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7th International Conference on Soft Computing Models in Industrial and Environmental Applications, SOCO'12

作者： Körösi, Ladislav Kozák, Štefan Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovakia

ISBN: (纸本)9783642329210

The article deals with the modeling and predictive control of real hydraulic system using artificial neural network (ANN). For the design of optimal neural network model structure we developed procedures for creation optimal-minimal structure which ensure desired model accuracy. This procedure was designed using genetic algorithms (GA) in Matlab-Simulink. The predictive control algorithm was implemented using CompactLogix programmable logic controller (PLC). The main aim of the proposed paper is design of methodology and effective real-time algorithm for possible applications in industry. © 2013 Springer-Verlag.

关键词： Neural networks

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Quadriceps muscle models using fuzzy logic and ANFIS

Quadriceps muscle models using fuzzy logic and ANFIS

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2013 IEEE 3rd International Conference on System engineering and Technology, ICSET 2013

作者： Salleh, S.M. Jailani, R. Tokhi, M.O. Neuromuscular Rehabilitation Research Group Faculty of Electrical Engineering Universiti Teknologi MARA 40450 Shah Alam Selangor Malaysia Department of Automatic Control and System Engineering University of Sheffied United Kingdom

ISBN: (纸本)9781479910304

This paper presents a development of quadriceps muscle models using ANFIS and Fuzzy Logic based on Functional electrical Stimulation (FES). The models inputs parameter consists of stimulation frequency, pulse width, and sampling time are used to predict quadriceps output torque. The muscle models developed are then validate with the clinical data to evaluate the accuracy of the torque output predicted with the identified parameters. In this study, Fuzzy Logic muscle model gives better performance representing quadriceps muscle model. © 2013 IEEE.

关键词： Computer circuits

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Adaptive control of time-delayed systems with application for control of glucose concentration in type 1 diabetic patients

Adaptive control of time-delayed systems with application fo...

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11th IFAC International Workshop on Adaptation and Learning in control and Signal Processing, ALCOSP 2013

作者： Tárník, Marián Murgas, Ján Miklovicová, Eva Farkas, Ludovít Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Ilkovicova 3 812 19 Bratislava Slovakia

ISBN: (纸本)9783902823373

An adaptive controller for glucose control in Type 1 Diabetes Mellitus (T1DM) subject is presented in this paper. The proposed control model of T1DMsubject involves a known input time-delay, due to the modeling of a subcutaneous tissues, and a disturbance submodel, where a meal ingestion acts as a measured disturbance. A main MRAC based part of controller for time-delayed systems is supplemented with a heuristic based adaptive disturbance rejection. The controller is verified by means of numerical simulations using an own implementation of T1DM simulator reported in literature. © IFAC.

关键词： controllers

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Identification of vertical deep-ocean pipe end-point position

Identification of vertical deep-ocean pipe end-point positio...

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10th ISOPE Ocean Mining and Gas Hydrates Symposium, ISOPE OMS 2013

作者： Hubinský, Peter Rodina, Jozef Hanzel, Jaroslav Rudolf, Boris Institute of Control and Industrial Informatics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia Institute of Computer Science and Mathematics Faculty of Electrical Engineering and Information Technology Slovak University of Technology in Bratislava Bratislava Slovakia

ISBN: (纸本)9781880653920

In this article, we are introducing the method of the localization of the deep-ocean pipe end-point. The set of various sensors located along the pipe are used for measuring the data describing the shape of the pipe. Several variants of calculation algorithm have been developed for the processing the gathered information. The simulation results describing the error characteristics of the input and output variables are included as well. The article contains also the basic information about the technical realization concept of the proposed method. Copyright © 2013 by The International Society of Offshore and Polar Engineers (ISOPE).

关键词： Point contacts

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Application of unstable system in education of modern control methods

Application of unstable system in education of modern contro...

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10th IFAC Symposium on Advances in control Education, ACE 2013

作者： Vozák, Daniel Ilka, Adrian Faculty of Electrical Engineering and Information Technology Institute of Control and Industrial Informatics Slovak University of Technology in Bratislava Ilkovičova 3 812 19 Bratislava Slovakia

ISBN: (纸本)9783902823434

The paper addresses the problem of controller design for an unstable system using modern control methods and shows the difficulties of their implementation into student courses in our Institute. The created MATLAB programs and study material allow the students to work with identification of the process, robust PID design, predictive control and gain-scheduled control. All methods are practically implemented on a magnetic levitation model. © IFAC.

关键词： MATLAB

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Localization of holonomous mobile robot HOLBOS using extended Kalman filter (EKF) and robotic vision

Localization of holonomous mobile robot HOLBOS using extende...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Jasmin Velagic Admir Kaknjo Muhidin Hujdur Faruk Dautovic Nedim Osmic Department of Automatic Control & Electronics Faculty of Electrical Engineering at the University of Sarajevo

ISBN: (纸本)9781479902255

Determining the position of a mobile robot in every time instant from sensor data is the fundamental problem in mobile robotics. This paper considers a localization of holonomous mobile robot solved in this paper using two different approaches: odometry localization and landmark based localization. In both cases the robot is placed in known environment with landmarks whose coordinates were also known. Detecting the landmarks was done by using the Microsoft Kinect camera. For odometry localization four encoders were used. Data acquired from encoders and camera is fused together employing extended Kalman filter in order to get more accurate estimation of position and orientation. Obtained experimental results prove that using encoders without any additional measurements is not enough for getting reliable estimation of robots position. Odometry localization produced an error that accumulates over time, while in the case of landmark based localization, the error is kept inside acceptable limits.

关键词： Localization Holonomous Holbos Kinect Odometry Vision odometry game player robot vision ENCODER Sight landmarks Mobile robots Extended Kalman filters

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Modelling of Nonlinear Helicopter Model and Loopshaping based controller Synthesis

Modelling of Nonlinear Helicopter Model and Loopshaping base...

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Annual Conference of the IEEE Industrial Electronics Society

作者： Edin Dragolj Jasmin Velagic Nedim Osmic Department of Automatic Control & Electronics Faculty of Electrical Engineering at the University of Sarajevo

ISBN: (纸本)9781479902255

This paper deals with the problems of identification and control of nonlinear helicopter model. The helicopter model is achieved by closed loop identification based on grey-box structure through two steps. The first step considers experiment design to minimize the number of parameters to be estimated. It employs a genetic algorithm for parameter value estimation. In the second step, a criteria function was defined for evaluation of model fitness. After that, linearization of nonlinear model was performed and linear state-space model was obtained for use in controller synthesis. The main contribution of this paper is design of loop shaping controller which is capable to control a nonlinear helicopter model. Advantage of this controller is its simpler linear structure and simpler synthesis. The quality of obtained helicopter model and effectiveness of proposed controller are verified both in simulation and experimental modes.

关键词： Nonlinear System Identification Linearization State-Space model Gray-box model Genetic Algorithm Loop-shaping

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High Performance Disturbance Observer based control of the Nonlinear 2DOF Helicopter System

High Performance Disturbance Observer based Control of the N...

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International Conference on Information, Communication and Automation Technologies

作者： Almir Salihbegovic Emir Sokic Nedim Osmic Mujo Hebibovic Department for Automatic Control and Electronics Faculty of Electrical Engineering University of Sarajevo

ISBN: (纸本)9781479904297

This paper addresses the challenges of the disturbance observer (DOB) algorithms faced with highly nonlinear electromechanical systems which are dealing with high resolution and high speed operations. It describes the synthesis of robust and stable controllers and their applications in controlling azimuth and elevation angles of the helicopter model CE 150 supplied by Humosoft. Description of the helicopter, including its mechanical characteristics and mathematical model, is given in the paper. Tracking error, transient performances, power consumption and motor strains are used for the validation of control quality. Implementation of the control system on the experimental setup is also explained. MATLAB and Simulink are used as tools for developing the simulation model of the helicopter system. Obtained simulations are showing that developed controllers provide significantly improved results even in the presence of unknown and unpredictable inputs (disturbance and noise), unpredictable and unknown dynamics, external forces (torques) and change of the system parameters.

关键词： system parameter Helicopters Simulation models disturbance observer control systems Standing Orders Mechanical properties Unknown High definition

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Decomposition and Projection Methods for Distributed Robustness Analysis of Interconnected Uncertain Systems *

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IFAC Proceedings Volumes 2013年第13期46卷 194-199页

作者： Sina Khoshfetrat Pakazad Martin S. Andersen Anders Hansson Anders Rantzer Division of Automatic Control Department of Electrical Engineering Linköping University Sweden Department of Informatics and Mathematical Modeling Technical University of Denmark Denmark Department of Automatic Control Lund University Sweden

We consider a class of convex feasibility problems where the constraints that describe the feasible set are loosely coupled. These problems arise in robust stability analysis of large, weakly interconnected uncertain systems. To facilitate distributed implementation of robust stability analysis of such systems, we describe two algorithms based on decomposition and simultaneous projections. The first algorithm is a nonlinear variant of Cimmino's mean projection algorithm, but by taking the structure of the constraints into account, we can obtain a faster rate of convergence. The second algorithm is devised by applying the alternating direction method of multipliers to a convex minimization reformulation of the convex feasibility problem. Numerical results are then used to show that both algorithms require far less iterations than the accelerated nonlinear Cimmino algorithm.

关键词： Robust stability interconnected systems convex projections distributed computing decomposition methods

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Determination of the magnetic field parameters using a new fast computational tool

Determination of the magnetic field parameters using a new f...

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International Symposium on Electrodynamic and Mechatronic System (SELM)

作者： J. Zimon D. Pikula Department of Industrial Electrical Engineering Faculty of Electrical Engineering Automatic & Informatics Opole University of Technology Opole Poland

The aim of this work was to design and create a multi-threaded computer application for field integral parameters calculation named PikSolver. Scope of the work included project of the system, implementation of mathematical algorithms and developing a computer application running on Windows operating system which performs multi-threaded calculations of integral parameters of the electromagnetic field. The multi-threaded application allows user to conduct multivariant electromagnetic field distribution calculations, determine differential and integral parameters of the electromagnetic field for both the static and the quasi-static field including sinusoidal alternating current excitation. Results of the calculations allow user to compare them to the parameters set by the Finite Element Analysis programs.

关键词： Finite element analysis Magnetic fields Electromagnetic fields electrical engineering Electromagnets Vectors Magnetic flux density

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