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This paper proposes a design method of two degree-of-freedom of self-tuning GPC for m-input m-output systems by using a genetic algorithm. The genetic algorithm gives a solution of integral gain in two degree-of-freedom of self-tuning GPC. When the identified plant parameters converge on true values, the proposed method reveals the effect of the integral compensation only if there is modeling error...
This paper describes the dynamical uncertain systems by the Takagi-Sugeno (T-S) fuzzy dynamic model, and proposes a LMI design method of the robust fuzzy sliding mode observer by applying the robust sliding-mode observer design principle based on the singular value decomposition. Firstly, the Lyapunov function is used as the critical condition which ensures the consistent convergence of the designed...
For the multi-motor synchronous control system has time delay and stochastic disturbance and uncertainty model factors, this paper proposed a fuzzy Smith controller which combined Smith pre-estimate control and fuzzy PID control, introducing the structure, the design method of the speed controller and modeling of the control system. Matlab toolboxes are used to simulate the multi-motor synchronous...
Two memoryless adaptive observers are proposed for systems with unknown time-delays and nonlinearities, in which time-delays are not used in the observer. Using high order neural networks (HONN), the precise system model, the Lipschitz, linear-in-parameter or norm-bounded assumptions of nonlinear functions are not needed. A robust term based on the matching condition is introduced in the first observer,...
Fed-batch fermentation processes are common methods of producing biological recombinant from different microorganisms. Model-based control of bioprocesses is a difficult task due to the challenges associated with bioprocess modeling. The paper deals with the multilayer perceptron neural network modeling of fed-batch cultivation of E. coli BL21 (DE3) [pET3a-ifn??] under maximum attainable specific...
Theoretically, if the inverse transfer function of the plant is known, feedforward control can achieve zero error between the reference and the output. The main aim of this paper is to design a simple feedforward model and to compensate for the errors brought about by a change in the cogging torque and current measurement inaccuracies. The reference position, speed and acceleration have been designed...
In this paper, a general design approach is proposed to derive the feedforward control law in feedback-feedforward control systems. This design approach is based on the concept of `control equilibrium point'. In this design approach, the feedback controller generates the transient control command and the feedforward controller generates the steady state one. Using the proposed feedforward controller,...
In this paper, a design approach is proposed for feedforward-feedback control systems. As the basis of the proposed design approach, steady state control command is defined as the control command which maintains the desired situation of the system. Steady state control law is derived form system's mathematical model and employed as feedforward controller. Using such a feedforward controller, for a...
Sailing vessels such as sailboats but also landyachts are vehicles representing a real challenge for automation. However, the control aspects of such vehicles were hitherto very little studied. This paper presents a simplified dynamic model of a so-called landyacht allowing to capture the main elements of the behavior of surface sailing vessels. We then propose a path generation scheme and a controller...
The paper deals with the problem of fault detection and isolation in machining centers, which are the basis of FMSpsila. The problem is of paramount importance since an effective diagnostic system can lead to a significant increase in the autonomy of an automated system. The paper considers a special case study: an hydraulic circuit which blocks and unblocks the pallet on the rotary table in a machining...
This paper focuses on controller design for a closed-loop scanning tunneling microscope to deal with fast variations in sample surface. A linear approximation approach is used to deal with non-linearities. The desired performances are then achieved by a controller design based on pole placement with sensitivity function shaping using second order digital notch filters. The corresponding simulation...
This paper presents an application of the supervisory control theory in the development of control logics for refrigerators. A structure containing a Peltier Mini-Refrigerator controlled by an electronic circuit was developed, aiming to create and validate different control strategies that will be implemented in household and commercial refrigerators. The local modular control approach is applied...
In this paper, a decentralized sliding mode control approach is applied to the control tasks of vehicles in platoons. Using the well known bicycle model, a robust nonlinear observer is introduced to facilitate the controller design which needs full state measurements. The vehicles in platoons can be treated as an interconnected system with a special form. Observer gain and controller gain are properly...
This paper develops an adaptive controller for (wireless) networked control systems by combining delay estimation and a jitter margin based PID controller tuning. A control system with wireless measurement is assumed, where the network induces delay jitter. Two delay jitter estimation algorithms are developed, with a method for selecting only valid delay estimates. The delay jitter adaptive PID controller...
A custom-made robot arm that is specially designed for a given task is better than a general-purpose robot arm based on the performance index it is designed for. In industries, however, a general-purpose robot arm is prevalently used since it can perform over several and varying tasks. Because of this, a custom-made robot arm becomes impractical due to its high fabrication cost. In this study, we...
This papers proposes a novel climate control strategy for mine extraction rooms based on the receding horizon optimal control scheme. Being a model-based procedure, the development of a pertinent prediction model is one of the keystones. According to recent technological advances, we consider that distributed measurements are available and provided by a wireless network. An enhanced modeling approach,...
The problem of designing control schemes for teams of robots to satisfy complex high-level tasks is a challenging problem which becomes more difficult when adding constraints on relative locations of robots. This paper presents a method for automatically creating hybrid controllers that ensure a team of heterogeneous robots satisfy some user specified high-level task while guaranteeing collision avoidance...
This article presents an Hinfin control design method based on the acceleration sensitivity (AS) function. This approach can be applied to any fully actuated generalized second order system. In this framework, classical modal specifications (pulsations / damping ratios) are expressed in terms of Hinfin templates allowing other frequency domain specifications to be taken into account. Finally, a comparison...
This paper reports the basic properties and robust control of a vehicle-trailer combination crosswind disturbance conditions. In practice it is known that unstable roll movements may occur, especially with unfavorable combinations of vehicle and trailer conditions, operating slightly above the permissible maximum speed. This may lead to accidents mostly due to improper driver behavior. First we present...
This paper is aimed to application of simple continuous-time robust regulators of PI and PID type designed through general solutions of Diophantine equations in the ring of proper and stable rational functions to control of temperature in laboratory model of hot-air tunnel of which mathematical model is supposed to include parametric uncertainty. One of the main advantages of the proposed algebraic...
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