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European control Conference (ECC)

作者： Vasiliki Koropouli Azwirman Gusrialdi Dongheui Lee Institute of Automatic Control Engineering Technische Universität München München Germany Dept. of Electrical Engineering and Computer Science University of Central Florida USA

ISBN: (纸本)9781479947287

Performance of constrained movements in multiple directions of a workspace simultaneously and in presence of uncertainty is a great challenge for robots. Achieving such tasks by employing control policies which are fully determined a priori and do not take into account the system uncertainty can cause undesired stress on the robot end-effector or the environment and result in poor performance. Instead, a sophisticated control policy is required, which can adjust to the varying conditions of a task while taking into account the coupling of motion dynamics between different directions of movement. To this aim, in this paper, we propose a MIMO Extremum Seeking control (ESC)-Model Reference Adaptive control (MRAC) approach with the view of executing fine motion tasks in presence of uncertain task dynamics. ESC enhances robustness of the system to non-parametric uncertainties compared to single MRAC. The proposed approach ensures state tracking as well as optimization of a global state-dependent cost criterion in all directions of movement. We evaluate our approach in simulations and in a real-world robotic engraving task.

关键词： MIMO Tracking Dynamics Vectors Uncertainty Adaptation models Robots

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Active fault isolation in MIMO systems 19

Active fault isolation in MIMO systems

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

作者： Niemann, Henrik Poulsen, Niels Kjølstad Department of Electrical Engineering Automation and Control Technical University of Denmark Building 326 LyngbyDK-2800 Kgs. Denmark Dept. of Applied Mathematics and Computer Science Section for Dynamical Systems Technical University of Denmark LyngbyDK-2800 Kgs. Denmark

ISBN: (纸本)9783902823625

Active fault isolation of parametric faults in closed-loop MIMO systems are considered in this paper. The fault isolation consists of two steps. The first step is group-wise fault isolation. Here, a group of faults is isolated from other possible faults in the system. The group-wise fault isolation is based directly on the input/output signals applied for the fault detection. It is guaranteed that the fault group includes the fault that had occurred in the system. The second step is individual fault isolation in the fault group. Both types of isolation are obtained by applying dedicated auxiliary inputs and the associated residual outputs. © IFAC.

关键词： Fault detection

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Nonlinear fuzzy control of human heart rate during aerobic endurance training with respect to significant model variations

Nonlinear fuzzy control of human heart rate during aerobic e...

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International Conference on System Theory, control, and Computing (ICSTCC)

作者： Adrian Pătraşcu Monica Patrascu Iacob Hantiu Faculty of Physical Education and Sport Babeş-Bolyai University Cluj-Napoca Romania Automatic Control and Systems Engineering Dept. University Politehnica of Bucharest Bucharest Romania

In the field of physical activity a significant importance is held by aerobic endurance training, which is a relatively low intensity exercise that depends primarily on aerobic energy generating processes. This type of training is used for the overall endurance and fitness of the body by engaging all the major systems of the body and pushing the limits of their functions with the ultimate goal of adapting these structures to the stress of the physical effort and thus improving the performance output. However, using classic training methods, it is often impossible to ensure the necessary operating points in order to obtain the desired results. The human heart rate model with respect to the velocity of walking or running presents inherent nonlinearities that are required to be taken into account when designing computer integrated training aids. This paper implements such a tool using a fuzzy control system for human heart rate during aerobic endurance training. The controller is tested and validated using two nonlinear human-on-treadmill models, and it presents robustness to significant model variations, as well as uncertainties in the model parameters and white noise type of disturbances. The designed control system ensures desired heart rate profiles, finding its usefulness in supporting the training configuration process by specialized professionals.

关键词： Heart rate Training control systems Fuzzy logic Mathematical model Adaptation models Computational modeling

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Internal inductance predictive control for Tokamaks

Internal inductance predictive control for Tokamaks

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Proceedings of the Biannual World Automation Congress

作者： Izaskun Garrido Jesús Antonio Romero Aitor J. Garrido Davide Lucchin Edorta Carrascal Goretti Sevillano-Berasategui Universidad del Pais Vasco Bilbao PaÃs Vasco ES CIEMAT National Fusion Laboratory Madrid Spain Automatic Control Group. Dept. Aut. Control and Systems Eng University of the Basque Country (UPV/EHU) Spain Automatic Control Group. Dept. of Thermal Engineering University of the Basque Country (UPV/EHU) Spain

control of the plasma inductance is an essential tool for the successful operation of Tokamaks in order to overcome stability issues as well as the new challenges specific to advanced scenarios operation. Thus, tokamak operation may benefit from model predictive control techniques to extend the pulse duration by reducing instabilities while guaranteeing tokamak integrity. The numerical results seem to indicate that internal inductance and current profiles can be adequately controlled which will influence the L-H transition timing, the density peaking and pedestal pressure. In this regard, the need for optimal, robust control emerges as a key factor in the development of a nuclear fusion reactor.

关键词： Inductance Tokamaks Mathematical model Coils Optimization Aerospace electronics

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Detection of the External Magnetic Field Polarity Through the Inductance Voltage Harmonic Phase Order

Detection of the External Magnetic Field Polarity Through th...

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Telecommunications Forum

作者： Nebojsa U. Pjevalica Nenad S. Petrovic Milos M. Nikolic the University of Novi Sad Faculty of Technical sciences Computing and control engineering dept. Trg Dositeja Obradovica 6 21000 Novi Sad Serbia the School of Electrical Engineering Stari grad Visokog Stevana 37 11000 Belgrade Serbia RT-RK Computer based systems Narodnog fronta 23a 21000 Novi Sad Serbia

ISBN: (纸本)9781509000562

Inductance is a basic electrical element that couples magnetic flux and current. In many applications the linear approximation of inductance provides sufficiently good results of analysis. In the presence of an additional DC bias magnetic field H_(DC), the observed B-H curve is forced to be moved from its unbiased state and an asymmetric nonlinearity of the targeted inductance is produced. Diagnostic method is proposed, which couples voltage harmonic phases and the direction of H_(DC) bias field by means of the LT Spice simulation. An experimental verification of the proposed technique is successfully accomplished, along with the settlement of the further research.

关键词： harmonic component DC bias hysteresis curve inductance nonlinear inductance

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Teaching robotics and virtual reality in a synergistic approach

Teaching robotics and virtual reality in a synergistic appro...

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2013 7th IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2013

作者： Buiu, Catalin Buga, Andreea Coman, Andreea Monica Dept. of Automatic Control and Systems Engineering Politehnica University of Bucharest Romania

ISBN: (纸本)9781479931811

This paper presents a successful implementation of an undergraduate robotics and virtual reality course that builds upon the synergies existing between these two areas in order to introduce computers and information technology students to some fundamental concepts, through the use of simulation, experiments on real robots and design of robotic creatures in virtual environments. Course objectives, methodological aspects and the main technical solutions are presented in detail. A survey has been proposed in order to evaluate the impact of this course, and parts of it are presented and commented. © 2013 IEEE.

关键词： Virtual reality

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ANFIS based Jacobian for a parallel manipulator mobility assistive device

ANFIS based Jacobian for a parallel manipulator mobility ass...

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UKACC International Conference on control (control)

作者： Ahmed Asker Omar Salah Ahmed M. R. Fath El-Bab Ahmed A. Ramadan Samy M. F. Assal Salvatore Sessa Ahmed Abo-Ismail School of Innovative Design Engineering Egypt-Japan University for Science and Technology Alexandria Egypt Mechanical Engineering Dept Assiut University Assiut Egypt Computer and Automatic Control Dept Tanta University Tanta Egypt Dept. of Production Engineering and Mechanical Design Tanta University Tanta Egypt

Nowadays parallel manipulators are used widely in bioengineering applications; this leads to many exciting expectations as well as challenges. The kinematic analysis of parallel manipulators with their differential kinematics yielding the Jacobian in a closed form is not a trivial task. In this paper a parallel manipulator based mobility assistive device called EJADII is analyzed to determine forward kinematics, inverse kinematics and closed-form Jacobian. An Adaptive Neuro-Fuzzy Inference System (ANFIS) is trained to estimate the Jacobian. This system would be useful when determination of the Jacobian in a closed-form is difficult to determine. The human motion during sit to stand captured by VICON experiment is used with two assisting scenarios to train and verify this system. computer simulations show relatively good results of the proposed system.

关键词： Jacobian matrices Kinematics Actuators Joints Manipulators Equations Mathematical model

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Identification of inactive constraints for SCED model considering uncertain power injection

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Zhongguo Dianji Gongcheng Xuebao/Proceedings of the Chinese Society of Electrical engineering 2014年第34期34卷 6050-6057页

作者： Ding, Tao Bo, Rui Guo, Qinglai Sun, Hongbin Huang, Can Li, Fangxing State Key Lab of Control and Simulation of Power Systems and Generation Equipments Dept. of Electrical Engineering Tsinghua University Haidian District Beijing100084 China Midwest ISO St. Paul MN55108 United States Department of Electrical Engineering and Computer Science The University of Tennessee Knoxville TN37996 United States

With the constant expansion of power grid, a large number of security constraints have put tremendous challenges to the online economic dispatch. An efficient tool to eliminate the inactive constraints becomes necessary for security constraints economic dispatch (SCED) in large power systems. In this paper, considering the uncertainty of renewable energy integration, a fast and effective method to identify the inactive security constraints was proposed. Firstly, the definition of uncertain inactive security constraints and a necessary and sufficient condition to identify those were presented respectively. Considering the time-consuming identification, we relaxed the feasible region of original SCED model and utilized greedy algorithm to quickly eliminate part of inactive constraints. Then another necessary and sufficient condition was proposed and verified, where the remaining inactive constraints could be identified. Through the simulation of 24-time periods 9-bus system and 96-time periods IEEE 118-bus system, the speed and effectiveness of proposed method were verified. Moreover, the results can help dispatch operators to locate the transmission lines with the highest congestion risk. © 2014 Chin. Soc. for Elec. Eng.

关键词： Scheduling

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controller Modification Applied for Active Fault Detection

Controller Modification Applied for Active Fault Detection

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American control Conference

作者： Henrik Niemann Jakob Stoustrup Niels Kjolstad Poulsen Dept. of Electrical Engineering Automation and Control Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark Dept. of Electronic Systems Automation & Control Aalborg University DK-9220 Aalborg Denmark Dept. of Applied Mathematics and Computer Science Tech. University of Denmark DK-2800 Kgs. Lyngby Denmark

ISBN: (纸本)9781479932757

This paper is focusing on active fault detection (AFD) for parametric faults in closed-loop systems. This auxiliary input applied for the fault detection will also disturb the external output and consequently reduce the performance of the controller. Therefore, only small auxiliary inputs are used with the result that the detection and isolation time can be long. In this paper it will be shown, that this problem can be handled by using a modification of the feedback controller. By applying the YJBK-parameterization (after Youla, Jabr, Bongiorno and Kucera) for the controller, it is possible to modify the feedback controller with a minor effect on the external output in the fault free case. Further, in the faulty case, the signature of the auxiliary input can be optimized. This is obtained by using a band-pass filter for the YJBK parameter that is only effective in a small frequency range where the frequency for the auxiliary input is selected. This gives that it is possible to apply an auxiliary input with a reduced amplitude. An example is included to show the results.

关键词： Active fault detection parametric faults feedback controllers YJBK parameterization controller modification

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Hardware implementation on FPGA of two modulation techniques for three phase inverters

Hardware implementation on FPGA of two modulation techniques...

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2013 IEEE 9th International Conference on Intelligent computer Communication and Processing, ICCP 2013

作者： Alecsa, B. Onea, A. Dept. of Automatic Control and Computer Engineering Technical University of Iaşi Iaşi Romania

ISBN: (纸本)9781479914937

This paper presents two modern modulation techniques applied to three phase inverters from a hardware implementation point of view. The considered techniques are the sinusoidal pulse width modulation with zero sequence injection and the space vector modulation. Both these techniques conduct to the same result regarding supply voltage usage efficiency and harmonic content of the resulted signals. The implementation was developed in Matlab-Simulink using the System Generator software, and validated through simulation. Both the modulation algorithms were implemented in hardware on a low cost FPGA, and the resulted designs are compared for resource usage efficiency, obtained speed and easiness of integration within a complex AC drive control system. © 2013 IEEE.

关键词： Pulse width modulation

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