Recently, a regional MPC approach has been proposed that exploits the piecewise affine structure of the optimal solution (without computing the entire explicit solution before). Here, regional refers to the idea of us...
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This paper describes the control problem of a multi-degree nonlinear mechanical plant with an unknown disturbance. An unknown disturbance is represented as output of a linear autonomous model with unknown constant par...
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ISBN:
(数字)9781728196923
ISBN:
(纸本)9781728196930
This paper describes the control problem of a multi-degree nonlinear mechanical plant with an unknown disturbance. An unknown disturbance is represented as output of a linear autonomous model with unknown constant parameters. To solve the problem of adaptive disturbance compensation, an adaptive observer of external disturbance was applied. In this paper is proposed an algorithm of nonlinear robust control of a Lagrangian plant, synthesized on the integrator bypass method, combined with the evaluation of an adaptive disturbance observer. The simulation of the designed nonlinear robust control with an adaptive disturbance observer was held using MATLAB/Simulink.
This paper is concerned with the analysis of the L2 induced norm of continuous-time LTI systems where the input signals are restricted to be nonnegative. This induced norm is referred to as the L2+ induced norm in thi...
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Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle’s bodies may exceed its assigned drive lane, ...
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Maneuvering an articulated vehicle on narrow road stretches is often a challenging task for a human driver. Unless the vehicle is accurately steered, parts of the vehicle’s bodies may exceed its assigned drive lane, resulting in an increased risk of collision with surrounding traffic. In this work, an optimization-based path-planning algorithm is proposed targeting on-road driving scenarios for articulated vehicles composed of a tractor and a trailer. To this end, we model the tractor-trailer vehicle in a road-aligned coordinate frame suited for on-road planning. Based on driving heuristics, a set of different optimization objectives is proposed, with the overall goal of designing a path planner that computes paths which minimize the off-track of the vehicle bodies swept area, while remaining on the road and avoiding collision with obstacles. The proposed optimization-based path-planning algorithm, together with the different optimization objectives, is evaluated and analyzed in simulations on a set of complicated and practically relevant on-road planning scenarios using the most challenging tractor-trailer dimensions.
In drilling processes, non-stationary phases corresponding to shifts between operating conditions and changes in downhole formations typically lead to false alarms. Extracting these frequent event patterns is critical...
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In drilling processes, non-stationary phases corresponding to shifts between operating conditions and changes in downhole formations typically lead to false alarms. Extracting these frequent event patterns is critical to build drilling process monitoring and fault diagnosis models. This study aims to extract the frequent event patterns associated with non-stationary phases in drilling time series. In this way, diversified information related to signal changes under normal conditions can be obtained, which is beneficial for suppressing false alarms and improving fault detection performance. The main contributions of this study are twofold: 1) a non-stationary phase detection method is proposed to extract drilling frequent event patterns based on t -distributed stochastic neighbor embedding and relative unconstrained least-squares importance fitting; 2) an event sequence generation method is proposed to express drilling frequent event patterns with a group of symbols. The effectiveness of the proposed method is demonstrated by data from a real drilling project.
There is a significant consolidation of IT fraudsters in modern conditions, so the definition of fraudulent sites is a relevant applied study. On the basis of the conducted researches the basic parameters which can be...
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control of unstable plants is very important issue both for technical and for research fields of knowledge. This paper describes the design of laboratory test bench and microcontroller based control system with comput...
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ISBN:
(数字)9781728196923
ISBN:
(纸本)9781728196930
control of unstable plants is very important issue both for technical and for research fields of knowledge. This paper describes the design of laboratory test bench and microcontroller based control system with computer vision application for the ball and beam system stabilization research The goal of microcontroller based control system is to bring the ball to desired equilibrium spot of beam and maintain its position under external disturbances. Ball tracking system is based upon the infrared camera with infrared projector application, beam inclination angle changes with servomotor and control system is written on C language for AVR microcontroller.
This paper deals with the design and implementation of adaptive nonlinear predictive control (NMPC). The resulting control system is deployed on a softPLC embedded target in real-time via the REXYGEN control system. T...
This paper deals with the design and implementation of adaptive nonlinear predictive control (NMPC). The resulting control system is deployed on a softPLC embedded target in real-time via the REXYGEN control system. The paper describes functional prototype using softPLC hosting the NMPC algorithm applied for a nonlinear system consisting of three coupled tanks. The NMPC algorithm is solved via the receding horizon control method (RHC), formulated as a nonlinear programming problem (NLP) and numerically computed using the SOLNP solver. The adaptivity is provided by online identification via moving horizon estimation (MHE), keeping the model updated to avoid a model-plant mismatch. The methodology described in this paper can be easily transferred to a wider group of industrial nonlinear processes. Such created control unit can run in a standalone mode or can be connected to some exiting control system providing a necessary computational power and thus upgrading the quality of control significantly.
A cost-effective IoT-based real-time data acquisition and analysis hardware system was developed to enhance the performance of the mobile harbor cranes using a combination of a cost-effective quality control monitorin...
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A cost-effective IoT-based real-time data acquisition and analysis hardware system was developed to enhance the performance of the mobile harbor cranes using a combination of a cost-effective quality control monitoring sensor dashboard (proximity sensors, angle position sensor, weight sensor, vibration sensor, and wind sensor), embedded microcontroller (Arduino), and embedded computer (Raspberry Pi). Hardware was operated using a specially developed novel Quality control and Data Acquisition Multiprocessing software (QC-DAS). The QC-DAS can automatically collect and save real-time data of the sensors in a large-capacity SD card, monitor the state of health of the hardware, and transmit the real-time data of the sensors and the working state of the crane to an IoT server. The novelty of the QC-DAS design is that each function is encapsulated in a predefined module that is “immersed” in a message transmission medium. Modules interact by sending and receiving various signals through this medium. Modularity makes system design simpler, faster, and flexible. Thanks to modularity, users may incorporate their data processing modules when new sensors are added to match the system's needs. Thanks to modularity the DC-DAS can operate quality control hardware for any mobile cranes. There are several constraints in the quality control data acquisition system used by the Damietta Port Authority in Damietta, Egypt, SESCO TRANS company which cause the loading and unloading process to be slowed down. As a result, the SESCO TRANS company upgraded its quality control data acquisition system using the QC-DAS. The hardware was deployed for six months, during which the collected data was used to verify the crane's performance. The vibration produced by the slewing of the crane was monitored and compared with the bearing fault frequency limits, during the operation the wind speed was monitored and compared with the critical wind speed to stop the crane operation automatically, and the pa
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