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An Anti-Slip Predictive controller for a V-PRA Vehicle

IFAC Proceedings Volumes 2011年第1期44卷 8415-8420页

作者： Carmen COCHIOR Robin De KEYSER Corneliu LAZAR Electrical Engineering Department Eindhoven University of Technology Eindhoven Netherlands EeSA-Department of Electrical energy Systems & Automation Ghent University Ghent Belgium Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering Technical University Gh. Asachi Iasi Romania

Abstract In this paper an anti-slip predictive controller is designed and implemented in order to control the rear wheels of a V-PRA (Variable Powered Rear Axle) vehicle. The control algorithm is EPSAC, a Model based Predictive control (MPC) strategy. It uses explicitly a model of the system for the prediction of the future system output, in order to calculate the optimal control input which will bring the system to a required setpoint. The main goals of this predictive controller were setpoint trajectory following, disturbance rejection and maintain overall the stability of the V-PRA vehicle. Although the process is non-linear, being influenced by several parameters, linear discrete-time ARX models could be obtained based on system linearization around an operating point. An initial SISO controller was developed and tested, based on a Simulink model of the process. The control performances were tested successfully in presence of all kind of disturbances, denoting a robust controller.

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Time delay compensation by fuzzy control in the case of master-slave telesurgery

Time delay compensation by fuzzy control in the case of mast...

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6th IEEE International Symposium on Applied Computational Intelligence and Informatics, SACI 2011

作者： Precup, Radu-Emil Kovacs, Levente Haidegger, Tamas Preitl, Stefan Kovacs, Adalbert Benyo, Balazs Borbely, Endre Benyo, Zoltan Dept. of Control Engineering and Information Technology Budapest University of Technology and Economics Budapest Hungary Dept. of Automation and Applied Informatics Politehnica University of Timisoara Timisoara Romania Dept. of Mathematics Politehnica University of Timisoara Timisoara Romania Kandó Kálmn Faculty Óbuda University Budapest Hungary

ISBN: (纸本)9781424491094

Telesurgery means the remote application of interventional medical techniques;a concept that is currently widely practiced around the world for short distance through master-slave robot systems. The concept has the potential to service long distance telesurgery as well. However, this requires the effective handling of communication latency. The current paper suggests a fuzzy control solution for telesurgical applications aiming at the alleviation of the disturbing effects of large latencies with the concept of remote surgical robotics. The fuzzy control solution is supported by a cascade control system structure with two proportional-integral-derivative (PID) controllers in the inner and outer control loops and designed by Kessler's Extended Symmetrical Optimum empirical criteria. The PID controller in the outer loop is next replaced by Takagi-Sugeno-Kong PID-fuzzy controllers which combine several separately designed PID controllers. The combination of separately designed PID controllers and the modal equivalence principle are expressed as a design and tuning method of the Tagaki-Sugeno-Kong PID-fuzzy controllers. © 2011 IEEE.

关键词： Three term control systems

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VISIR deployment in undergraduate engineering practices

VISIR deployment in undergraduate engineering practices

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41st Annual Frontiers in Education Conference: Celebrating 41 Years of Monumental Innovations from Around the World, FIE 2011

作者： Tawfik, Mohamed Sancristobal, Elio Martín, Sergio Gil, Charo Pesquera, Alberto Losada, Pablo Díaz, Gabriel Peire, Juan Castro, Manuel García-Zubia, Javier Hernández, Unai Orduña, Pablo Angulo, Ignacio Lobo, M. C. Costa Marques, M.A. Viegas, M.C. Alves, Gustavo R. Spanish University for Distance Education-UNED Spain Spanish University for Distance Education Spain University of Deusto Electronics and Automation Department Avenida de las Universidades 24 48007 Bilbao Spain University of Deusto Telecommunications Department Faculty of Engineering Spain Ambient Intelligence Department of DeustoTech Tecnológico Fundación Deusto Spain University of Deusto Spain University of Deusto Dpt. of Industrial Electronics Control Engineering and Computers Architecture Faculty of Engineering Spain IPP - Polytechnic Institute of Porto School of Engineering Porto Portugal

ISBN: (纸本)9781612844671

Practical sessions are the backbone of qualification in engineering education. It leads to a better understanding and allows mastering scientific concepts and theories. The lack of the availability of practical sessions at many universities and institutions owing to the cost and the unavailability of instructors the most of the time caused a significant decline in experimentation in engineering education over the last decades. Recently, with the progress of computer-based learning, remote laboratories have been proven to be the best alternative to the traditional ones, regarding to its low cost and ubiquity. Some universities have already started to deploy remote labs in their practical sessions. This contribution compiles diverse experiences based on the deployment of the remote laboratory, Virtual Instrument Systems in Reality (VISIR), on the practices of undergraduate engineering grades at various universities within the VISIR community. It aims to show the impact of its usage on engineering education concerning the assessments of students and teachers as well. © 2011 IEEE.

关键词： engineering education

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Virtual nano-hand: A stable pushing strategy in AFM based sensorless nanomanipulation

Virtual nano-hand: A stable pushing strategy in AFM based se...

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2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011

作者： Wang, Zhiyu Liu, Lianqing Hou, Jing Wang, Zhidong Yuan, Shuai Dong, Zaili State Key Laboratory of Robotics Shenyang Institute of Automation CAS Shenyang 110016 China Dept. of Advanced Robotics Chiba Institute of Technology Chiba Japan Faculty of Electrical and Control Engineering Liaoning Technical University Huludao 125105 China Graduate School of Chinese Academy of Sciences Beijing 100001 China College of Information Science and Engineering Northeastern University Shenyang 110004 China

ISBN: (纸本)9781457721373

One of the prerequisites for AFM based nanomanipulation is that the position of the target nanoparticle can be stable controlled within a known area, while this prerequisite is still hindered by the uncertainties including the initial position of the nanoparticle and of the AFM tip, together with the uncertain forces from the substrate and so on. In this paper, a Stochastic Pushing (SP) model and a Stable Pushing Strategy are proposed respectively, which can push the nanoparticle into a bounded target area within a given probability. Simulations and experiment based on the proposed SP model demonstrate the validity of the Stable Pushing Strategy. © 2011 IEEE.

关键词： Nanoparticles

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Web-based compilation of C-MEX S-functions and its application in NCSLab

Web-based compilation of C-MEX S-functions and its applicati...

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作者： Pang, Zhonghua Liu, Guo-Ping Qiao, Yuliang School of Automation Engineering Qingdao Technological University Qingdao 266033 China Institute of Automation Chinese Academy of Sciences Beijing 100190 China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin 150001 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom HiRain Technologies Beijing 100101 China

ISBN: (纸本)9789881725592

This paper introduces a whole Web-based laboratory called NCSLab for the design and practical implementation of complex control systems, which adopts a three-tier architecture including Web browsers, server clusters and test rigs. Two blocksets, a basic blockset and a networked control blockset, are created to facilitate the configuration of control systems in a block-diagram-based way on a Web page called WebConSim. Users can design some simple or given control algorithms with these blocks based on WebConSim. In order to enable users to design complex control systems based on the Web, which are required to add customized algorithms toWebConSim models, the functionality ofWeb-based compilation and calling of C-MEX S-Functions is developed. Practical experiments are given to illustrate the whole Web-based functionality of NCSLab. © 2011 Chinese Assoc of Automati.

关键词： Web browsers

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Fuzzy Logic Based Approach in an Enterprise Resource Planning System for Hydraulic Cylinders Assembly

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Journal of Mechanics engineering and automation 2011年第6期1卷 425-435页

作者： Snejana Yordanova Lubomir Dimitrov Mila Klochkova Hristo Bankov Continuous Processes Control Department Faculty of Automation Technical University of Sofia Sofia 1000 Bulgaria Machine Elements Department Faculty of Mechanical Engineering Technical University of Sofia Sofia 1000 Bulgaria Hydraulic Elements and Systems PLC Yambo18600 Bulgaria

Trends in modern industry show a tendency towards demassovization of production as a response to the customers＇ specific needs for unique and personalized products. This provokes significant changes in the processes of manufacturing, assembly, and testing The cost of such a type of production can be reduced by employing highly productive reconfigurable equipment with proper software to enable optimization. This paper presents a decision support extension for directing of hydraulic cylinders to assembly-testing lines using fuzzy logic in the Enterprise Resource Planning system of a small size production in a factory in Bulgaria. Different assembly-testing lines are flexibly assigned to the specific cylinder＇s parameters by the developed fuzzy system on the basis of the overlapping of parameters in the hydraulic cylinders classification. The final decision on the line assigned in case of alternatives is made through accounting for the minimal cylinder delay time. The effectiveness of the approach is assessed by simulation. It leads to an increase of the efficiency of the assembly-testing flow lines, a reduction of the time needed for hydraulic cylinders assembling and testing and balanced loading of the modules.

关键词： Enterprise resource planning fuzzy decision hydraulic cylinders assembly simulations real time operation.

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A novel type of trigonometric neural network trained by Extended Kalman Filter

A novel type of trigonometric neural network trained by Exte...

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International Workshop on Advanced Computational Intelligence (IWACI)

作者： M. Norouzi M. Mansouri M. Teshnehlab M. Aliyari Shoorehdeli Faculty of Engineering Department of Computer Engineering Science and Research Branch Islamic Azad University Iran Intelligent System Laboratory (ISLAB) Faculty of Electrical Engineering Control Department K.N. Toosi University of Technology Tehran Iran Faculty of Electrical Engineering Department of Mechatronics Engineering Advanced Process Automation &Control Laboratory (APAC) K.N. Toosi University of Technology Tehran Iran

In this study, a new type of trigonometric neural network is presented by adding frequency and phase to trigonometric activation functions. The proposed trigonometric neural network has more flexibility in comparison with conventional trigonometric neural networks and even other types of neural networks. Due to the low convergence rate and high posibility of trapping in a local minimum of backpropagation algorithm, Extended Kalman Filter algorithm is used to train the neural network's parameters which they appear in a nonlinear form. The Simulation of the suggested neural network based on the prediction of Mackey-Glass time series and identification of a nonlinear dynamic ystem reveals the efficiency of the proposed network. To show the efficiency of this method, the results are compared with the results of the others.

关键词： Biological neural networks Kalman filters Equations Neurons Vectors Covariance matrix Mathematical model

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Advanced Active Power Filter to improve power quality

Advanced Active Power Filter to improve power quality

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International Aegean Conference on Electrical Machines and Power Electronics, ACEMP

作者： Gelu Gurguiatu Ciprian Balanuţă Emil Roşu Toader Munteanu Mariana Dumitrescu Elena Raducan Faculty of Automatic Control Computers Electrical and Electronics Engineering Department Automation and Electrical Engineering Dunărea de Jos University of Galai Romania Faculty of Sciences Physics Department Duărea de Jos University of Galati Romania

This paper presents a three-phase Active Power Filter (APF) to improve grid power quality. Starting from indirect control strategy which was used only for three legs - three wires it is proposed in this paper to be used a bridge with three legs - four wire. The new control strategy it was named extended indirect control strategy. The extension consists in passing from the control of a three wire active power filter to the control of a four wire active power filter. The proposed active power filter can compensate the current harmonics and correct the power factor. Moreover, the proposed control strategy allows the line current at the point of common coupling (PCC) to be balanced and sinusoidal even when the load is unbalanced. Consequently the voltage at the PCC becomes balance. Simulation results show the validity of the proposed control strategy.

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Feedback design for the Acrobot walking-like trajectory tracking and computational test of its exponential stability

Feedback design for the Acrobot walking-like trajectory trac...

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IEEE International Symposium on Computer Aided control System Design (CACSD)

作者： Milan Anderle Sergej Čelikovský Institute of Information Theory and Automation Academy of Sciences of Czech Republic Prague Czech Republic Faculty of Electrical Engineering Department of Control Engineering Czech Technical University in Prague Prague Czech Republic

This paper aims to the further improve of the previously developed design for the Acrobot walking based on the partial exact feedback linearization of order 3. Namely, such an exact system transformation leads to an almost linear system where error dynamics along trajectory to be tracked is a 4 dimensional linear time varying system having 3 time varying entries only. Unlike previous approaches treating time varying entries as uncertainties with various extent of conservatism, the present paper takes into the account an information about these time varying functions including their derivatives up to order 4. Using that, the time varying state and the feedback transformation enable to design a fundamental matrix of the error dynamics in an explicit form and pre-designed stability properties. In particular, product of that fundamental matrix at the end of the single support walking phase by the impact map Jacobian enables directly prove stability of the hybrid cyclic walking like trajectory by computing certain 4×4 matrix and determining numerically whether its eigenvalues lie within the unit circle. This combination of analytical and numerical computations provides the justification of the exponential stability of the walking-like trajectory tracking. Moreover, it is supported by numerical simulations showing practically unlimited number of steps of the Acrobot “walking”.

关键词： Legged locomotion Trajectory Stability analysis Eigenvalues and eigenfunctions Equations Jacobian matrices Time varying systems

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Synergy level impedance control for multifingered hands

Synergy level impedance control for multifingered hands

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2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Thomas Wimböck Benjamin Jahn Gerd Hirzinger Institute of Robotics and Mechatronics German AeroSpace Center (DLR) Wessling Germany Control Engineering Group Computer Science and Automation Faculty Ilmenau University of Technology Ilmenau Germany

In many robotic manipulation tasks a robotic hand is used to just grasp and fix the object of interest while the object motion is performed by the arm. Motivated by the analysis on human grasping using data reduction techniques, we applied this concept to the DLR Hand II. Therefore, we analyzed the grasp database that was grown over the past years to find suitable robotic ¿synergy coordinates¿. 74% of these grasps can be represented by two coordinates that were originally defined by 12 joint variables. As a second step, a synergy impedance controller was derived and implemented extending the work on passivity based hand control at DLR. This controller for torque-controlled robot hands allows to imitate the behavior of a synergistic, respectively underactuated, hand. Such a controller provides furthermore a simplified interface for higher level grasping strategies and allows furthermore to manually teach new grasps easily. The controller was evaluated on the DLR Hand II by commanding steps that demonstrate the desired transient behavior. Finally, two objects were successfully grasped validating our approach.

关键词： Robot kinematics Joints Impedance Databases Grasping Symmetric matrices

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