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Tytuł:
Motion tracking of a rigid-flexible link robotic system in an underactuated control mode
Autorzy:
Jarzębowska, Elżbieta
Augustynek, Krzysztof
Urbaś, Andrzej
Powiązania:
https://bibliotekanauki.pl/articles/27311387.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:
manipulator
actuator failure
optimization
computational procedure for constrained dynamics
method CoPCoD
awaria siłownika
optymalizacja
metoda CoPCoD
procedura obliczeniowa dla dynamiki z ograniczeniami
Opis:
The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well-researched and controller designs are well-developed for them as well. However, due to costs, weight, design, and performance regimes or due to an actuator failure, the underactuated control mode is required in applications. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three-link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e144620
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Constrained optimization of the brushless DC motor using the salp swarm algorithm
Autorzy:
Knypiński, Łukasz
Devarepalli, Ramesh
Le Menach, Yvonnick
Powiązania:
https://bibliotekanauki.pl/articles/2135734.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
brushless DC motor
constrained optimization
finite element analysis
salp swarm algorithm
Opis:
This paper presents an algorithm and optimization procedure for the optimization of the outer rotor structure of the brushless DC (BLDC) motor. The optimization software was developed in the Delphi Tiburón development environment. The optimization procedure is based on the salp swarm algorithm. The effectiveness of the developed optimization procedurewas compared with genetic algorithm and particle swarmoptimization algorithm. The mathematical model of the device includes the electromagnetic field equations taking into account the non-linearity of the ferromagnetic material, equations of external supply circuits and equations of mechanical motion. The external penalty function was introduced into the optimization algorithm to take into account the non-linear constraint function.
Źródło:
Archives of Electrical Engineering; 2022, 71, 3; 775--787
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Maximizing performance of linear model predictive control of glycemia for T1DM subjects
Autorzy:
Dodek, Martin
Miklovicová, Eva
Powiązania:
https://bibliotekanauki.pl/articles/2134885.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
diabetes mellitus
artificial pancreas
glycemia control
predictive control
constrained optimization
control feasibility
Opis:
The primary objective of this paper is the custom design of an effective, yet relatively easy-to-implement, predictive control algorithm to maintain normoglycemia in patients with type 1 diabetes. The proposed patient-tailorable empirical model featuring the separated feedback dynamics to model the effect of insulin administration and carbohydrate intake was proven to be suitable for the synthesis of a high-performance predictive control algorithm for artificial pancreas. Within the introduced linear model predictive control law, the constraints were applied to the manipulated variable in order to reflect the technical limitations of insulin pumps and the typical nonnegative nature of the insulin administration. Similarly, inequalities constraints for the controlled variable were also assumed while anticipating suppression of hypoglycemia states during the automated insulin treatment. However, the problem of control infeasibility has emerged, especially if one uses too tight constraints of the manipulated and the controlled variable concurrently. To this end, exploiting the Farkas lemma, it was possible to formulate the helper linear programming problem based on the solution of which this infeasibility could be identified and the optimality of the control could be restored by adapting the constraints. This adaptation of constraints is asymmetrical, thus one can force to fully avoid hypoglycemia at the expense of mild hyperglycemia. Finally, a series of comprehensive in-silico experiments were carried out to validate the presented control algorithm and the proposed improvements. These simulations also addressed the control robustness in terms of the intersubject variability and the meal announcements uncertainty.
Źródło:
Archives of Control Sciences; 2022, 32, 2; 305--333
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Constrained optimization of line-start PM motor based on the gray wolf optimizer
Autorzy:
Knypińskia, Łukasz
Powiązania:
https://bibliotekanauki.pl/articles/1841785.pdf
Data publikacji:
2021
Wydawca:
Polska Akademia Nauk. Polskie Naukowo-Techniczne Towarzystwo Eksploatacyjne PAN
Tematy:
heuristic algorithms
gray wolf algorithm
constrained optimization
external penalty function
line-start PM synchronous motor
Opis:
This paper presents the algorithm and computer software for constrained optimization based on the gray wolf algorithm. The gray wolf algorithm was combined with the external penalty function approach. The optimization procedure was developed using Borland Delphi 7.0. The developed procedure was then applied to design of a line-start PM synchronous motor. The motor was described by three design variables which determine the rotor structure. The multiplicative compromise function consisted of three maintenance parameters of designed motor and one non-linear constraint function was proposed. Next, the result obtained for the developed procedure (together with the gray wolf algorithm) was compared with results obtained using: (a) the particle swarm optimization algorithm, (b) the bat algorithm and (c) the genetic algorithm. The developed optimization algorithm is characterized by good convergence, robustness and reliability. Selected results of the computer simulation are presented and discussed.
Źródło:
Eksploatacja i Niezawodność; 2021, 23, 1; 1-10
1507-2711
Pojawia się w:
Eksploatacja i Niezawodność
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A design framework for rigorous constrained EM-driven optimization of miniaturized antennas with circular polarization
Autorzy:
Bekasiewicz, Adrian
Koziel, Slawomir
Powiązania:
https://bibliotekanauki.pl/articles/220503.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
axial ratio
antenna miniaturization
circular polarization antenna
constrained optimization
EM-driven design
Opis:
Compact radiators with circular polarization are important components of modern mobile communication systems. Their design is a challenging process which requires maintaining simultaneous control over several performance figures but also the structure size. In this work, a novel design framework for multi-stage constrained miniaturization of antennas with circular polarization is presented. The method involves sequential optimization of the radiator in respect of selected performance figures and, eventually, the size. Optimizations are performed with iteratively increased number of design constraints. Numerical efficiency of the method is ensured using a fast local-search algorithm embedded in a trust-region framework. The proposed design framework is demonstrated using a compact planar radiator with circular polarization. The optimized antenna is characterized by a small size of 271 mm2 with 37% and 47% bandwidths in respect of 10 dB return loss and 3 dB axial ratio, respectively. The structure is benchmarked against the state-of-the-art circular polarization antennas. Numerical results are confirmed by measurements of the fabricated antenna prototype.
Źródło:
Metrology and Measurement Systems; 2019, 26, 1; 41-52
0860-8229
Pojawia się w:
Metrology and Measurement Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An automatic collision avoidance algorithm for multiple marine surface vehicles
Autorzy:
Hedjar, Ramdane
Bounkhel, Messaoud
Powiązania:
https://bibliotekanauki.pl/articles/329948.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
unmanned surface vehicle
obstacle avoidance
control allocation
constrained convex optimization
bezzałogowy pojazd nawodny
omijanie przeszkody
układ alokacji
optymalizacja wypukła
Opis:
In recent years, unmanned surface vehicles have been widely used in various applications from military to civil domains. Seaports are crowded and ship accidents have increased. Thus, collision accidents occur frequently mainly due to human errors even though international regulations for preventing collisions at seas (COLREGs) have been established. In this paper, we propose a real-time obstacle avoidance algorithm for multiple autonomous surface vehicles based on constrained convex optimization. The proposed method is simple and fast in its implementation, and the solution converges to the optimal decision. The algorithm is combined with the PD-feedback linearization controller to track the generated path and to reach the target safely. Forces and azimuth angles are efficiently distributed using a control allocation technique. To show the effectiveness of the proposed collision-free path-planning algorithm, numerical simulations are performed.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2019, 29, 4; 759-768
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Exact controllability of a string to rest with a moving boundary
Autorzy:
Gugat, Martin
Powiązania:
https://bibliotekanauki.pl/articles/970107.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
pde constrained optimization
optimal control of pdes
optimal boundary control
wave equation
analytic solution
exact controllability
moving boundaries
mining elevator
Opis:
We consider the problem of steering a finite string to the zero state in finite time from a given initial state by controlling the state at one boundary point while the other boundary point moves. As a possible application we have in mind the optimal control of a mining elevator, where the length of the string changes during the transportation process. During the transportation process, oscillations of the elevator-cable can occur that can be damped in this way. We present an exact controllability result for Dirichlet boundary control at the fixed end of the string that states that there exist exact controls for which the oscillations vanish after finite time. For the result we assume that the movements are Lipschitz continuous with a Lipschitz constant, whose absolute value is smaller than the wave speed. In the result, we present the minimal time, for which exact controllability holds, this time depending on the movement of the boundary point. Our results are based upon travelling wave solutions. We present a representation of the set of successful controls that steer the system to rest after finite time as the solution set of two point-wise equalities. This allows for a transformation of the optimal control problem to a form where no partial differential equation appears. This representation enables interesting insights into the structure of the successful controls. For example, exact bang-bang controls can only exist if the initial state is a simple function and the initial velocity is zero.
Źródło:
Control and Cybernetics; 2019, 48, 1; 69-87
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust extremum seeking for a second order uncertain plant using a sliding mode controller
Autorzy:
Solis, Cesar
Clempner, Julio
Poznyak, Alexander
Powiązania:
https://bibliotekanauki.pl/articles/330477.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
convex optimization
extremum seeking
continuous time gradient algorithm
dynamical constrained optimization
unknown function
optymalizacja wypukła
poszukiwanie ekstremum
algorytm gradientowy
optymalizacja ograniczona
Opis:
This paper suggests a novel continuous-time robust extremum seeking algorithm for an unknown convex function constrained by a dynamical plant with uncertainties. The main idea of the proposed method is to develop a robust closed-loop controller based on sliding modes where the sliding surface takes the trajectory around a zone of the optimal point. We assume that the output of the plant is given by the states and a measure of the function. We show the stability and zone-convergence of the proposed algorithm. In order to validate the proposed method, we present a numerical example.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2019, 29, 4; 703-712
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modern dynamic positioning (DP) system of ORP ‘Kormoran’ — class mine destroyer
Nowoczesny system dynamicznego pozycjonowania (DP) niszczyciela min ORP „Kormoran”
Autorzy:
Zalewski, P.
Haberek, R.
Chmieliński, M.
Powiązania:
https://bibliotekanauki.pl/articles/222609.pdf
Data publikacji:
2018
Wydawca:
Akademia Marynarki Wojennej. Wydział Dowodzenia i Operacji Morskich
Tematy:
DP
dynamic positioning
thrust allocation
constrained convex optimization
ORP ‘Kormoran’
pozycjonowanie dynamiczne
alokacja pędników
optymalizacja wypukła z ograniczeniami
ORP „Kormoran”
Opis:
The paper presents the dynamic positioning system (DP), particularly its thruster allocation model, designed for ORP ‘Kormoran’, a Polish mine destroyer built for the Polish Navy in Remontowa Shipbuilding S.A. in Gdańsk. The ORP ‘Kormoran’ ship is the newest and best equipped minehunter ship in Europe. The main task of the new Polish mine destroyer is to search for, classify, identify and combat marine mines and improvised underwater explosives, recognize waterways, transport mines, deploy mines and provide remote control of self-propelled anti-mine platforms. The dynamic positioning control system of the ship presented in the article was constructed by Autocomp Management Ltd. from Szczecin, the only in Poland and one of the few producers of dynamic ship positioning systems in the world.
W artykule zaprezentowano system dynamicznego pozycjonowania statku (DP) zaprojektowany dla ORP „Kormoran”, polskiego niszczyciela min zbudowanego dla Marynarki Wojennej RP w Gdańskiej Stoczni Remontowej Shipbuilding S.A. Okręt ORP „Kormoran” to najnowszy i najlepiej obecnie wyposażony okręt przeciwminowy w Europie. Głównym zadaniem nowego polskiego niszczyciela min jest poszukiwanie, klasyfikacja, identyfikacja i zwalczanie min morskich oraz improwizowanych podwodnych ładunków wybuchowych, rozpoznanie torów wodnych, przeprowadzanie jednostek przez akweny zagrożenia minowego, stawianie min oraz zdalne sterowanie samobieżnymi platformami przeciwminowymi. Przedstawiony w artykule system dynamicznego pozycjonowania statku został wykonany przez Autocomp Management Sp. z o.o. ze Szczecina, jedynego w Polsce i jednego z nielicznych na świecie producentów systemów dynamicznego pozycjonowania statku.
Źródło:
Zeszyty Naukowe Akademii Marynarki Wojennej; 2018, R. 59 nr 4 (215), 4 (215); 143-155
0860-889X
Pojawia się w:
Zeszyty Naukowe Akademii Marynarki Wojennej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Constraints in allocation of thrusters in a DP simulator
Autorzy:
Zalewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/135012.pdf
Data publikacji:
2017
Wydawca:
Akademia Morska w Szczecinie. Wydawnictwo AMSz
Tematy:
dynamic positioning
thrust allocation
convex optimization
constrained optimization
DP simulator
thrusters
Opis:
Vessels conducting dynamic positioning (DP) operations are usually equipped with thruster configurations that enable the generation of force and torque. Some thrusters in these configurations are deliberately redundant to minimize consequences of thruster failures, enable overactuated control and increase the safety in operation. On such vessels, a thrust allocation system must be used to distribute the control actions determined by the DP controller among the thrusters. The optimal allocation of the thrusters’ settings in DP systems is a problem that can be solved by convex optimization methods depending on the criteria and constraints used. This paper presents a quadratic programming (QP) method, adopted in a DP control model, which is being developed in Maritime University of Szczecin for ship simulation purposes.
Źródło:
Zeszyty Naukowe Akademii Morskiej w Szczecinie; 2017, 52 (124); 45-50
1733-8670
2392-0378
Pojawia się w:
Zeszyty Naukowe Akademii Morskiej w Szczecinie
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Dobór optymalnej taryfy telekomunikacyjnej przy użyciu programowania w logice z ograniczeniami
Solving the optimal telecommunication rate plan configuration problem with constrained logic programming
Autorzy:
Witkowski, Jakub
Kamiński, Bogumił
Jakuczun, Wit
Powiązania:
https://bibliotekanauki.pl/articles/587282.pdf
Data publikacji:
2015
Wydawca:
Uniwersytet Ekonomiczny w Katowicach
Tematy:
Optymalizacja doboru taryfy
Optymalizacja kombinatoryczna
Programowanie w logice z ograniczeniami
Combinatorial optimization.
Constrained logic programming
Rate plan configuration
Opis:
Praca opisuje algorytm optymalizacyjny rozwiązujący w efektywny sposób problem wyboru optymalnej taryfy w telefonii komórkowej. Ze względu na bardzo dużą liczbę możliwości łączenia usług telekomunikacyjnych w taryfy rozważany problem optymalizacyjny jest złożonym nieliniowym zagadnieniem programowania kombinatorycznego. W niniejszej pracy pokazujemy, że tego typu zadanie może zostać efektywnie rozwiązane przy pomocy programowania w logice z ograniczeniami (constraint logic programming). Wykorzystanie takiego podejścia dodatkowo pozwala na stworzenie modelu, który może być łatwo modyfikowany. Zapewnia to możliwość jego łatwego wykorzystania w praktyce biznesowej, gdzie składowe taryf telekomunikacyjnych podlegają częstym zmianom.
We present an efficient algorithm that solves the telecommunication rate plan optimization problem. It is a complex and non-linear combinatorial programming task if we take into account realistic structures of offers available for mobile telephony subscribers. In the paper we show that constrained logic programming is an efficient approach to finding an optimal solution of this problem. Additionally, application of constrained logic programming allows us to formulate the problem in a simple way that provides a low-cost maintenance of the solution in practical applications when the rate plan structure often changes.
Źródło:
Studia Ekonomiczne; 2015, 235; 253-265
2083-8611
Pojawia się w:
Studia Ekonomiczne
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of adaptive multivariable Generalized Predictive Control to a HVAC system in real time
Autorzy:
Gulan, M.
Salaj, M.
Rohal’-Ilkiv, B
Powiązania:
https://bibliotekanauki.pl/articles/229355.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
predictive control
multivariable systems
constrained optimization
HVAC system
cascade control
Opis:
This paper presents the application of a Multivariable Generalized Predictive Controller (MGPC) for simultaneous temperature and humidity control in a Heating, Ventilating and Air- Conditioning (HVAC) system. The multivariable controlled process dynamics is modeled using a set of MISO models on-line identified from measured input-output process data. The controller synthesis is based on direct optimization of selected quadratic cost function with respect to amplitude and rate input constraints. Efficacy of the proposed adaptive MGPC algorithm is experimentally demonstrated on a laboratory-scale model of HVAC system. To control the airconditioning part of system the designed multivariable predictive controller is considered in a cascade dual-rate control scheme with PID auxiliary controllers.
Źródło:
Archives of Control Sciences; 2014, 24, 1; 67-84
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Advances in development of dedicated evolutionary algorithms for large non-linear constrained optimization problems
Autorzy:
Głowacki, M.
Orkisz, J.
Powiązania:
https://bibliotekanauki.pl/articles/31343110.pdf
Data publikacji:
2013
Wydawca:
Instytut Podstawowych Problemów Techniki PAN
Tematy:
evolutionary algorithms
large non-linear constrained optimization
solution efficiency increase
algorytmy ewolucyjne
Opis:
Efficient optimization algorithms are of great importance in many scientific and engineering applications. This paper considers development of dedicated Evolutionary Algorithms (EA) based approach for solving large, non-linear, constrained optimization problems. The EA are precisely understood here as decimal-coded Genetic Algorithms consisting of three basic operators: selection, crossover and mutation, followed by several newly developed calculation speed-up techniques. Efficiency increase of the EA computations may be obtained in several ways, including simple concepts proposed here like: solution smoothing and balancing, a posteriori solution error analysis, non-standard use of distributed and parallel calculations, and step-by-step mesh refinement. Efficiency of the proposed techniques has been evaluated using several benchmark tests. These preliminary tests indicate significant speed-up of the large optimization processes involved. Considered are applications of the EA to the sample problem of residual stresses analysis in elastic-plastic bodies being under cyclic loadings, and to a wide class of problems resulting from the Physically Based Approximation (PBA) of experimental data.
Źródło:
IPPT Reports on Fundamental Technological Research; 2013, 4; 25-29
2299-3657
Pojawia się w:
IPPT Reports on Fundamental Technological Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
New optimization based method for estimating priority weights
Autorzy:
Grzybowski, A. Z.
Powiązania:
https://bibliotekanauki.pl/articles/122397.pdf
Data publikacji:
2013
Wydawca:
Politechnika Częstochowska. Wydawnictwo Politechniki Częstochowskiej
Tematy:
AHP
eigenvalue method
priority vector
constrained optimization
Opis:
The estimation of priority vectors from pairwise comparison matrices is a core of the Analytic Hierarchy Process. Perhaps the most popular approach for deriving the priority weights is the right eigenvalue method (EM). Despite its popularity, various shortcomings of the EM have been described in literature. In this paper a new method for deriving priority vectors is proposed. This method makes use of the idea underlying the EM but in difference to the latter, the new one is optimization based. Important features of this new technique are studied via computer simulations and illustrated by some numerical examples.
Źródło:
Journal of Applied Mathematics and Computational Mechanics; 2013, 12, 1; 33-44
2299-9965
Pojawia się w:
Journal of Applied Mathematics and Computational Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Multi-constrained topology optimization using constant criterion surface algorithm
Autorzy:
Mrzygłód, M.
Powiązania:
https://bibliotekanauki.pl/articles/201310.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
multi-constrained topology optimization
stress and fatigue constraints
constant criterion surface algorithm
Opis:
This paper sets out to describe a multi-constrained approach to topology optimization of structures. In the optimization, a constant criterion surface algorithm and the multi-constraint procedure is used. The multi-constraint procedure consists of constraints normalization and equivalent design space assembling. The work is illustrated by an example of the L-shaped domain optimization with the horizontal line support and complex loads. The example takes into consideration stress, fatigue and compliance constraints. The separate and simultaneous application of constraints resulted in significant differences in structure topology layouts. The application of a fatigue constraint gave more conservative results when compared to static stress or compliance limitations. The multi-constrained approach allowed effectively lowering the mass of the structure while satisfying all constraints.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 2; 229-236
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
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