. The functions of this system are to measure the vibrations during rotation motions of galvanometers and to design a comb filter for restraining the vibrations of the galvanometers effectively. The proposed system is composed of an intelligent motion control platform, a servo driver circuit, a galvanometer driver module, a galvanometer, and a MEMS piezoelectric accelerometer. The proposed system can measure the vibration signals generated by the galvanometer using the piezoelectric accelerometer and utilize the fast Fourier transformation (FFT) to analyze the vibration frequencies. Subsequently, a digital comb filter is designed to restrain the vibrations of the galvanometer based on the obtained vibration frequencies. Finally, the experimental results have successfully validated that the proposed inertial-sensing-based vibration analysis and suppression system, and the designed comb filter can measure, analyze, and restrain the vibrations of the galvanometer effectively and further improve the accuracy and stability of the laser galvanometer scanning system.

关键词： Vibrations Frequency measurement Resonant frequency Vibration measurement Mirrors Accelerometers Torque

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Design, implementation and control of dual axis self balancing inverted pendulum using reaction wheels

Design, implementation and control of dual axis self balanci...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Abdullah Türkmen M. Yusuf Korkut Mustafa Erdem Ömer Gönül Volkan Sezer Mechatronics Graduate Program Istanbul Technical University Istanbul TURKEY Energy Institute Istanbul Technical University Istanbul TURKEY Dept. of Control and Automation Engineering Istanbul Technical University Istanbul TURKEY

Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled.

关键词： Wheels Mathematical model DC motors Gravity State feedback Torque Aluminum

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Mean field differential games in intelligent transportation systems

Mean field differential games in intelligent transportation ...

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International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS)

作者： Alper Öner Tamer Başar Gülay Öke Günel Mechatronics Education and Research Center Istanbul Technical University Istanbul Turkey Coordinated Science Lab University of Illinois Urbana-Champaign Illinois USA Control and Automation Engineering Department Istanbul Technical University Istanbul Turkey

In this paper, we study Intelligent Transportation Systems (ITS) for future Smart Cities. We propose a new type of Automated Highway System (AHS), which optimizes both total consumed energy and travel time. We build on our previous work by adapting it to ITS as a new class of games, which is Mean Field (MF) Multilayer Stackelberg Games (MSG). In this game model, a leader (control Center) imposes its fixed strategy on all followers (Vehicles). However, the control Center cannot manipulate the vehicles directly. Instead, sub-leaders (Road Links) link up vehicles to the control center as an intermediary layer. Therefore, vehicles of each road link are weakly coupled through a Mean Field term, which affects the vehicles' individual costs. The main novelty in this paper is to consider the Mean Field Game for Automated Highway Systems in a Smart City. Because of the fact that there are no fully autonomous highways in cities, implementing new type the algorithm on ITS is nearly impossible for real life scenarios. Hence we have developed our highly realistic simulation environment, Istanbul Technical University City Transportation Simulator (ITUCiTSim) program. We demonstrate the effectiveness of the proposed method on ITUCiTSim.

关键词： Games Roads Smart cities Performance analysis Automated highways

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Indoor 3D scene reconstruction for mobile robots using Microsoft kinect sensor 35

Indoor 3D scene reconstruction for mobile robots using Micro...

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第35届中国控制会议

作者： LI Jiang-Wei ZHENG Ding-Fu GUAN Zhi-Hong CHEN Chao-Yang JIANG Xiao-Wei ZHANG Xian-He College of Automation Huazhong University of Science and Technology The Key Laboratory of Ministry of Education for Image Processing and Intelligent Control (Huazhong University of Science and Technology) School of Information and Electrical Engineering Hunan University of Science and Technology College of Mechatronics and Control Engineering Hubei Normal University

ISBN: (纸本)9781509009107

3D mapping for unknown environments is a crucial issue for mobile service robots,which has many important applications in navigation and path *** this paper,we use Microsoft kinect sensor mounted on a mobile robot to obtain3 D *** the process,consistent frames of RGB-D data are captured and *** Closest Point(ICP)algorithm and incremental registration method are employed to perform the fine ***,we use OctoMap to store 3D map of octree representation,an efficient data ***,our results demonstrate the practical applicability and effectiveness of the proposed approach.

关键词： 3D mapping Kinect OctoMap Mobile Robots

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Modeling and Iterative Learning control of a Circular Deformable Mirror

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IFAC-PapersOnLine 2017年第1期50卷 3117-3122页

作者： Cichy B. Augusta P. Gałkowski K. Rauh A. Aschemann H. Rogers E. Rehák B. Institute of Control and Computation Engineering University of Zielona Góra ul. Szafrana 2 Zielona Góra 65-516 Poland Institute of Information Theory and Automation The Czech Academy of Sciences Pod Vod´arenskou věží 4 Prague CZ-182 08 Czech Republic Chair of Mechatronics University of Rostock Justus-von-Liebig-Weg 6 Rostock D-18059 Germany Department of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom

An unconditionally stable finite difference scheme for systems whose dynamics are described by a fourth-order partial differential equation is developed using a regular hexagonal grid. The scheme is motivated by the well-known Crank-Nicolson discretization that was originally developed for second-order systems and it is used in this paper to develop a discrete in time and space model of a deformable mirror as a basis for control law design. As one example, the resulting model is used for iterative learning control law design and supporting numerical simulations are given. © 2017

关键词： control of partial differential equations Iterative learning control Linear systems N-dimensional systems Stability of distributed parameter systems

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Enhanced pid vs model predictive control applied to bldc motor

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IOP Conference Series: Materials Science and engineering 2018年第1期303卷

作者： M.S Gaya Auwal Muhammad Rabiu Aliyu Abdulkadir S.N.S Salim I.S Madugu Aminu Tijjani Lukman Aminu Yusuf Ibrahim Dauda Umar M.T.M Khairi Dept of Electrical Engineering Kano University of Science & TechnologyWudilNigeria Dept of Physics Kano University of Science & Technology Wudil Dept of Industrial Automation & Robotic Universiti Teknikal Malaysia Melaka Malaysia Dept of Electrical Engineering Bayero University Kano Nigeria Dept of Control & Mechatronics Universiti Teknologi Malaysia Skudai Nigeria

BrushLess Direct Current (BLDC) motor is a multivariable and highly complex nonlinear system. Variation of internal parameter values with environment or reference signal increases the difficulty in controlling the BLDC effectively. Advanced control strategies (like model predictive control) often have to be integrated to satisfy the control desires. Enhancing or proper tuning of a conventional algorithm results in achieving the desired performance. This paper presents a performance comparison of Enhanced PID and Model Predictive control (MPC) applied to brushless direct current motor. The simulation results demonstrated that the PSO-PID is slightly better than the PID and MPC in tracking the trajectory of the reference signal. The proposed scheme could be useful algorithms for the system.

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Design and Implementation of 3 Axis CNC Router for Computer Aided Manufacturing Courses

Design and Implementation of 3 Axis CNC Router for Computer ...

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2016年第七届机电一体化与制造业国际学术会议

作者： Mehmet Emin Aktan Nihat Akku? Abdurrahman Y?lmaz Erhan Akdo?an Y?ld?z Technical University Department of Mechatronics Engineering Marmara University Department of Mechatronics Engineering Istanbul Technical University Department of Control and Automation Engineering

In this paper,it is intended to make the mechanical design of 3 axis Computer Numerical control(CNC)router with linear joints,production of electronic control interface cards and drivers and manufacturing of CNC router system which is a combination of mechanics and *** the same time,interface program has been prepared to control router via *** router was developed for educational *** some vocational schools and universities,Computer Aided Manufacturing(CAM) courses are though rather *** situation cause ineffective and temporary ***,students at schools which have the opportunity to apply for these systems can face with various dangerous *** of this situation,these students start to get knowledge about this system forthe first *** the first steps of CNC education,using smaller and less dangerous systems will be easier.A new concept CNC machine and its user interface suitable and profitable for education have been completely designed and realized during this *** test the validity of the hypothesis which the benefits that may exist on the educational life,enhanced traditional education method with the contribution of the designed machine has been practiced on CAM course students for a *** the end of the semester,the new method applied students were more successful in the rate of 27.36 percent both in terms of verbal comprehension and exam grades.

关键词： Design and Implementation of 3 Axis CNC Router for Computer Aided Manufacturing Courses CNC

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