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International Conference on Advances in Computing, Communications and Informatics, ICACCI 2015

作者： Ramesh Kumar, P. Bandyopadhyay, B. IDP in Systems and Control Engg Indian Institute of Technology Bombay400076 India

ISBN: (纸本)9781479987917

This paper proposes the application of a super twisting algorithm based control strategy for the position control of a Stewart platform. The conventional sliding mode controller is making use of a discontinuous feedback control, hence the control effort is discontinuous in nature. The discontinuity in feedback control induces the dangerous high frequency vibrations called chattering, which is highly undesirable for practical applications. The proposed super twisting controller is continuous in nature and the chattering is eliminated. The desired position of the platform has been achieved using the proposed method even in the presence of matched disturbances. The effectiveness of the proposed method has been demonstrated with the simulation results. © 2015 IEEE.

关键词： Position control

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The forward kinematic modeling of a Stewart platform using NLARX model with wavelet network

The forward kinematic modeling of a Stewart platform using N...

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2013 11th IEEE International Conference on Industrial Informatics, INDIN 2013

作者： Ramesh Kumar, P. Bandyopadhyay, B. IDP in Systems and Control Engg Indian Institute of Technology Bombay 400076 India

ISBN: (纸本)9781479907526

A Stewart platform manipulator is 6 degrees of freedom parallel robot with a superior performance over serial robots. The forward kinematic problem of a Stewart platform is to determine the actual position and orientation of the movable platform with respect to the base for a given set of leg lengths. The existing analytical methods to solve this problem give multiple solutions, out of which an exact and practical solution has to be selected. A novel method based on non linear autoregressive model with exogenous input (NLARX) using wavelet network is proposed in this paper for the identification of forward kinematic model of a Stewart platform. For a given position of the platform, the leg lengths are estimated using inverse kinematics. This information is used to identify and validate the NLARX model. The simulation results show the ability of the estimated NLARX model to represent the dynamic behavior of the Stewart platform in the forward kinematic mode. © 2013 IEEE.

关键词： Inverse kinematics

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Introduction

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2013年 431卷 1-15页

作者： Shimjith, S. Tiwari, A. Bandyopadhyay, B. Bhabha Atomic Research Centre LZCS Building 307 Mumbai85 India and Professor Bhabha Atomic Research Centre LZCS Building 302 Mumbai85 India IDP in Systems and Control Engg. Indian Institute of Technology Bombay Mumbai76 India

Atoms, the basic component of all matter, are incredibly tiny. But stored within the nucleus at the centre of each atom is the most powerful form of energy known. In 1938, Otto Hahn and Fritz Strassmann discovered that bombarding the nucleus of the uranium atom with neutrons changed some of the uranium into barium. In 1939, Austrian physicists Lise Meitner and Otto Frisch recognized Hahns experiment as the splitting of the uranium atom, and named the process as nuclear fission. During the same year, Jean Frederic JoliotCurie, Hans von Halban, and Lew Kowarski in France found that, on average, each fission of235U releases about 2.5 additional neutrons. The discovery made apparent the possibility of a chain reaction. Subsequently in 1942, a group of noted physicists, headed by Enrico Fermi, directed the construction of the worlds first successful nuclear reactor, at the University of Chicago in Illinois. It produced the first artificial chain reaction. Subsequent to these historical events, scientists learned how to release the nuclear energy and put it to use. Among the peaceful uses of this form of energy, is the production of electricity. A facility designed to convert nuclear energy into electricity is called a nuclear power plant. © 2013, Springer-Verlag Berlin Heidelberg.

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Stabilization of stewart platform using Smooth Second Order Sliding Mode controller

Stabilization of stewart platform using Smooth Second Order ...

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IEEE International Symposium on Industrial Electronics (ISIE)

作者： P. Ramesh Kumar B. Bandyopadhyay IDP in Systems and Control Engg Indian Institute of Technology Bombay India

ISBN: (纸本)9781467351942

This paper presents a technique to control the Stewart platform using a Smooth Second Order sliding Mode (SSOSM) controller based on modified “twisting” algorithm for relative degree two systems. For a given position of the platform, the leg lengths and leg velocities are estimated using inverse kinematics. The desired position of the platform has been achieved with a smooth control using a Smooth Second Order Sliding Mode controller. The results show that control input is free from chattering. The effectiveness of this control technique has been proved with simulation results.

关键词： Vectors Kinematics Sliding mode control Manipulator dynamics Mathematical model Joints

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The forward kinematic modeling of a Stewart platform using NLARX model with wavelet network

The forward kinematic modeling of a Stewart platform using N...

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IEEE International Conference on Industrial Informatics (INDIN)

作者： P. Ramesh Kumar B. Bandyopadhyay IDP in Systems and Control Engg Indian Institute of Technology Bombay Mumbai India

关键词： Legged locomotion Vectors Niobium Real-time systems

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Fractional-Order PI controller Tuning For A System With Delay With Specified Gain And Phase Margins

Fractional-Order PI Controller Tuning For A System With Dela...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Mukesh D.Patil Shanti Shankara Vishwesh A.Vyawahare IDP in Systems and Control Engg. Indian Institute of TechnologyBombay Mumbai India 400 076 Graduate student Dept. of Electronics Engg. Ramrao Adik Instituteof Technology Navi Mumbai India 400 706 IDP in Systems and Control Engg. Indian Institute of Technology Bombay Mumbai India 400 076

Fractional-order(FO)model provides a more realistic representation of the real-world ***,it has been shown that FO controllers provide a more efficient,guaranteed,robust control to both FO and Integer-order(IO)***

关键词： controller Fractional-Order PI controller Tuning For A System With Delay With Specified Gain And Phase Margins

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Design And Analysis Of Model Predictive control Strategy For A Fractional-Order System

Design And Analysis Of Model Predictive Control Strategy For...

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第五届国际自动控制联合会分数阶导数及其应用会议

作者： Sharad P.Jadhav Dr.R.H.Chile Dr.S.T.Hamde Mukesh D.Patil Vishwesh A.Vyawahare Research Scholar Shri Guru Gobind Singhji Institute of Engineering andTechnologyNanded431606India ¤¤ Shri Guru Gobind Singhji Institute of Engineering andTechnology Nanded431606India Shri Guru Gobind Singhji Institute of Engineering andTechnology Nanded431606India IDP in Systems and Control Engg. Indian Institute of TechnologyBombay Mumbai India 400 076 IDP in Systems and Control Engg. Indian Institute of Technology Bombay Mumbai India 400 076

＜正＞Fractional calculus（FC）is an important mathematical tool and is becoming popular in diverse field of research *** is a generalization of the conventional calculus that leads to similar concepts and tools,but w... 详细信息

关键词： Fractional calculus Fractional-order systems Discrete approximations Model Predictive control. fractional order control strategy control Theory Instruction repertory Fractional calculus Model predictive control Predictive control approximation

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Nonlinear control of a Magnetic Levitation system Using Quantitative Feedback Theory (QFT)

Nonlinear control of a Magnetic Levitation system Using Quan...

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International Conference on Reliability, Safety and Hazard

作者： Nataraj, P.S.V. Patil, Mukesh D. IDP in Systems and Control Engg. Indian Institute of Technology Bombay Mumbai India

ISBN: (纸本)9781424483433

There is a growing demand for magnetic suspension systems, especially in the field of high accuracy multi-dimensional positioning. Magnetic Levitation (Maglev) systems offer many advantages such as frictionless, low noise, the ability to operate in high vacuum environments and so on. Reliable and robust controller synthesis of this system is of great practical interest. Robustness is a key issue in designing a control system for a Magnetic Levitation as the models are never 100 percent accurate and the uncertainties in the model must be accounted. In the present work, a new approach using Quantitative Feedback Theory (QFT) is presented for design of a robust two degree of freedom controller for Magnetic Levitation. Experimental tests are conducted to check the reliability and robustness of the designed control system by subjecting it to disturbances. The experimental test results show the control system design to be reliable and robust. © 2010 IEEE.

关键词： Robust control

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Nonlinear control of a Magnetic Levitation system Using Quantitative Feedback Theory (QFT)

Nonlinear control of a Magnetic Levitation system Using Quan...

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International Conference on Reliability, Safety and Hazard (ICRESH)

作者： P. S. V. Nataraj Mukesh D. Patil IDP in Systems and Control Engg. Indian Institute of Technology Bombay Mumbai India

关键词： Detectors Bandwidth Robustness

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On the hybrid automaton models and control synthesis of a single inductor, double output boost converter

On the hybrid automaton models and control synthesis of a si...

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CES/IEEE 5th International Power Electronics and Motion control Conference

作者： Sreekumar C Vivek Agarwal IDP in Systems and Control Engg IIT Bombay Mumbai India- 400 076. Electrical Engg. Department IIT Bombay Mumbai India- 400 076.

ISBN: (纸本)1424404487

In a Single Inductor Double Output (SIDO) boost converter, power is fed to both the outputs through the same inductor and hence the control requirements on output voltages are inter-dependent, causing complexity in modeling and control design of such converters. But, there is some flexibility in disguise due to the increased number of controlled devices and storage elements. This is utilized in this paper, to arrive at different hybrid automaton models for representing the SIDO boost converter. The features of each representation are highlighted. For these models, a safe spherical region around the required set point is identified using the stability requirements for a given set of disturbances. Inside the safe region, hybrid control laws are proposed to regulate the two different outputs at their required levels. Simulation studies are carried out in MATLAB/SIMULINK and the results are presented. The response of the SIDO converter, under various disturbances, is found to be satisfactory under the proposed control scheme.

关键词： SIDO boost converter voltage regulation stability hybrid automaton Inner product continuous current mode discontinuous current mode.

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