作者：
Q.T. NguyenV. VeselýSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Institute of Control and Industrial Informatics Ilkovičova 3 812 19 Bratislava Slovak Republic
The paper addresses problem of designing a robust output feedback model predictive control for uncertain linear systems over networks with packet-loss. The packet-loss process is arbitrary and bounded by the control h...
详细信息
The paper addresses problem of designing a robust output feedback model predictive control for uncertain linear systems over networks with packet-loss. The packet-loss process is arbitrary and bounded by the control horizon of model predictive control. Networked predictive control systems with packet loss are modeled as switched linear systems. This enables us to apply the theory of switched systems to establish the stability condition. The stabilizing controller design is based on sufficient robust stability conditions formulated as a solution of bilinear matrix inequality. Finally, a benchmark numerical example-double integrator is given to illustrate the effectiveness of the proposed method.
A fermentation process is generally defined as a biological process containing the growth of the biomass (bacteria, yeasts) resulting from the consumption of essential substrate supplies (source of carbon, nitrogen, o...
详细信息
A fermentation process is generally defined as a biological process containing the growth of the biomass (bacteria, yeasts) resulting from the consumption of essential substrate supplies (source of carbon, nitrogen, oxygen, etc.). The biomass growth is usually followed by the production of various products from which especially the variety of antibiotics makes the fermentation processes attractive for the industrial utilization. However, the complicated dynamics, high level of uncertainty and nonlinearity and difficult online measurement of the process variables come hand in hand with the attractivity and turn the attempts on optimal control of the fermentation process into a very delicate challenge. To tackle it, the theory of the gradient projection method has been partially adapted and fully implemented by the authors of this paper. Numerical experiments show its significantly better performance than for other known methods. Moreover, these experiments reveal an interesting "superprofile" visible for long cultivation times.
The paper presents a simple interactive software tool for computer aided state space control design developed in Matlab-Simulink for education in Master degree study programs Applied Mechatronics, Cybernetics and Robo...
详细信息
The paper presents a simple interactive software tool for computer aided state space control design developed in Matlab-Simulink for education in Master degree study programs Applied Mechatronics, Cybernetics and robotics. Efficient task solving is supported by a Grafical User Interface providing a usef-friendly interactive environment. The core of the software tool are control algorithms programmed as separate functions. The developed interactive tool has a modular structure and can be further extended.
The paper deals with the production scheduling optimization in High-Mix Low-Volume (HMLV) flow shop manufacturing system. Three new heuristic production scheduling algorithms balancing the machines assignment to the p...
详细信息
The paper deals with the production scheduling optimization in High-Mix Low-Volume (HMLV) flow shop manufacturing system. Three new heuristic production scheduling algorithms balancing the machines assignment to the production orders are proposed. The goal of the algorithms is to find a production schedule that minimizes the total production time of the set of jobs - makespan. An example case study, where the proposed scheduling algorithms are verified and compared with basic solutions using the simulation model of the HMLV manufacturing system created in Witness simulation software, is presented.
A fermentation process is generally defined as a biological process containing the growth of the biomass (bacteria, yeasts) resulting from the consumption of essential substrate supplies (source of carbon, nitrogen, o...
详细信息
A fermentation process is generally defined as a biological process containing the growth of the biomass (bacteria, yeasts) resulting from the consumption of essential substrate supplies (source of carbon, nitrogen, oxygen, etc.). The biomass growth is usually followed by the production of various products from which especially the variety of antibiotics makes the fermentation processes attractive for the industrial utilization. However, the complicated dynamics, high level of uncertainty and nonlinearity and difficult online measurement of the process variables come hand in hand with the attractivity and turn the attempts on optimal control of the fermentation process into a very delicate challenge. To tackle it, the theory of the gradient projection method has been partially adapted and fully implemented by the authors of this paper. Numerical experiments show its significantly better performance than for other known methods. Moreover, these experiments reveal an interesting “superprofile” visible for long cultivation times.
This paper describes some improvements of Vector Field Histogram method used as reactive navigation of a mobile robot. In our application a laser rangefinder as a primary sensor for scanning an environment is used. Th...
详细信息
This paper describes some improvements of Vector Field Histogram method used as reactive navigation of a mobile robot. In our application a laser rangefinder as a primary sensor for scanning an environment is used. Therefore, improvements in computation of the histogram values are presented. Further a VFH*-based technique that enables robot to sense and avoid dynamic obstacles is proposed.
The presented method allows achieving maximum overshoot and specified settling time of the closed-loop step response. It provides a simple way to control linear stable SISO systems even if the mathematical model is un...
详细信息
The presented method allows achieving maximum overshoot and specified settling time of the closed-loop step response. It provides a simple way to control linear stable SISO systems even if the mathematical model is unknown. Tuning rule parameters are based on one suitably chosen point of the plant frequency response obtained by sine-wave signal with specified excitation frequency, and the required phase margin. The main result provided is construction of empirical charts used to convert time-domain performance specifications (maximum overshoot and settling time) into frequency domain performance measure (phase margin). The method is applicable for systematic shaping of the closed-loop response of the plant. The new approach has been verified on a set of benchmark examples and on a real plant as well.
The paper presents an original Nyquist-based frequency domain robust decentralized controller design technique called Equivalent Subsystems Method (ESM) being developed at the institute of control and Industrial Infor...
详细信息
The paper presents an original Nyquist-based frequency domain robust decentralized controller design technique called Equivalent Subsystems Method (ESM) being developed at the institute of control and Industrial Informatics (ICII), and shows how it is included in education of control engineers in Cybernetics within laboratory project-based learning on real-world laboratory plants.
Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to ...
详细信息
Use of robotics and computerized tools in Nuclear Power Plants (NPPs) has been identified as a highly recommended practice by IAEA. The key rationale of robotics application has always been to avoid human exposure to hazardous environments and tasks ranging from scrutiny and general maintenance to decontamination and post accidental activities. To execute these activities, robots need to incorporate artificial intelligence, improved sensors capability, enhanced data fusion and compliant human like leg and hand structures for efficient motions. Next generation robotic systems in NPPs are expected to work in full autonomous mode in contrast to the current semi-autonomous scenarios. Far future systems could deploy humanoid robots as well. This paper presents state-of-the-art of robotics developed for NPPs, associated challenges and finally comments on future directions.
暂无评论