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arXiv 2022年

作者： Luu, Anh Khoa Lanh Duong, Van Tu Nguyen, Huy Hung Kim, Sang Bong Nguyen, Tan Tien National Key Laboratory of Digital Control and System Engineering Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Vanuatu Department of Mechatronics Ho Chi Minh City University of Technology VNU-HCM Hochiminh city Vanuatu Faculty of Electronics and Telecommunication Saigon University Vanuatu Pukyong National University Busan Korea Republic of

Purpose - Generally, humanoid robots usually suffer significant impact force when walking or running in a non-predefined environment that could easily damage the actuators due to high stiffness. In recent years, the usages of passive, compliant series elastic actuators (SEA) for driving humanoid's joints have proved the capability in many aspects so far. However, despite being widely applied in the biped robot research field, the stable control problem for a humanoid powered by the SEAs, especially in the walking process, is still a challenge. This paper proposes a model reference adaptive control (MRAC) combined with the back-stepping algorithm to deal with the parameter uncertainties in a humanoid's lower limb driven by the SEA system. This is also an extension of our previous research (Lanh et al., 2021). Design/methodology/approach - Firstly, a dynamic model of SEA is obtained. Secondly, since there are unknown and uncertain parameters in the SEA model, a model reference adaptive controller (MRAC) is employed to guarantee the robust performance of the humanoid's lower limb. Finally, an experiment is carried out to evaluate the effectiveness of the proposed controller and the SEA mechanism. Findings - This paper proposes an effective control algorithm that can be widely applied for the humanoid-SEA system. Besides, the effect of the coefficients in the control law is analyzed to further improve the response's quality. Research limitations/implications - Even though the simulation shows promising results with stable system response, the practical experiment has not been implemented to fully evaluate the quality of the controller. Originality/value - The MRAC is applied to control the humanoid's lower limb, and the back-stepping process is utilized to combine with an external SEA system but still maintain stabilization. The simplified model of the lower-limb system proposed in the paper is proven to be appropriate and can be taken for further research in the future

关键词： Model reference adaptive control

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Robust controller Design for Feedback Architectures with Signal Shapers

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IFAC-PapersOnLine 2020年第2期53卷 8650-8655页

作者： Martin Goubej Miloš Schlegel Tomsáš Vyhlídal NTIS Research Centre University of West Bohemia Technická 14306 14 Pilsen Czechia Department of Instrumentation and Control Engineering and Center of Advanced Aerospace Technology Faculty of Mechanical Engineering Czech Technical University in Prague Czechia

Available feedback architectures with time delay based signal shapers are outlined and studied with the objective to determine the channels in which the flexible mode compensation (by the shaper) takes place. As the main result, a systematic methodology for the robust controller design is proposed and tested for three most common feedback architectures with signal shapers. The validation is performed on a Gantry crane anti-sway problem, considering four types of distributed delay shapers. It is demonstrated that for the selected robustness H ∞ measure, the applicable parameter range is considerably reduced by placing the signal shaper to the loop. Still, the obtained characteristics and responses of shaper feedback architectures show that viable controller setting can well be found by the considered control design method.

关键词： Input shaper H ∞ norm robust control design time delay system

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Multi-objective vehicle path planning method for recycling process of used electrical and electronic products

Multi-objective vehicle path planning method for recycling p...

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2020 IEEE International Symposium on Product Compliance engineering-Asia, ISPCE-CN 2020

作者： Yang, Cuili Wu, Zhanhong Han, Honggui Bi, Xiaowen Beijing University of Technology Faculty of Information Technology Beijing China City University of Hong Kong Department of Electrical Engineering Hong Kong Faculty of Information Technology Beijing University of Technology Beijing Key Laboratory of Computational Intelligence and Intelligence System Eng. Research Center of Intelligent Perception and Autonomous Control Ministry of Education Beijing100124 China Department of Electrical Engineering City University of Hong Kong. Hong Kong

ISBN: (纸本)9781665414616

During the recycling process of used electrical and electronic products from recycling places to sorting center, the vehicle path planning is an urgent problem to be solved which needs to minimize the number of vehicles and vehicle transportation distance simultaneously. To solve this problem, a multi-objective optimization algorithm is proposed which combines the genetic algorithm (GA) and multi-objective evolutionary algorithm based on decomposition (MOEA/D). Firstly, the vehicle path planning model of the sorting center is established according to characteristics of product transportation process. Secondly, the GA is used to produce some vehicle path planning schemes. Then, the MOEA/D is introduced to deal with the trade-off relationship between two objectives. Simulation results demonstrate that the proposed algorithm is able to generate a set of non-dominated solutions. © 2020 IEEE.

关键词： Genetic algorithms

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Approximation of r-th order dead time system using generalized Laguerre functions

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AIP Conference Proceedings 2024年第1期3094卷

作者： Martin Tůma Pavel Jura Vilém Kárský Central European Institute of Technology CEITEC BUT Brno University of Technology Technicka 12 616 00 Brno Czech Republic Department of Control & Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 12 616 00 Brno Czech Republic

The aim of this text is to show that when approximating a stable r-th order LTI system with one r-multiple pole and with a dead time (DT), the approximation using the generalized Laguerre Function (GLF) for large DT g...

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Observer based Anti-windup technique for Twin Rotor MIMO system

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IOP Conference Series: Earth and Environmental Science 2021年第1期785卷

作者： C R Srinivasan S Chandrasekar R Sasnika R Srividya Faculty Department of Instrumentation and Control Student Department of Instrumentation and Control Faculty Department of Electrical and Electonics Engineering Manipal Institute of Technology Manipal Academy of Higher Education Manipal

Necessary control techniques must be used in control systems for their proper and smooth operation even in the case of uncertainties and disturbances like sensor-actuator failure. The TRMS workshop serves as a simplified model of a helicopter retaining most of the important dynamic characteristics and cross coupling. This project aims to solve the problem of synthesizing anti-windup control technique based on observer to avoid controller signal entering into saturation in TRMS. The effects of saturation is that systems experience Integrator wind-up. Once the input saturates, the integral of the error keeps increasing. Any further change in the input does not lead to any change of the output of the saturated component. The system behaves like an open-loop configuration, and no control is available. The project applies a Sliding mode control algorithm to the TRMS and uses an observer as an anti-windup technique so that the system doesn't cease to work even in the case of sensor failure. Using this scheme, the entire system of TRMS along with sensor failure was tested by giving step inputs and the outputs, pitch and yaw were obtained. The results obtained indicated that even in the presence of uncertainties, the system was able to track the given step input without going unstable.

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Comparison of identification methods for dynamical system models in a single chip

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AIP Conference Proceedings 2024年第1期3094卷

作者： Martin Tůma Vilém Kárský Pavel Jura Central European Institute of Technology CEITEC BUT Brno University of Technology Technicka 12 616 00 Brno Czech Republic Department of Control & Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Technicka 12 616 00 Brno Czech Republic

In this study, we implement a continuous-time linear time-invariant (LTI) system and validate its properties through system identification. We specifically explore two identification methods: one that relies on utilizing generalized Laguerre functions (GLF) and another that employs the least squares (LS) approach, all within a noisy environment. Our findings reveal a substantial reduction in Root Mean Square (RMS) error when employing the GLF identification method compared to the method utilizing least squares approximation.

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Root Loci Analysis of a Simple Quasi-Polynomial and Its Use for Relay-Based Parameter Identification of a Delayed Infinite-Dimensional Heat-Exchanger Process

Research Square

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Research Square 2021年

作者： Pekař, Libor Song, Mengjie Padhee, Subhransu Dostálek, Petr Zezulka, František Department of Technical Studies College of Polytechnics Jihlava Tolstého 1556 Jihlava586 01 Czech Republic Department of Automation and Control Engineering Faculty of Applied Informatics Tomas Bata University in Zlín nám. T. G. Masaryka 5555 Zlín760 01 Czech Republic Department of Energy and Power Engineering School of Mechanical Engineering Beijing Institute of Technology Engine East Building 125 Beijing100081 China Department of Electrical and Electronics Engineering Institute of Information Technology Sambalpur University Burla Odisha 769018 India Department of Control and Instrumentation Faculty of Electrical Engineering and Communication Brno University of Technology Technická 3082/12 Královo Pole Brno616 00 Czech Republic

The focus of this contribution is twofold. The first part aims at the rigorous and complete analysis of pole loci of a simple delayed model, the characteristic function of which is represented by a quasi-polynomial with a non-delay and a delay parameter. The derived spectrum constitutes an infinite set, making it a suitable and simple-enough representative of even high-order process dynamics. The second part intends to apply the simple infinite-dimensional model for relay-based parameter identification of a more complex model of a heating-cooling process with heat exchangers. Processes of this type and construction are widely used in industry. The identification procedure has two substantial steps. The first one adopts the simple model with a low computational effort using the saturated relay that provides a more accurate estimation than the standard on/off test. Then, this result is transformed to the estimation of the initial characteristic equation parameters of the complex infinite-dimensional heat-exchanger model using the exact dominant-pole-loci assignment. The benefit of this technique is that multiple model parameters can be estimated under a single relay test. The second step attempts to estimate the remaining model parameters by various numerical optimization techniques and also to enhance all model parameters via the Autotune Variation Plus relay experiment for comparison. Although the obtained unordinary time and frequency domain responses may yield satisfactory results for control tasks, the identified model parameters may not reflect the actual values of process physical quantities. © 2021, CC BY.

关键词： Optimization

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Pole placement enhancement of a constrained greenhouse SISO system 1

Pole placement enhancement of a constrained greenhouse SISO ...

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1st International Conference on Innovative Research in Applied Science, engineering and Technology, IRASET 2020

作者： Hamidane, H. Elfaiz, S. Guerbaoui, M. Ed-Dahhak, A. Lachhab, A. Bouchikhi, B. Moulay Ismaïl University Department of Electrical Engineering Modelling Systems Control and Telecommunications Team High School of Technology Meknes Morocco Ibn Zohr University Research team on Energy and Sustainable Development Guelmim Morocco Moulay Ismaïl University Department of Physics Sensor Electronic and Instrumentation Group Faculty of Sciences Meknes Morocco

ISBN: (纸本)9781728149790

In this paper, we present an application of a pole placement technique related to the stability analysis for a linear constrained system. In this regard some of the main approaches that have been used in the last decades dealing with the pole placement will be engaged. Concepts and methods involved in this work include positive invariance as an efficient notion for the pole placement amelioration of a modern SISO system. The state feedback will enhance the stabily of the closed loop system under the notion of constrained control. For this aim, a greenhouse system, is engaged and a linear discrete time state space model, which fits properly the acquired data of the greenhouse, was identified by the mean of the subspace system identification (N4sid) algorithm. The obtained model will be used in order to develop and calculate the state feedback gain based on the so-called Sylvester algebric equation and one of the pole placement techniques algorithm to ameliorate the closedloop pole placement of the system with constraints on the control. © 2020 IEEE.

关键词： Linear systems

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Alternative Identification Method using Biased Relay Feedback

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IFAC-PapersOnLine 2018年第11期51卷 891-896页

作者： Hofreiter, M. Department of Instrumentation and Control Engineering Czech Technical University in Prague Faculty of Mechanical Engineering Czech Republic

This paper presents a method which can be used to identify dynamical systems using a biased relay feedback for control purposes. The method is applicable for systems describable by a transfer function if there are sustained oscillations in the biased-relay feedback test. It enables to estimate up to three frequency response points from a single biased relay test. These points can be used for fitting up to five parameters of a process transfer function with various structures. How to improve the parameter estimation of process models using a transport delay is shown as well. The proposed technique enables to improve the estimate of a static gain for a plant under a static load disturbance. The applicability of the method is demonstrated on simulated examples and on a laboratory apparatus called “Water Levitation”. Matlab/Simulink programming environment was used for all experiments. © 2018

关键词： Transfer functions

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Nonlinear Behavior of Surface Charge Density and Zeta Potential in Microchannel Electrokinetic Flow

SSRN

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SSRN 2023年

作者： Chen, Daming Arancibia-Miranda, Nicolas Escudey, Mauricio Fu, Jiao Lu, Qin Amon, Cristina H. Galatro, Daniela Guzmán, Amador M. Facultad de Ingeniería Departamento de Ingeniería Mecánica Universidad de Santiago de Chile Av. B. O’Higgins 3363 Santiago9170020 Chile Center for the Development of Nanoscience and Nanotechnology CEDENNA Santiago9170124 Chile Facultad de Química y Biología Universidad de Santiago de Chile Av. B. O’Higgins Santiago3363 Chile Xi'an key laboratory of advanced control and intelligent process Xi'an University of Posts and Telecommunications Xi'An710121 China Solar and Thermal Energy Conversion and Storage Device and System Laboratory STECTEC Santiago Chile Escuela de Ingenieria Industrial Facultad de Ingenieria y Ciencias Universidad Diego Portales Ejercito 441 Santiago Chile Department of Mechanical and Industrial Engineering Faculty of Applied Science and Engineering University of Toronto 5 King’s College Road TorontoON Canada Department of Chemical Engineering and Applied Chemistry Faculty of Applied Science and Engineering University of Toronto 200 College Street TorontoON Canada

In this work, a combined numerical and experimental investigation of the surface charge density and zeta potential behavior is investigated for borosilicate immersed in KCl and NaCl electrolytes and for imogolite immersed in KCl, CaCl2, and MgCl2 electrolytes. Simulations and experiments of the electrokinetic flows with electrolyte solutions were performed to accurately determine the electric double layer (EDL), the zeta potential, and the surface charge density at various electrolyte concentrations and pH. The zeta potential was experimentally determined and numerically predicted by solving the coupled governing equations of mass, species, momentum, and electrical field iteratively. The zeta potential for borosilicate develops strong nonlinear behavior with the ion concentration following a power-law. Likewise, the surface charge density obeys a nonlinear behavior, decreasing as the concentration increases. Moreover, for imogolite, both the zeta potential and the surface charge density behave nonlinearly with the pH. The EDL for borosilicate and imogolite becomes thinner as the electrolyte concentration and pH increase;this behavior is caused by increased surface charge density, resulting in the higher attraction of the free charges. The reported nonlinear behavior describes more accurately the interaction of the nanoparticle surface charge with the electrolytes and its effect on the electrolyte transport properties. © 2023, The Authors. All rights reserved.

关键词： Zeta potential

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