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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Waschl, Harald Jørgensen, John Bagterp Huusom, Jakob Kjøbsted Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria Department of Applied Mathematics and Computer Science Technical University of Denmark Denmark Department of Chemical and Biochemical Engineering Technical University of Denmark Denmark

ISBN: (纸本)9783902823625

Model predictive control has become a widely accepted strategy in industrial applications in the recent years. Often mentioned reasons for the success are the optimization based on a system model, consideration of constraints and an intuitive tuning process. However, as soon as unknown disturbances or model plant mismatch have to be taken into account the tuning effort to achieve offset-free tracking increases. In this work a novel approach for offset-free MPC is presented, which divides the tuning in two steps, the setup of a nominal MPC loop and an external reference adaptation. The inner nominal loop addresses the performance targets in the nominal case, decouples the system and essentially leads to a first order response. The second outer loop enables offset-free tracking in case of unknown disturbances and consists of feedback controllers adapting the reference. Due to the mentioned properties these controllers can be tuned separate and by known guidelines. To address conditions with active input constraints, additionally a conditional reference adaptation scheme is introduced. The tuning strategy is evaluated on a simulated linear Wood-Berry binary distillation column example. © IFAC.

关键词： Predictive control systems

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A Tuning Approach for Offset-free MPC with Conditional Reference Adaptation

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IFAC Proceedings Volumes 2014年第3期47卷 3062-3067页

作者： Harald Waschl John Bagterp Jørgensen Jakob Kjøbsted Huusom Luigi del Re Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria Department of Applied Mathematics and Computer Science Technical University of Denmark Denmark Department of Chemical and Biochemical Engineering Technical University of Denmark Denmark

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Multivariable PID controllers for dynamic process

Multivariable PID controllers for dynamic process

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Asian control Conference

作者： M.C. Razali N. A. Wahab P. Balaguer M. F. Rahmat S. I. Samsudin Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Malaysia Department of Industrial Systems and Design Universitat Jaume I de Castello Spain Department of Industrial Electronic Faculty of Electronics and Computer Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Malaysia

ISBN: (纸本)9781467357661

This paper is concerned with the design of a dynamic multivariable PID control for multi input multi output (MIMO) process. Four multivariable PID control schemes using Davison, Penttinen-Koivo, Maciejowski and a combined method were applied. The controller parameters for all control strategies were designed based on dynamic condition using singularly perturbed system. The purpose of the study is to investigate the effectiveness in the performance of dynamic control based on different multivariable PID control strategies. To attain the best result, numerous tuning parameters were tested. The simulation results show the significance of the study whereby the proposed dynamic MPID control scheme shows better improvement in control tuning of nonlinear system.

关键词： Process control Substrates Tuning PD control MIMO Wastewater treatment

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Iterative learning control in health care: Electrical stimulation and robotic-assisted upper-limb stroke rehabilitation

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IEEE control systems 2012年第1期32卷 18-43页

作者： Freeman, Chris T. Rogers, Eric Hughes, Ann-Marie Burridge, Jane H. Meadmore, Katie L. School of Electronics and Computer Science University of Southampton United Kingdom School of Electronics and Computer Science University of Southampton Southampton SO17 1BJ United Kingdom Department of Control Systems Theory and Design School of Electronics and Computer Science University of Southampton United Kingdom Faculty of Health Sciences University of Southampton United Kingdom

Research into conventional therapy and motor learning theory provides evidence that the intensity of practice of a task and feedback are important for iterative control of health care. Iterative learning control (ILC) is one model-based approach to stroke rehabilitation that has progressed to a program of clinical trials, which constitute the first major stage towards the eventual transfer into practice. ILC exploits the repeating nature of the patients' tasks to improve performance by learning from past experience as compared with other approaches employed to control FES. ILC is able to respond to physiological changes in the system, such as spasticity and the presence of a patient's voluntary effort by updating the control input using data collected over previous attempts at the task. ILC can also closely regulate the amount of stimulation supplied, ensuring that minimum assistance is provided, promoting the patient's maximum voluntary contribution to the task completion.

关键词： Health care

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Active vibration control of a light and flexible stress ribbon footbridge using pneumatic muscles

Active vibration control of a light and flexible stress ribb...

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作者： Bleicher, A. Schauer, T. Valtin, M. Raisch, J. Schlaich, M. Conceptual and Structural Design Department of Civil and Structural Engineering Berlin Germany Control Systems Group Department of Electrical Engineering and Computer Science Berlin Germany

ISBN: (纸本)9783902661937

This paper describes the development of an active vibration control system for a light and flexible stress ribbon footbridge. The 13 m span Carbon Fiber Reinforced Plastics (CFRP) stress ribbon bridge was built in the laboratory of the department of Civil and Structural Engineering, Berlin Institute of Technology. Its lightness and flexibility result in high vibration sensitivity. To reduce pedestrianinduced vibrations, very light pneumatic muscle actuators are placed at handrail level introducing control forces. First, a reduced discretized analytical model is derived for the stress ribbon bridge. To verify the analytical prediction, experiments without feedback control are conducted. Based on this model, a velocity feedback control strategy is designed to actively control first mode vibrations. To handle the nonlinearities of the muscle actuator a subsidiary nonlinear force controller is implemented based on exact linearisation methods. The stability of the entire closed-loop system with actuator saturation is investigated by the Popov Criterion. control performance is verified by experiments. It is demonstrated that handrail introduced forces can efficiently control the first mode response. © 2011 IFAC.

关键词： Closed loop systems

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Active vibration control of a light and flexible stress ribbon footbridge using pneumatic muscles

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IFAC Proceedings Volumes 2011年第1期44卷 911-916页

作者： A. Bleicher T. Schauer M. Valtin J. Raisch M. Schlaich Berlin Institute of Technology (TU Berlin) Berlin Germany Chair of Conceptual and Structural Design Department of Civil and Structural Engineering Control Systems Group Department of Electrical Engineering and Computer Science

Abstract This paper describes the development of an active vibration control system for a light and flexible stress ribbon footbridge. The 13 m span Carbon Fiber Reinforced Plastics (CFRP) stress ribbon bridge was built in the laboratory of the department of Civil and Structural Engineering, Berlin Institute of Technology. Its lightness and flexibility result in high vibration sensitivity. To reduce pedestrian-induced vibrations, very light pneumatic muscle actuators are placed at handrail level introducing control forces. First, a reduced discretized analytical model is derived for the stress ribbon bridge. To verify the analytical prediction, experiments without feedback control are conducted. Based on this model, a velocity feedback control strategy is designed to actively control first mode vibrations. To handle the nonlinearities of the muscle actuator a subsidiary nonlinear force controller is implemented based on exact linearisation methods. The stability of the entire closed-loop system with actuator saturation is investigated by the Popov Criterion. control performance is verified by experiments. It is demonstrated that handrail introduced forces can efficiently control the first mode response.

关键词： active vibration control light-weight structure stress ribbon bridge pedestrian induced vibration pneumatic muscle actuator velocity feedback control exact linearization

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Wavelet autoregressive forecasting of climatic parameters for photovoltaic systems

Wavelet autoregressive forecasting of climatic parameters fo...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： Chokri Ben Salah Anouar Ben Mabrouk Mohamed Ouali Research Unit on Intelligent Control Optimization design & optimization of complex Systems (ICOS) Department of Electrical Engineering National School of Engineers of Sfax Sfax Tunisia Department of Computer Sciences Higher Institute for Applied Sciences and Technology HIAST Sousse Tunisia Department of Electrical Engineering National School of Engineers of Sfax Sfax Tunisia

ISBN: (纸本)9781457704130

In this paper wavelet decomposition is combined with autoregressive models to analyze and predict climate time series such as solar radiation and photovoltaic cell temperature. The method is tested on climate parameters for analysis, and solar radiation and cell temperature for prediction. The work effectiveness is evaluated by the prediction of the electric energy produced by a 100 Wp photovoltaic panel. Finally, the performance of predictor is measured by standardized error.

关键词： Mathematical model Temperature measurement Time series analysis Predictive models Solar radiation Wavelet analysis Photovoltaic systems

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A Sliding mode control applied to whirling pendulum

A Sliding mode control applied to whirling pendulum

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2nd International Conference on Signals, Circuits and systems

作者： Mahjoub, Sonia Mnif, Faical Derbel, Nabil Research unit on Intelligent Control design Optimization of complex Systems (ICOS) Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman

ISBN: (纸本)9781424426270

In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipilators The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.

关键词： VSS sliding mode underactuated manipulator whirling pendulum

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A sliding mode control applied to whirling pendulum

A sliding mode control applied to whirling pendulum

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International Conference on Signals, Circuits and systems, SCS

作者： Sonia Mahjoub Faical Mnif Nabil Derbel Control design Optimization of complex Systems (ICOS) Research unit on Intelligent France Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman

In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipulators. The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.

关键词： Sliding mode control control systems Manipulators Actuators Linear feedback control systems Torque control Intelligent control design optimization Mechanical systems Robust control

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Variable structure control for set-point stabilization OF 2-DOF underactuated manipulators

Variable structure control for set-point stabilization OF 2-...

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IEEE SSD International Multi-Conference on systems, Signals and Devices

作者： S. Mahjoub F. Mnif N. Derbel Research unit on Intelligent Control Design &Optimization of complex Systems (ICOS) École Nationale d''lngenieurs de Sfax Sfax Tunisia Department of Electrical and Computer Engineering Sultan Qaboos University Muscat Oman Res. unit on Intell. Control Ecole Nat. d'Ing. de Sfax Sfax

controlling an underactuated manipulator with less actuators than degree of freedom is a challenging problem, specifically when it is to force the underactuated manipulator to track a given trajectory or to be configurated at a specific position in the work space. This paper presents a cascade sliding mode tracking controller for set-point regulation of 2-DOF underactuated manipulators. This work builds on an observation that an underactuated manipulator can be treated as two subsystems. Consequently, a cascade sliding mode tracking controller can be designed as follows. First, a sliding mode surface is designed for both subsystems, this two sliding surfaces represent a first layer in the design architecture. A second layer sliding mode surface is then constructed based on the first layer sliding surface. The cascaded sliding mode controller is therefor deduced in terms of Lyapunov stability theorem. Robustness issues to bounded disturbances are then investigated. Simulation results on 2-DOF whiling pendulum are presented to demonstrate the effectiveness of the approach.

关键词： control systems Manipulators Lyapunov method Joints Evolution (biology) Robustness Mechanical systems

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