In the paper, a pair of auto-tuning methods for fixed-parameter controllers is presented, in application to multirotor unmanned aerial vehicles (UAVs) control. In both cases, the automatized process of searching the b...
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ISBN:
(数字)9781728162126
ISBN:
(纸本)9781728162133
In the paper, a pair of auto-tuning methods for fixed-parameter controllers is presented, in application to multirotor unmanned aerial vehicles (UAVs) control. In both cases, the automatized process of searching the best altitude controller parameters is carried out with the use of a modified golden-search method, for a selected cost function, during the flight of a pair of UAVs. All the calculations are performed in real-time in the iterative manner using only basic sensory information available concerning current altitude information for a pair of UAVs. The auto-tuning process of the controller is characterized by neglectfully low computational demand, and the parameters are obtained rapidly with no dynamic model of a UAV needed. In both methods, by using a pair of UAVs in tuning process, the level of control performance can be increased, what has been proved by means of multiple outdoor experiments. The first method increases precision of the obtained controller parameters by averaging sensory information over a pair of UAVs, whereas in the second, by exchanging measurement information between the units, the search space is explored faster. The latter is of special importance when seeking the best controller parameters, what is especially expected when a limited experiment duration of multirotor UAVs is taken into account.
The series Advances in Industrial control aims to report and encourage technology transfer in controlengineering. The rapid development of control technology has an impact on all areas of the control discipline. New ...
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ISBN:
(数字)9781846283345
ISBN:
(纸本)9781852339821;9781849969895
The series Advances in Industrial control aims to report and encourage technology transfer in controlengineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series offers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. In some areas of manufacturing, the elements of a flexible manufacturing system form the key components of the process line. These key components are four-fold: a set of programmable robots and machines, an automated materia- handling system that allows parts to be freely routed and re-routed, a buffer storage system where parts and partly-assembled components can wait until required for further processing and assembly and finally, a supervisory control system. The technology employed to coordinate and control all these components as a working system is usually based on programmable logic controllers. The use of this automation hardware and software in manufacturing is designed to yield significant cost reductions and to enhance quality.
A new robust adaptive control design synthesis, which employs both high-order neural networks and math-analytical results, for a class of complex nonlinear mechatronic systems possessing similarity property has been d...
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This paper addresses to the problem of designing, modeling and practical realization of robust model predictive control for finite and infinite prediction horizon which ensures a parameter dependent quadratic stabilit...
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This paper addresses to the problem of designing, modeling and practical realization of robust model predictive control for finite and infinite prediction horizon which ensures a parameter dependent quadratic stability and guaranteed cost for linear polytopic uncertain systems. The model predictive controller design procedure based on BMI and LMI is reduced to off-line output feedback gain calculation. A numerical examples and an application to a real process is given to illustrate the effectiveness of the proposed method.
A design of fuzzy model-based predictive control for industrial furnaces has been derived and applied to the model of three-zone 25 MW RZS pusher furnace at Skopje Steelworks. The fuzzy-neural variant of Takagi-Sugeno...
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Paper presents the model reference adaptive control applied for the glucose concentration control in Type 1 diabetes mellitus (T1DM) subject. The adaptive controller structure allows to present the commanded insulin i...
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Paper presents the model reference adaptive control applied for the glucose concentration control in Type 1 diabetes mellitus (T1DM) subject. The adaptive controller structure allows to present the commanded insulin infusion by means of the basal infusion rate and the bolus insulin doses. T1DM simulation model is adjusted so that the simulated output corresponds to the particular data logged in a diabetic diary. These facts have allowed to compare the obtained results with the data logged in the diary.
The paper presents an original frequency domain decentralized controller design technique for guaranteed performance. The novelty consists in that the designed decentralized controller guarantees the required performa...
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This paper describes design and measurements of signal conditioner used for amplification of signals from accelerometers intended to use in human body surrogate for forensic crash testing. The design consists of instr...
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