Abstract Design of a controller that damps driveline oscillations, while compensating network-induced time-varying delays, can be a challenging problem considering that vehicle drivetrains are characterized by fast dy...
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Abstract Design of a controller that damps driveline oscillations, while compensating network-induced time-varying delays, can be a challenging problem considering that vehicle drivetrains are characterized by fast dynamics that are subject to physical and control constraints. As such, the goal of this paper is to provide a control design methodology that can cope with all these challenges and limitations and still yield an effective solution. To this end, firstly, a method for determining a worst case upper bound on the delays that can be introduced by a controller Area Network (CAN) is presented. Then, a polytopic approximation technique is applied to obtain a discrete-time model of the closed-loop CAN system. Thirdly, a horizon-1 predictive controller based on flexible control Lyapunov functions is designed for the resulting model with polytopic uncertainty and hard constraints. Several tests performed on a benchmark model indicate that the proposed design methodology can handle both the performance/physical constraints and the strict limitations on the computational complexity.
Remote laboratories are becoming an integral part of an education process. This paper deals with the design of the server for the remote laboratories suitable for control purposes. Usually a control algorithm runs on ...
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Remote laboratories are becoming an integral part of an education process. This paper deals with the design of the server for the remote laboratories suitable for control purposes. Usually a control algorithm runs on a PC with Matlab that really controls the real plant. This is the server side. The server is written in the Java programming language and is running as an object of Matlab's Java virtual machine. Because real systems of our remote laboratories are controlled directly from the Matlab all commands and data are stored in the Matlab. Then if the Java server is also running directly within the Matlab environment there is no problem with data exchange. This is assured by Java Matlab Interface technology. To demonstrate the possibilities of a remote control a Java client server application is introduced. It convers communication and offers a user friendly interface for control of the remote plant and visualization of measured data.
This paper presents finite state control (FSC) of paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). The work is a first effort towards restoring natur...
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This paper presents finite state control (FSC) of paraplegic walking with wheel walker using functional electrical stimulation (FES) with spring brake orthosis (SBO). The work is a first effort towards restoring natural like swing phase in paraplegic gait through a new hybrid orthosis, referred to as spring brake orthosis (SBO). This mechanism simplifies the control task and results in smooth motion and more-natural like trajectory produced by the flexion reflex for gait in spinal cord injured subjects. The study is carried out with a model of humanoid with wheel walker using the Visual Nastran (Vn4D) dynamic simulation software. Stimulated muscle model of quadriceps is developed for knee extension. Fuzzy logic control (FLC) is developed in Matlab/Simulink to regulate the muscle stimulation pulse-width required to drive FES-assisted walking gait and the computed motion is visualised in graphic animation from Vn4D and finite state control is used to control the transaction between all walking states. Finite state control (FSC) is used to control the switching of brakes, FES and spring during walking cycle.
Abstract The aim of this paper is to contribute to the ongoing development of the theory of transfer functions of nonlinear control systems by means of computer implementation. Concepts like transfer-function-based mo...
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Abstract The aim of this paper is to contribute to the ongoing development of the theory of transfer functions of nonlinear control systems by means of computer implementation. Concepts like transfer-function-based model matching and transfer-function-based realization of nonlinear systems that were recently discussed and mathematically described in other papers are integrated into software tools here. MATLAB and Maple environments are used as bases for software implementation of the methods and a few illustrative examples are included to demonstrate the usage of the tools.
The paper addresses the problem of the robust output feedback PI controller design for complex large-scale systems with state output decentralized structure. The proposed design method is based on the Generalized Gerš...
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The paper addresses the problem of the robust output feedback PI controller design for complex large-scale systems with state output decentralized structure. The proposed design method is based on the Generalized Geršgorin Theorem and the V-K iteration method to design robust PI controller guaranteeing feasible performance achieved in subsystems for the full system and therefore the proposed method excludes limit of system order in BMI solution. Finally, numerical example is given to illustrate the effectiveness of the proposed method.
Parkinson's disease is a neurodegenerative disorder and is associated with motor symptoms, including tremor. The DBS (Deep Brain Stimulation) involves electrode implantation into subcortical structures for long-te...
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Parkinson's disease is a neurodegenerative disorder and is associated with motor symptoms, including tremor. The DBS (Deep Brain Stimulation) involves electrode implantation into subcortical structures for long-term stimulation at frequencies greater than 100Hz. The mechanism by which chronic, electrical Deep Brain Stimulation with high frequency, suppresses tremor in Parkinson's disease is unknown, but might involve a gradual change in network properties controlling the generation of tremor. First, we performed linear and nonlinear analysis of the tremor signals to determine a set of parameters and rules for recognizing the behavior of the investigated patient and to characterize the typical responses for several forms of DBS. Second, we found patterns for homogeneous group for data reduction. We used Data Mining and Knowledge discovery techniques to reduce the number of data. Then, we found "clusters" the most well-known used and commonly partitioning methods used: K-means and K-medoids. To support such predictions, we develop a model of the tremor, to perform tests determining the DBS reducing the tremor or inducing tolerance and lesion if the stimulation is chronic.
The article deals with the mechanical machinery whose task is to juggle using the servo drive system. The ball juggler is an open loop system which uses attractive algorithms with no feedback information about the act...
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The article deals with the mechanical machinery whose task is to juggle using the servo drive system. The ball juggler is an open loop system which uses attractive algorithms with no feedback information about the actual ball position. The position control of juggling arms is the basis of the movement system which works on mathematical model for throwing ball and catching with juggling arms. Our work in this paper is focused on the description of the system and on the control implementation for continuous juggling.
This paper develops a dynamic model and designs a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot's joints are actuated by DC motors antagonistically coupled through...
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This paper develops a dynamic model and designs a controller for a fully anthropomorphic, compliantly driven robot. To imitate muscles, the robot's joints are actuated by DC motors antagonistically coupled through tendons. To facilitate safe interaction with humans, the robot exploits passive mechanical compliance, in the form of elastic springs in the tendons. To enable simulation, the paper first derives a mathematical model of the robot's dynamics, starting from the "Flier" approach. The control of the antagonistic drives uses a biologically inspired puller-and-follower concept where at any instant the puller is responsible for the joint motion while the follower keeps the inactive tendon from slackening. In designing the controller, it was first necessary to use the advanced theory of nonlinear control for dealing with individual joints, and then to apply robust control theory in order to extend control to the multi-joint robot body.
Abstract This paper presents an additional adaptive current controller for mutual torque ripple minimization in PMSM. It is assumed that the basis of the control system is a conventional current control loop commonly ...
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Abstract This paper presents an additional adaptive current controller for mutual torque ripple minimization in PMSM. It is assumed that the basis of the control system is a conventional current control loop commonly used in vector control of the PMSM. No change in the structure of current loop is required, only access to the torque reference input is needed. Parameters of the additional controller are adapted directly by the derived adaptation law. Finally, the proposed control scheme is verified by means of simulations.
The paper presents a way to improve the behavior of systems controlled by Second Order Sliding Modes in the presence of disturbances and parasitic dynamics. This is done through the addition of a parallel compensator ...
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The paper presents a way to improve the behavior of systems controlled by Second Order Sliding Modes in the presence of disturbances and parasitic dynamics. This is done through the addition of a parallel compensator to the twisting controller. The behavior of the system is improved by increasing the equivalent gain of the Second Order Sliding Mode. When the parallel compensator is added to the system the equivalent gain is increased, thereby increasing the robustness of the controller against coupled disturbances. The analysis of the system is carried out via the Locus of a Perturbed Relay System (LPRS) methodology. Simulations and experimental results are presented.
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