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Fuzzy Feedback Control for Electro-Hydraulic Actuators

Intelligent Automation & Soft Computing 2023年第5期36卷 2441-2456页

作者： Tan Nguyen Van Huy Q.Tran Vinh Xuan Ha Cheolkeun Ha Phu Huynh Minh School of Engineering-Technology Thu Dau Mot UniversityThu Dau Mot City590000Vietnam Faculty of Engineering-Technology Nguyen Tat Thanh UniversityHo Chi Minh City754000Vietnam Hue Industrial College Hue City530000Vietnam Robotics and Mechatronics Lab University of UlsanUlsan City44610Korea

Electro-hydraulic actuators(EHA)have recently played a signiﬁcant role in modern industrial applications,especially in systems requiring extremely high *** can be explained by EHA’s ability to precisely control the position and force through advanced sensors and innovative control *** of the promising approaches to improve control accuracy for EHA systems is applying classical to modern control algorithms,in which the proportional–inte-gral–derivative(PID)algorithm,fuzzy logic controller,and a hybrid of these methods are popular *** this paper,we developed a novel version of the fuzzy control algorithm and linear feedback control method,namely fuzzy lin-ear feedback control,to improve the control *** achieve the highest performance,weﬁrst designed a mathematical EHA model based on the Matlab/Simulink software packages thanks to the selected parameters,which are similar to a real EHA ***,we respectively applied PID,fuzzy PID(FPID),and fuzzy linear feedback control(FLFC)before comparing them to have a full view of the outstanding advantages of the proposed *** simulation results showed that the proposed FLFC algorithm is approximately 99%and 77%super-ior in performance to the PID and feedback control algorithms,respectively.

关键词： Electro-hydraulic actuator fuzzy PID feedback control

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External-Wrench Estimation for Aerial Robots Exploiting a Learned Model

External-Wrench Estimation for Aerial Robots Exploiting a Le...

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International Conference on Unmanned Aircraft Systems (ICUAS)

作者： Ayham Alharbat Gabriele Ruscelli Roberto Diversi Abeje Mersha Smart Mechatronics and Robotics research group Saxion University of Applied Science Enschede The Netherlands Robotics and Mechatronics research group Faculty of Electrical Engineering Mathematics & Computer Science University of Twente Enschede The Netherlands Department of Electrical Electronic and Information Engineering University of Bologna Bologna Italy

ISBN: (数字)9798331513283

ISBN: (纸本)9798331513290

This paper presents an external wrench estimator that uses a hybrid dynamics model consisting of a firstprinciples model and a neural network. This framework addresses one of the limitations of the state-of-the-art modelbased wrench observers: the wrench estimation of these observers comprises the external wrench (e.g. collision, physical interaction, wind); in addition to residual wrench (e.g. model parameters uncertainty or unmodeled dynamics). This is a problem if these wrench estimations are to be used as wrench feedback to a force controller, for example. In the proposed framework, a neural network is combined with a first-principles model to estimate the residual dynamics arising from unmodeled dynamics and parameters uncertainties, then, the hybrid trained model is used to estimate the external wrench, leading to a wrench estimation that has smaller contributions from the residual dynamics, and affected more by the external wrench. This method is validated with numerical simulations of an aerial robot in different flying scenarios and different types of residual dynamics, and the statistical analysis of the results shows that the wrench estimation error has improved significantly compared to a model-based wrench observer using only a firstprinciples model.

关键词： Uncertain systems Analytical models Statistical analysis Atmospheric modeling Dynamics Neural networks Observers Autonomous aerial vehicles Numerical simulation Numerical models

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Parameterization of Circuit Breakers for HVDC Transmission Line Between Egypt and the Kingdom of Saudi Arabia Toward Restriking Voltage

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IEEE Access 2024年 12卷 18259-18269页

作者： Eliyan, Tamer Elsisi, Mahmoud Alghaythi, Mamdouh L. Alshammari, Meshari S. Wadie, Fady Benha University Faculty of Engineering at Shoubra Department of Electrical Engineering Cairo 11629 Egypt Higher Institute of Engineering at El-Shorouk City Alshorouk Academy Department of Electrical Power and Machines Engineering Cairo 11837 Egypt National Kaohsiung University of Science and Technology Department of Electrical Engineering Kaohsiung 807618 Taiwan Jouf University College of Engineering Department of Electrical Engineering Sakaka 72388 Saudi Arabia Egyptian Russian University Faculty of Engineering Mechatronics and Robotics Engineering Department Badr City 11829 Egypt

The high voltage direct current (HVDC) transmission lines represent the prospective way for long-distance transmission between countries, remote areas, and offshore wind farms to decrease power loss. However, the HVDC protection systems have many challenges against any system issue, such as maintenance and short circuits. Thus, the vital role played by high voltage direct current circuit breaker CB has made it the center of attention in HVDC protection systems. The main challenge in HVDC CB is the lack of naturally exiting current zero that allows the breaker to extinguish the arc during the opening process. Thus, a commutation L-C circuit is required to inject an oscillating current and enforce a zero-crossing. Nevertheless, the L-C branch is affected directly by the arcing time, the transient recovery voltage (TRV), and the rate of rise of recovery voltage (RRRV). This paper investigates the parametric uncertainties of L-C and SF6 mechanical interrupters, including cooling power and arc time constant upon TRV and RRRV, based on Mayr's black-box model. Furthermore, a part of 3000 MVA, 500 kV HVDC transmission line between Egypt and the Kingdom of Saudi Arabia is used as a testing system employing ATP/EMTP software package to demonstrate the effect of CB's parameters variations. The results indicate that the capacitance represents the major parameter having a direct impact on TRV and RRRV. In essence, the proper parameterization of the CB is highly required in the design process of HVDC CB to enhance the decision-making and ensure that the L-C is capable of reducing arcing time and TRV simultaneously. © 2013 IEEE.

关键词： arcing time black-box arc model circuit breakers HVDC protection systems RRRV Transmission lines TRV

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Comparative Study of Anti-Swing Controllers for a Triple Link Rotary Pendulum System

Comparative Study of Anti-Swing Controllers for a Triple Lin...

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IEEE International Conference on engineering Technologies and Applied Sciences (ICETAS)

作者： Zied Ben Hazem Zafer Bingül Department of Mechatronics Engineering College of Engineering (COE) University of Technology Bahrain Bahrain Department of Mechatronics Engineering Automation and Robotics Laboratory Kocaeli University Kocaeli Turkey

This paper presents a study of the development of anti-swing control of a triple link rotary pendulum system (TLRPS). The motion nonlinear equations of the TLRPS are obtained using the Euler-Lagrange method based on the kinematic model and Denavit-Bartenberg (DH) convention. In this study three anti-swing controllers, linear-quadratic regulator (LQR), fuzzy linear-quadratic regulator (FLQR), and radial basis neuro-fuzzy linear quadratic regulator (RBNFLQR) are developed to control and eliminate the swing angles of the three links during the rotation. Moreover, the performance characteristics of the controllers are compared and examined in terms of their time response specifications parameters and swing angle elimination. Moreover, the robustness of controllers is tested under external torque disturbance. The simulation and experiment results of the response of the TLRPS are presented in time domains. Simulation and experiment results exhibit excellent control performance and robustness in terms of position control and damping oscillations elimination.

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High Performance Soft Electrochemical Actuators Based on Hierarchical Conductive Polymer Ionogels

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Journal of Bionic engineering 2023年第6期20卷 2755-2763页

作者： Hongwei Hu Shengtao Zhang Yan Li Xinghao Hu Lin Xu Aixin Feng Guanggui Cheng Jianning Ding Zhejiang Provincial Key Laboratory of Laser Processing Robotics College of Mechanical and Electrical EngineeringWenzhou UniversityWenzhou325035China Institute of Intelligent Flexible Mechatronics Jiangsu UniversityZhenjiang212013China School of Mechanical Engineering Jiangsu University of Science and TechnologyZhenjiang212100China School of Mechanical Engineering Yangzhou UniversityYangzhou225127China Jiangsu Collaborative Innovation Center of Photovoltaic Science and Engineering Changzhou UniversityChangzhou213164China Ruian Graduate School of Wenzhou University Ruian325207ZhejiangChina

Electrochemical actuators based on conductive polymers are emerging as a strong competitive in the field of soft actuators because of their intrinsically conformable/elastic nature,low cost,low operating voltage and air-working *** development has shown that adding electroactive materials,such as CNT and graphene,can improve their actuation *** the complex material systems used,their output strains(one of the key factors)are generally lower than 1%,which limited further applications of them in multiple ***,we report soft electrochemical actuators based on conductive polymer ionogels by embedding polyaniline particles between the PEDOT:PSS *** show that such a hierarchical structure not only leads to a high conductivity(1250 S/cm)but also improved electrochemical *** a low operating voltage of 1 V,the maximum strain of these soft actuators reaches an exceptional value of 1.5%,with a high blocking force of 1.3 *** these high-performance electrochemical actuators,we demonstrate soft grippers for manipulating object and a bionic flower stimulated by an electrical *** work sets an important step towards enabling the enhanced performance of electrochemical actuators based on conductive polymers with designed microstructures.

关键词： Conductive polymer Soft actuator Polyaniline PEDOT:PSS Bioinspired actuator

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Pareto Optimization as the Basic for Selecting Robotic Mechanic Assembly Technologies

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Applied Mathematics 2024年第6期15卷 421-439页

作者： Valerii Kyrylovych Dragoljub Tanovic Dmytro Melnychuk Liudmyla Mohelnytska Petro Melnychuk Valery Yanovsky Faculty of Computer-Integrated Technologies Mechatronics and Robotics Zhytomyr Polytechnic State University Zhytomyr Ukraine Faculty of Mechanical Engineering University of Belgrade Belgrade Serbia

The task of selecting robotic mechanic assembly technologies (RMAT) is considered as a multi-criteria optimization task, which in this formulation is solved on the set of previously obtained solutions regarding the selection of RMAT. The purpose of the paper is to increase the efficiency of technological preparation of robotic mechanical assembly production of machine and instrument engineering due to a new approach to the selection of RMAT using Pareto optimization and the peculiarities of the selection task formulation. The novelty consists in the further development of a science-based approach to solving multi-criteria selection task, based on the first proposed formalisms of the specified process, which reflect the peculiarities of the selection task formulation, its meaningful essence and the content of the Pareto optimization method. The practical value of the research lies in the proposed engineering-acceptable approach to solving applied multi-criteria selection tasks on the example of RMAT selection, which is invariant to the statement of the selection task, the dimension of the task, and its meaningful essence. The methods of discrete optimization, fuzzy multi-criteria selection of alternatives, and the Pareto optimization method were used for the research. The main results of this work consist of the development of formalisms and the demonstration of the efficiency of the proposed approach for the applied task of RMAT selection. The peculiarity of the developed approach is the combination of Pareto optimization, performed on a discrete set of local criteria. Directions for further research are presented.

关键词： Multicriteria Optimization Efficiency Fuzzy Multicriteria Selection of Alternatives

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Control strategies for gutter maintenance robot

Control strategies for gutter maintenance robot

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IEEE Latin American robotics Symposium, LARS

作者： Marllely Hernandez Sofia Dussan Adrian Chavarro Ruthber Rodriguez Mario Arbulu Mechatronics Engineering Program CORHUILA Neiva Huila Colombia R&D Section Robotics 4.0 Neiva Huila Colombia Tecnoparque Nodo Neiva SENA Neiva Hula Colombia Mechatronics Engineering Program CORHUILA Robotics 4.0 Neiva Huila Colombia

ISBN: (数字)9798331508807

ISBN: (纸本)9798331508814

This paper presents the control system of the ROMANCAN robot (Gutter Maintenance Robot), a tracked differential mobile robot designed to clean buildings gutters and reduce the risk of operators falling. The focus on the control system deals with following wall, to correct the robot trajectory in real time. In addition, the integrated electronic components, such as sensors and actuators, are detailed. The simulation results and experimental tests, show the effectiveness of the system in simulated conditions, and with physical prototype, it is noticed at kinematic control that the compensation angle can be computed by dividing 2.5 the initial robot deviation angle; otherwise the dynamic control allows compensate additional real environment disturbs contributing to the field of mobile robotics and automation in narrow spaces at urban environments.

关键词： Wireless communication Urban areas Kinematics Robot sensing systems Control systems Cleaning Safety Maintenance Usability Robots

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Workspace Analysis of a 3 RRR Planar Mechanism 25th

Workspace Analysis of a 3 RRR Planar Mechanism

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25th International Symposium on Measurement and Control in robotics, ISMCR 2023

作者： Buium, Florentin Doroftei, Ioan Mechanical Engineering Mechatronics and Robotics Department "Gheorghe Asachi" Technical University of Iasi 43 Blvd. D. Mangeron Iasi700050 Romania Technical Sciences Academy of Romania 26 Dacia Blvd. Bucharest030167 Romania

ISBN: (纸本)9783031510847

The paper intends to outline workspace of a planar parallel mechanism taking into account both: first type and second type of singularities. These questions influence in an important mode, inverse and direct kinematics of this mechanisms. The chosen mechanism for this purpose is of 3 RRR type, used as mechanical structure for a robot manipulator. Some results of this study can be useful in technical education or mechanism design. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Manipulators

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Robust Position Estimation by Rao-Blackwellized Particle Filter without Integer Ambiguity Resolution in Urban Environments

Robust Position Estimation by Rao-Blackwellized Particle Fil...

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IEEE Symposium on Position Location and Navigation (PLANS)

作者： Daiki Niimi An Fujino Taro Suzuki Junichi Meguro Department of Mechatronics Engineering Graduate School of Meijo University Aichi Japan Department of Mechatronics Engineering Meijo University Aichi Japan Future Robotics Technology Center Chiba Institute of Technology Chiba Japan

ISBN: (数字)9798331523176

ISBN: (纸本)9798331523183

This study proposes a centimeter-accurate positioning method that utilizes a Rao-Blackwellized particle filter (RBPF) without requiring integer ambiguity resolution in global navigation satellite system (GNSS) carrier phase measurements. The conventional positioning method employing a particle filter (PF) eliminates the necessity for ambiguity resolution by calculating the likelihood from the residuals of the carrier phase based on the particle position. However, this method encounters challenges, particularly in urban environments characterized by non-line-of-sight (NLOS) multipath errors. In such scenarios, PF tracking may fail due to the degradation of velocity estimation accuracy used for state transitions, thereby complicating subsequent position estimation. To address this issue, we apply Rao-Blackwellization to the conventional PF framework, treating position and velocity as distinct states and employing the Kalman filter for velocity estimation. This approach enhances the accuracy of velocity estimation and, consequently, the precision of position estimation. Moreover, the proposed method rejects NLOS multipath signals based on the pseudorange residuals at each particle position during the velocity estimation step. This process not only enhances velocity accuracy, but also preserves particle diversity by allowing particles to transition to unique states with varying velocities. Consequently, particles are more likely to cluster around the true position, thereby enabling more accurate position estimation. Vehicular experiments in urban environments demonstrated the effectiveness of proposed method in achieving a higher positioning accuracy than conventional PF-based and conventional GNSS positioning methods.

关键词： Global navigation satellite system Maximum likelihood detection Accuracy Satellites Phase measurement Urban areas Estimation Nonlinear filters Rendering (computer graphics) Particle filters

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Applying Radio Frequency Attenuators to Reduce the Impact of U-NII-4 Interference on DSRC Channel 180

Applying Radio Frequency Attenuators to Reduce the Impact of...

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IEEE Southeastcon

作者： Grayson Hatcher Marco Tello Nathan Kirkwood Billy Kihei Department of Electrical and Computer Engineering Kennesaw State University Marietta Georgia Department of Robotics and Mechatronics Engineering Kennesaw State University Marietta Georgia

ISBN: (数字)9798331504847

ISBN: (纸本)9798331504854

In recent years, competition within Radio Frequency (RF) communication bands has led to an overlap between the U-NII-4 band used by low-cost consumer devices, and the Dedicated Short Communication Band (DSRC) used by the Georgia Department of Transportation. Past research confirmed that this interference leads to drastic reduction in Packet Reception Rate (PRR) for Roadside Units (RSUs) and On-Board Units (OBUs) throughout the country, resulting in a reduction of stability between different components of the Intelligent Transportation System (ITS). Our research team set a goal to prove that a low-cost and simple modification can be made to RSUs currently in use that could increase PRR, by developing and testing RF technologies, primarily attenuators available on the market currently. These solutions could be easily adapted to infrastructure systems, and only require they run in-line with the stock antennas already in use. We were able to accomplish this goal, as well as made findings that may be beneficial within the world of RF communications for RSU devices.

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