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Wyświetlanie 1-11 z 11
Tytuł:
Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control
Autorzy:
Ma, Y.
Cocquempot, V.
El Badaoui El Najjar, M.
Jiang, B.
Powiązania:
https://bibliotekanauki.pl/articles/331196.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
actuator failure
multiple model control
physically linked robot
two wheel drive
awaria siłownika
sterowanie wielomodelowe
robot połączony
Opis:
This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2017, 27, 4; 763-776
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fuzzy switching for multiple model adaptive control in manipulator robot
Autorzy:
Kharabian, B.
Bolandi, H.
Smailzadeh, S. M.
Mousavi Mashhadi, S. K.
Powiązania:
https://bibliotekanauki.pl/articles/384940.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
manipulator robot
fuzzy logic
multiple model
adaptive control
switching
Opis:
In this paper, fuzzy logic is used to perform switching controllers for Multiple Model Adaptive Control (MMAC) in manipulator robot. In the cases which uncertainty bounds of system’s parameters are large, the performance and stability issue of system are considerable concerns. Multiple Model Adaptive Control approach can be useful method to stabilize these kinds of systems. In this control method, the uncertainty bound is divided into several smaller bounds. As a result, the process of stabilization would be streamlined. In this regard, one estimation is obtained for uncertain parameter in every minor bound, and based on estimation errors designed controller can alter. In order to avoid switching controllers and pertinent challenges a summation of controllers with coefficient tuned by fuzzy logic is considered. Simulation results substantiate the efficacy of this method.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2017, 11, 1; 53-56
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Real-time implementation of multiple model based predictive control strategy to air/fuel ratio of a gasoline engine
Autorzy:
Wojnar, S
Polóni, T
Šimončič, P
Rohal’-Ilkiv, B
Honek, M
Csambál, J
Powiązania:
https://bibliotekanauki.pl/articles/229632.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
model predictive control
multiple models
air/fuel ratio
spark ignition engine
ARX models
Opis:
Growing safety, pollution and comfort requirements influence automotive industry ever more. The use of three-way catalysts in exhaust aftertreatment systems of combustion engines is essential in reducing engine emissions to levels demanded by environmental legislation. However, the key to the optimal catalytic conversion level is to keep the engine air/fuel ratio (AFR) at a desired level. Thus, for this purposes more and more sophisticated AFR control algorithms are intensively investigated and tested in the literature. The goal of this paper is to present for a case of a gasoline engine the model predictive AFR controller based on the multiple-model approach to the engine modeling. The idea is to identify the engine in particular working points and then to create a global engine's model using Sugeno fuzzy logic. Opposite to traditional control approaches which lose their quality beside steady state, it enables to work with satisfactory quality mainly in transient regimes. Presented results of the multiple-model predictive air/fuel ratio control are acquired from the first experimental real-time implementation on the VW Polo 1390 cm3 gasoline engine, at which the original electronic control unit (ECU) has been fully replaced by a dSpace prototyping system which execute the predictive controller. Required control performance has been proven and is presented in the paper.
Źródło:
Archives of Control Sciences; 2013, 23, 1; 93-106
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Prediction control systems in marine applications
Autorzy:
Gierusz, W.
Miller, A.
Powiązania:
https://bibliotekanauki.pl/articles/117282.pdf
Data publikacji:
2020
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
control system
marine applications
ship motion
automatic system
Model Predictive Control (MPC)
multiple input
Multiple Output (MIMO)
Model Predictive Heuristic Control (MPHC)
Generalized Predictive Control (GPC)
Opis:
The paper presents one of the modern control methods used for steering of the ship motion. The different automatic systems used to navigate the vessels are described at the beginning. Next, prediction control methodology is presented and multidimensional MPC regulator applied to steering of the training ship is shown as a technical product. Tests results from the real-time experiments with the mentioned controller are presented at the end of the article.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2020, 14, 2; 361-366
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Motor Control: Neural Models and Systems Theory
Autorzy:
Doya, K.
Kimura, H.
Miyamura, A.
Powiązania:
https://bibliotekanauki.pl/articles/908323.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
adaptacyjny układ sterowania
model wielokrotny
inverse model
adaptive control
cerebellum
reinforcement learning
basal ganglia
multiple models
Opis:
In this paper, we introduce several system theoretic problems brought forward by recent studies on neural models of motor control. We focus our attention on three topics: (i) the cerebellum and adaptive control, (ii) reinforcement learning and the basal ganglia, and (iii) modular control with multiple models. We discuss these subjects from both neuroscience and systems theory viewpoints with the aim of promoting interplay between the two research communities.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 1; 77-104
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control
Autorzy:
Liu, H.
Ma, N.
Gu, X. C.
Powiązania:
https://bibliotekanauki.pl/articles/116264.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Tematy:
Ship Movement, Multiple-Input Multiple-Output (MIMO)
Very Large Crude Carrier (VLCC)
Model Predictive Control (MPC)
Linear Quadratic Regulator (LQR)
course
restricted waters
safety at sea
Opis:
Ship navigation safety in restricted water areas is of great concern to crew members, because ships sailing in close proximity to banks are significantly affected by the so-called ship-bank interaction. The purpose of this paper is to apply the optimal control theory to help helmsmen adjust ships’ course and maintain the target course in restricted waters. To achieve this objective, the motion of a very large crude carrier (VLCC) close to a bank is modeled with the linear equations of manoeuvring and the influence of bank effect on the ship hydrodynamic force is considered in the model. State-space framework is cast in a Multiple-Input Multiple-Output (MIMO) system, where the offset-free model predictive control (MPC) is designed for course following and the linear quadratic regulator (LQR) is used for course keeping. Simulation results show that the control methods effectively work in ship course following and course keeping with varying ship-bank distances and water depths. The advantage of adopting speed variation as the second control input is obvious.
Źródło:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation; 2018, 12, 2; 305-312
2083-6473
2083-6481
Pojawia się w:
TransNav : International Journal on Marine Navigation and Safety of Sea Transportation
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A multi-model based adaptive reconfiguration control scheme for an electro-hydraulic position servo system
Autorzy:
Zhang, Zhao
Yang, Zhong
Liu, Shuchang
Chen, Shuang
Zhang, Xiaokai
Powiązania:
https://bibliotekanauki.pl/articles/2124780.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
fault tolerant control
electro hydraulic position
servo system
multiple model
adaptive control
reconfiguration control
sterowanie tolerujące uszkodzenia
serwomechanizm
sterowanie adaptacyjne
Opis:
Reliability and safety of an electro-hydraulic position servo system (EHPSS) can be greatly reduced for potential sensor and actuator faults. This paper proposes a novel reconfiguration control (RC) scheme that combines multi-model and adaptive control to compensate for the adverse effects. Such a design includes several fixed models, one adaptive model, and one reinitialized adaptive model. Each of the models has its own independent controller that is based on a complete parametrization of the corresponding fault. A proper switching mechanism is set up to select the most appropriate controller to control the current plant. The system output can track the reference model asymptotically using the proposed method. Simulation results validate robustness and effectiveness of the proposed scheme. The main contribution is a reconfiguration control method that can handle component faults and maintain the acceptable performance of the EHPSS.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2022, 32, 2; 185--196
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fault tolerance in networked control systems under intermittent observations
Autorzy:
Georges, J. P.
Theilliol, D.
Cocquempot, V.
Ponsart, J. C.
Aubrun, C.
Powiązania:
https://bibliotekanauki.pl/articles/930171.pdf
Data publikacji:
2011
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
przeciążenie sieci
sterowanie odporne na błędy
diagnostyka uszkodzeń
system sieciowy
model wielokrotny
network congestion
fault tolerant control
fault diagnosis
networked control system
interacting multiple model
Opis:
This paper presents an approach to fault tolerant control based on the sensor masking principle in the case of wireless networked control systems. With wireless transmission, packet losses act as sensor faults. In the presence of such faults, the faulty measurements corrupt directly the behaviour of closed-loop systems. Since the controller aims at cancelling the error between the measurement and its reference input, the real outputs will, in such a networked control system, deviate from the desired value and may drive the system to its physical limitations or even to instability. The proposed method facilitates fault compensation based on an interacting multiple model approach developed in the framework of channel errors or network congestion equivalent to multiple sensors failures. The interacting multiple model method involved in a networked control system provides simultaneously detection and isolation of on-line packet losses, and also performs a suitable state estimation. Based on particular knowledge of packet losses, sensor fault-tolerant controls are obtained by computing a new control law using fault-free estimation of the faulty element to avoid intermittent observations that might develop into failures and to minimize the effects on system performance and safety.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 639-648
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modele ekonometryczne jako narzędzie sterowania procesami technologicznymi
Econometric models as a tool for technological process control
Autorzy:
Wołkowicz, Artur
Powiązania:
https://bibliotekanauki.pl/articles/424875.pdf
Data publikacji:
2015
Wydawca:
Wydawnictwo Uniwersytetu Ekonomicznego we Wrocławiu
Tematy:
exponential smoothing model with creeping trend
Brown model
regression function
multiple and threshold regression
linear programming
Opis:
This paper presents a proposal for process control applications based on econo-metric models. They are a tool which aim is to determine short-term forecasts, which are the basis to control the devices of production infrastructure. The article describes the application of the method of forecast errors corrective device in a real production process. Econometric models are presented: the exponential smoothing model and creeping trend adaptive model with harmonic scales. The calculations are used and the regression function is indicated by the linear programming problem. The method is presented on the example of classical tech-nological process used in the energy sector. The study indicates the possibility of another perspective on the control processes, not necessarily based on the existing methods of regu-lation. The idea of this study is to demonstrate the possibility of using econometrics in the industry.
Źródło:
Econometrics. Ekonometria. Advances in Applied Data Analytics; 2015, 2 (48); 67-77
1507-3866
Pojawia się w:
Econometrics. Ekonometria. Advances in Applied Data Analytics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Phase Shifted Pulse Height Modulated Motor Control for Multiply Actuated Joints to Optimize Operating Characteristics
Autorzy:
Siedel, T.
Bethge, S.
Hild, M.
Powiązania:
https://bibliotekanauki.pl/articles/385220.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
multiple actuators
model-free
frictrion compensation
pulse modulation
Opis:
In this article, we propose two model free control schemes that are based on pulse height modulation using low frequencies with the goal to compensate normal friction effects in drive trains that negatively influence the performance of e.g. a standard PID controller. The first control scheme uses pulse height modulation to especially compensate stick slip effects but increases vibration and noise in the drive train. To reduce such side effects a modified phase shifed pulse height control scheme based on multiple actuated joints is introduced. Both control schemes are compared with a standard linear controller as reference and evaluated by using six quality criteria.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 2; 15-24
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Synteza diagnostycznego modelu układu sterowania z wykorzystaniem metod identyfikacji i wielowartościowego kodowania
Synthesis of a control system diagnostic model with use of identification methods and multivalent encoding
Autorzy:
Borowczyk, H.
Powiązania:
https://bibliotekanauki.pl/articles/328732.pdf
Data publikacji:
2004
Wydawca:
Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
Tematy:
diagnostyka
identyfikacja
kodowanie
logika wielowartościowa
układ sterowania
diagnostics
identyfication
encoding
multiple-valued logic
control system
Opis:
Przedstawiono metodę tworzenia diagnostycznego modelu układu sterowania na podstawie wyników eksperymentalnych badań diagnostycznych, z wykorzystaniem metod identyfikacji oraz wielowartościowego kodowania parametrów modelu dynamicznego.
A method of a control system diagnostic model creation, based on experimental results of diagnostic examination with use of identification methods and multivalent encoding of dynamic model parameters, was presented.
Źródło:
Diagnostyka; 2004, 30, T. 1; 83-86
1641-6414
2449-5220
Pojawia się w:
Diagnostyka
Dostawca treści:
Biblioteka Nauki
Artykuł
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