Abstract The paper introduces an important enhancement to the robust decentralized controller design for multi input/multi output uncertain systems within the setting of the Equivalent Subsystems Method (ESM). The cla...
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Abstract The paper introduces an important enhancement to the robust decentralized controller design for multi input/multi output uncertain systems within the setting of the Equivalent Subsystems Method (ESM). The class of design problems considered includes guaranteeing robust stability and nominal performance in terms of maximum overshoot of the full system achieved through specified phase margins in equivalent subsystems. The developed design procedure is illustrated by an example.
This video presents a robot capable of playing pool on a normal sized pool table using two arms. For successfully completing this task several issues need to be addressed, including the perception of relevant environm...
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This video presents a robot capable of playing pool on a normal sized pool table using two arms. For successfully completing this task several issues need to be addressed, including the perception of relevant environment information, planning of actions and finally an efficient execution. The video outlines how the robot accurately locates the pool table, the balls on the table and the cue and subsequently plans the next shot. In order to improve the stroke speed, an optimization algorithm for the arm configuration is described. Finally, it is shown how all these modules are integrated to achieve a working two-handed robotic pool play.
In this paper, a method for voltage harmonic compensation in a microgrid operating in islanded and grid-connected modes is presented. Harmonic compensation is done through proper control of distributed generators (DGs...
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This paper compares two approaches to the control design for a thermal plant. This is dominant by two modes of the heat transfer - the fast mode (radiation) and the slow mode (conduction), by the nonlinear state depen...
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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 us...
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.
Predictive control in buildings has undergone an intensive research in the past years. Model identification plays a central role in a predictive control approach. This paper presents a comprehensive study of modeling ...
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Predictive control in buildings has undergone an intensive research in the past years. Model identification plays a central role in a predictive control approach. This paper presents a comprehensive study of modeling of a large multi-zone office building. Many of the common methods used for modeling of the buildings, such as a detailed modeling of the physical properties, RC modeling, etc., appeared to be unfeasible because of the complexity of the problem. Moreover, most of the research papers dealing with this topic presents identification (and control) of either a single-zone building, or a single building sub-system. On contrary, we proposed a novel approach combining a detailed modeling by a building-design software with a black-box subspace identification. The uniqueness of the presented approach is not only in the size of the problem, but also in the way of getting the model and interconnecting several computational and simulation tools.
A computational thinking under simulated environment with amendable properties is promoted. It is exemplified on a real drum boiler multi-loop linear control. The model is based on the boiler-turbine plant P16/G16, wh...
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A computational thinking under simulated environment with amendable properties is promoted. It is exemplified on a real drum boiler multi-loop linear control. The model is based on the boiler-turbine plant P16/G16, which is oil-fired and the rated power is 160 MW, at the Sydvenska Kraft AB Plant in Malmö, Sweden. A proficient symbolic and numerical combination points out a fast and very efficient automaticengineering calculation. This contribution aims at tailor-made small simulators on Matlab for those industrial processes which are linked by heat energy. A first application at drum boiler with linear control meets a useful know-how to guide thoughts on how to translate physical fundamentals to Matlab codes for other industrial cases. Some comments relating to industrial practice are offered in this context.
In the paper we deal with design, modeling and verification of thermostat with particularly thermally insulated chamber, based on Peltier thermoelectric modules (elements). A prototype of the designed thermostat has b...
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In the paper we deal with design, modeling and verification of thermostat with particularly thermally insulated chamber, based on Peltier thermoelectric modules (elements). A prototype of the designed thermostat has been realized. Parameters of the regulated system were obtained experimentally. We have developed the reliable model of the complete thermostat with the PSD regulation in the Matlab environment, as well. The model helps to optimize the parameters of the regulator according to desired temperature profiles inside the chamber. Measurements show a good agreement between the model and realized prototype of the thermostat.
engineering methods are two-step procedures consisting of identification of certain characteristic data of the plant followed by tuning PID controller coefficients depending directly on acquired information about the ...
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In this paper, we propose a driven by the robotics field method for revealing global clusters over a fast, huge and volatile stream of robotic data. The stream comes from a mobile robot which autonomously navigates in...
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In this paper, we propose a driven by the robotics field method for revealing global clusters over a fast, huge and volatile stream of robotic data. The stream comes from a mobile robot which autonomously navigates in an unknown environment perceiving it through its sensors. The sensor data arrives fast, is huge and evolves quickly over time as the robot explores the environment and observes new objects or new parts of already observed objects. To deal with the nature of data, we propose a grid-based algorithm that updates the grid structure and adjusts the so far built clusters online. Our method is capable of detecting object formations over time based on the partial observations of the robot at each time point. Experiments on real data verify the usefulness and efficiency of our method.
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