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Experimental validation of fully informed particle swarm optimization tuned multi-loop L-PID controllers for stabilization of gantry crane system 3rd

Experimental validation of fully informed particle swarm opt...

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3rd International Conference on Intelligent Communication, control and Devices, ICICCD 2018

作者： Valluru, Sudarshan K. Singh, Madhusudan Dobhal, Daksh Kartikeya, Kumar Kaur, Manpreet Goel, Arnav Department of Electrical Engineering Incubation Center for Control Dynamical Systems and Computation Delhi Technological University New DelhiDelhi110042 India

ISBN: (纸本)9789811386176

Linear PID controllers are commonly used as an electrical component to decrease the error between anticipated set value and actual measured values for control of various benchmarked systems. The Multi-Loop Linear PID (ML-PID) controller, gives a robust and efficient performance in most of the situations. This paper presents the implementation of linear PID controller to stabilize and control the Gantry Crane System. Optimal performance is obtained for a few specific combinations of the proportional, integral, and derivative gains, which makes it essential to tune these values through Optimization techniques. The Fully Informed Particle Swarm Optimizer (FIPSO) is used to tune the gain values of the ML-PID controlled Gantry Crane System. These values are validated experimentally, and obtained results prove that the FIPSO tuned multi-loop linear PID controller quickly stabilizes the system subjected to external disturbances. © Springer Nature Singapore Pte Ltd. 2020.

关键词： controllers

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Distributed estimation via iterative projections with application to power network monitoring

Distributed estimation via iterative projections with applic...

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作者： Pasqualetti, Fabio Carli, Ruggero Bullo, Francesco Center for Control Dynamical Systems and Computation University of California Santa Barbara United States Department of Information Engineering University of Padova Padova Italy

This work presents a distributed method for control centers to monitor the operating condition of a power network, i.e.;to estimate the network state, and to ultimately determine the occurrence of threatening situations. State estimation has been recognized to be a fundamental task for network control centers to operate safely and reliably a power grid. We consider (static) state estimation problems, in which the state vector consists of the voltage magnitude and angle at all network buses. We consider the state to be linearly related to network measurements, which include power flows, current injections, and voltage phasors at some buses. We admit the presence of several cooperating control centers, and we design two distributed methods for them to compute the minimum variance estimate of the state, given the network measurements. The two distributed methods rely on different modes of cooperation among control centers: in the first method an incremental mode of cooperation is used, whereas, in the second method, a diffusive interaction is implemented. Our procedures, which require each control center to know only the measurements and the structure of a subpart of the whole network, are computationally efficient and scalable with respect to the network dimension, provided that the number of control centers also increases with the network cardinality. Additionally, a finite-memory approximation of our diffusive algorithm is proposed, and its accuracy is characterized. Finally, our estimation methods are exploited to develop a distributed algorithm to detect corrupted network measurements. © 2012 Elsevier Ltd. All rights reserved.

关键词： State estimation

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An image segmentation method of pulverized coal for particle size analysis

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International Journal of Mining Science and Technology 2023年第9期33卷 1181-1192页

作者： Xin Li Shiyin Li Liang Dong Shuxian Su Xiaojuan Hu Zhaolin Lu Affiliated Hospital of China University of Mining and Technology Xuzhou 221002China School of Information and Control Engineering China University of Mining and TechnologyXuzhou 221116China School of Chemical Engineering&Technology China University of Mining and TechnologyXuzhou 221116China Advanced Analysis and Computation Center China University of Mining and TechnologyXuzhou 221116China

An important index to evaluate the process efficiency of coal preparation is the mineral liberation degree of pulverized coal,which is greatly influenced by the particle size and shape distribution acquired by image ***,the agglomeration effect of fine powders and the edge effect of granular images caused by scanning electron microscopy greatly affect the precision of particle image *** this study,we propose a novel image segmentation method derived from mask regional convolutional neural network based on deep learning for recognizing fine coal ***,an atrous convolution is introduced into our network to learn the image feature of multi-sized powders,which can reduce the missing segmentation of small-sized agglomerated ***,a new mask loss function combing focal loss and dice coefficient is used to overcome the false segmentation caused by the edge *** final comparative experimental results show that our method achieves the best results of 94.43%and 91.44%on AP50 and AP75 respectively among the comparison *** addition,in order to provide an effective method for particle size analysis of coal particles,we study the particle size distribution of coal powders based on the proposed image segmentation method and obtain a good curve relationship between cumulative mass fraction and particle size.

关键词： Pulverized coal Image segmentation Deep learning Particle size analysis

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Integrating different modelling formalisms supporting co-design development of controllers for cyber-physical systems - A case study 9

Integrating different modelling formalisms supporting co-des...

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9th IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2022

作者： Bazydlo, Grzegorz Costa, Aniko Gomes, Luis Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora Poland NOVA University Lisbon Center of Technology and Systems-UNINOVA Caparica Portugal

ISBN: (数字)9781665489904

ISBN: (纸本)9781665489904

In the paper, a teaching methodology for the design of controllers for cyber-physical system (CPS) is presented. The proposed approach is supported both by special tools (for modelling, verifying, and implementing of designed CPS) and programmable platforms (FPGA-based boards and Arduino devices). The latter ones allow for laboratory prototyping during classes and give flexibility for exercising different implemen-tation strategies. The proposed approach was fully validated during courses on 'Discrete process control' and 'Designing of integrated cyber-physical systems' offered at the University of Zielona Gora (Poland), and students' assessment of the usage of two design tools - IOPT- Tools and Active-HDL were analysed. © 2022 IEEE.

关键词： controllers

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ADAPTIVE-control OF A CLASS OF NONLINEAR DISCRETE-TIME-SYSTEMS

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INTERNATIONAL JOURNAL OF control 1995年第2期62卷 303-324页

作者： YEH, PC KOKOTOVIC, PV Center for Control Engineering and Computation University of California Santa Barbara CA 93106 United States

We consider adaptive control via state feedback for a class of feedback linearizable discrete-time systems. To parallel the development in adaptive nonlinear continuous-time control, we employ a systematic procedure to design the controllers and the update laws for the so-called parametric-strict-feedback form and the parametric-pure-feedback form. The geometric conditions that characterize this class of systems are given. Depending on the growth conditions of the nonlinearities, global boundedness and convergence are achieved with various update laws. We also develop adaptive indirect schemes with an observer-based identifier for the parametric-strict-feedback form. As a result, the drawback of overparametrization in direct schemes can be removed.

关键词： Adaptive control systems

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LIMITS OF PERFORMANCE IN REFERENCE-TRACKING AND PATH-FOLLOWING FOR NONLINEAR SYSTEMS

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IFAC Proceedings Volumes 2005年第1期38卷 264-269页

作者： A. Pedro Aguiar João P. Hespanha Petar Kokotović Center for Control Engineering and Computation University of California Santa Barbara CA 93106-9560

We investigate limits of performance in reference-tracking and path-following and highlight an essential difference between them. For a class of nonlinear systems, we show that in reference-tracking, the smallest achievable L 2 norm of the tracking error is equal to the least amount of control energy needed to stabilize the zero-dynamics of the error system. We then show that this fundamental performance limitation does not exist when the control objective is to force the output to follow a geometric path without a timing law assigned to it. This is true even when an additional desired speed assignment is required to be satisfied asymptotically or in finite time.

关键词： Limits of performance non-minimum phase nonlinear systems path-following reference-tracking cheap-control

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João Hespanha [People in control]

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IEEE control Systems 2014年第1期34卷 22-24页

作者： Hespanha, João Center for Control Dynamical Systems and Computation University of California Santa BarbaraCA United States Department of Electrical and Computer Engineering University of California Harold Frank Hall Santa BarbaraCA93106-9560 United States

In this issue of IEEE control Systems Magazine, we speak with João Hespanha, who is a professor and chair of the Department of Electrical and Computer engineering and Director of the center for control, Dynamical Systems, and computation at the University of California, Santa Barbara. He received a Licenciatura and an M.S. at Instituto Superior Técnico, Lisbon, Portugal, in 1991 and 1993, respectively, and a Ph.D. from Yale University in 1998. He was formerly on the faculty in the Department of Electrical engineering at the University of Southern California. He is a Fellow of IEEE and a recipient of the Automatica Theory/Methodology Best Paper Prize, the George S. Axelby Outstanding Paper Award, and the Antonio Ruberti Young Researcher Prize. His research interests include hybrid systems, networked control systems, cooperative control, advanced sensing, and systems biology. © 2014 IEEE.

关键词： Hybrid systems

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Hide-and-seek with directional sensing

Hide-and-seek with directional sensing

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作者： Borri, Alessandro Bopardikar, Shaunak D. Hespanha, Joao P. Di Benedetto, Maria D. Department of Electrical Engineering University of L'Aquila Italy Center for Control Dynamical Systems and Computation University of California Santa Barbara CA 93106 United States

ISBN: (纸本)9783902661937

We consider a game played between a hider, who hides a static object in one of several possible positions in a bounded planar region, and a searcher, who wishes to reach the object by querying sensors placed in the plane. The searcher is a mobile agent, and whenever it physically visits a sensor, the sensor returns a randomdirection, corresponding to a half-plane in which the hidden object is *** first present a novel search heuristic and characterize bounds on the expected distance covered before reaching the object. Next, we model this game as a large-dimensional zero-sum dynamic game and we apply a recently introduced randomized sampling technique that provides a probabilistic level of security to the hider. We observe that, when the randomized sampling approach is only allowed to select a very small number of samples, the cost of the heuristic is comparable to the security level provided by the randomized procedure. However, as we allow the number of samples to increase, the randomized procedure provides a higher probabilistic security level. © 2011 IFAC.

关键词： Mobile agents

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Worst-case time complexity of a lattice formation problem 44

Worst-case time complexity of a lattice formation problem

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44th Annual Allerton Conference on Communication, control, and Computing 2006

作者： Savla, Ketan Bullo, Francesco Center for Control Dynamical Systems and Computation University of California at Santa Barbara 2338 Engineering Bldg II Santa BarbaraCA93106-5070 United States

ISBN: (纸本)9781604237924

We consider a formation control problem for a robotic network with limited communication and controlled motion abilities. We propose a novel control structure that organizes the robots in concentric layers and that associates to each layer a local leader. Through a load balancing algorithm on the asynchronous network of layers we allocate the desired number of robots on each layer. A final uniform spreading algorithm leads the robots to a lattice-like formation. This novel distributed communication and control algorithm runs in linear time in the worst case.

关键词： Robots

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Integration of Fault-Tolerant Design and Fault-Tolerant control of Automated Guided Vehicles 21st

Integration of Fault-Tolerant Design and Fault-Tolerant Cont...

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21st Polish control Conference, PCC 2023

作者： Stetter, Ralf Witczak, Marcin Germany and Steinbeis Transfer Center Automotive Systems Ravensburg Germany Institute of Control and Computation Engineering University of Zielona Gora Zielona Gora65-246 Poland

ISBN: (纸本)9783031351693

Both fault-tolerant design (FTD) and fault-tolerant control (FTC) are receiving increasing attention from the scientific community. Both intend to develop and implement solutions for accommodating faults which are inevitable in complex technical systems. However, up to no, little scientific activity was aimed at integrating those two promising approaches. This paper describes a detailed investigation of common aspects and interfaces between FTD and FTC as well as a sensible combined process. This investigation was based on the development of automated guided vehicles (AGVs) together with the appropriate control and diagnosis algorithms and systems. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Fault tolerance

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