In this study, the effects of fractional and integer order fuzzy logic PID controllers on system performances are investigated. In that respect, linear and nonlinear fuzzy decision rule bases are taken into considerat...
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In this study, the effects of fractional and integer order fuzzy logic PID controllers on system performances are investigated. In that respect, linear and nonlinear fuzzy decision rule bases are taken into consideration. To be fair on comparison, the parameters of the controllers are all optimized using BBBC optimization algorithm according ITSE performance index. This investigation is done on second order linear system with time delay since many high order systems may be represented by this model. Moreover, further study is done on a nonlinear benchmark system. It has been observed that linear decision surface in both controllers generally gives better performance than nonlinear decision surface. It is concluded that nonlinearity of fractional operators is more effective than the nonlinearity produced by fuzzy rule base.
In this study, we investigated the validity of using a two-dimensional gait analysis system, which employed industrial cameras and a custom-developed Inertial Measurement Unit system, compared to the gold standard thr...
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Quadruped robotics system possesses superior trafficability. However, path planning for these robots in complex environments continues to present challenges. We propose a DR-Informed-RRT* (Dual-attached and reconstruc...
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In order to disguise and hide themselves better, warships and submarines are equipped with degaussing windings. But, with the development of warship degaussing technology, more and more degaussing coils are being adop...
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In order to disguise and hide themselves better, warships and submarines are equipped with degaussing windings. But, with the development of warship degaussing technology, more and more degaussing coils are being adopted. Thus, conventional methods for calibrating the degaussing system are increasingly difficult to implement. Combining incomplete evolution of every particle swarm and the idea of compressing the space, the evolution of LDW-PSO and space compression is done alternately, until the global optimization solution is got. Through the incomplete evolution of LDW-PSO algorithm, adequate preferable information is got to provide the foundation to reduce the searching space; the collective decision-making of the elite particle group is used to decide the scope of the new space. Taking some warship as an example, the proposed method was applied to adjust the degaussing system and the optimized calibrating mathematical model and optimization results are given. Simulation results are presented, which shows that this algorithm is advantageous to others, in terms of minimizing the vessel degaussing magnetic signature RMS value and peak value, and that this method can be used to optimize one parameter or combinational parameters that relate to the vessel or submarine's magnetic signature, so the vessel or submarine degaussing system is calibrated to an optimal state, and the vessel or submarine's magnetic safety is ensured. Furthermore, this optimization algorithm has many advantages, such as intuitional algorithm, simple programming, high calculating speed, which makes easy collaborating multi-computer and applying it to real project.
作者：
Tufan KumbasarIstanbul Technical University
Faculty of Electrical and Electronics Engineering Control and Automation Engineering Department Maslak TR-34469 Istanbul Turkey
A model-based controller architecture for fault-tolerant control (FTC) is presented in this paper. The controller architecture is based on the Youla-Jabr-Bongiorno-Kucera (YJBK) parameterization. The FTC architecture ...
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A model-based controller architecture for fault-tolerant control (FTC) is presented in this paper. The controller architecture is based on the Youla-Jabr-Bongiorno-Kucera (YJBK) parameterization. The FTC architecture consists of two central parts, fault detection and isolation (FDI) part and a controller reconfiguration part. The theoretical basis for the architecture will be given followed by an investigation of the single parts in the architecture. At last, system interconnection will be considered with respect to the described controller architecture.
In order to adapt to the complex disaster environment, this paper considers the system design of hexapod search and rescue robot. Such hexapod robot is suitable to different kinds of roads and obstacle, which can avoi...
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Irrational-behavior-proof(IBP) conditions are important aspects to keep stable cooperation in dynamic cooperative games. In this paper, we focus on the establishment of IBP ***, the relations of three kinds of IBP con...
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Irrational-behavior-proof(IBP) conditions are important aspects to keep stable cooperation in dynamic cooperative games. In this paper, we focus on the establishment of IBP ***, the relations of three kinds of IBP conditions are described. An example is given to show that they may not hold, which could lead to the fail of cooperation. Then, based on a kind of limit characteristic function, all these conditions are proved to be true along the cooperative trajectory in a transformed cooperative game. It is surprising that these facts depend only upon the individual rationalities of players for the Shapley value and the group rationalities of players for the core. Finally,an illustrative example is given.
The paper presents results of research with the new predictive autopilot structure (PIP+D) with gain scheduling. The autopilot is tested and compared with conventional PID autopilot for a mariner class ship. The autop...
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The paper presents results of research with the new predictive autopilot structure (PIP+D) with gain scheduling. The autopilot is tested and compared with conventional PID autopilot for a mariner class ship. The autopilot parameters are changed with the speed of the ship using the gain scheduling technique. Results obtained during the research show that the proposed autopilot structure is to be recommended if improved performance is of prime interest, when the velocity of the ship is changing. The analysis is based on the simulation of a mariner class ship as a nonlinear system, with the steering servo system taken as a nonlinear model. Results of the simulation are included.
This work describes a control and supervision application takes into account the virtual instrumentation advantages to control and supervision industrial manufacturing stations belonging to the modular production syst...
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This work describes a control and supervision application takes into account the virtual instrumentation advantages to control and supervision industrial manufacturing stations belonging to the modular production system MPS® by Festo. These stations integrate sensors, actuators, conveyor belt and other industrial elements. The focus in this approach was to replace the use of programmable logic controllers by a computer equipped with a software application based on Labview and, together, performs the functions of traditional instruments and PLCs. The manufacturing stations had their processes modeled and simulated in Petri nets. After the models were implemented in Labview environment. Tests and previous similar works in MPS® installed in automation Laboratory, at UNESP Sorocaba campus, showed the materials and methods used in this work allow the successful use of virtual instrumentation. The results indicate the technology as an advantageous approach for the automation of industrial processes, with gains in flexibility and reduction in project cost.
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