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Tytuł:
Hybrid motion control for multiple mobile robot systems
Autorzy:
Roszkowska, E.
Powiązania:
https://bibliotekanauki.pl/articles/229433.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
multi-robot system
hybrid control
Opis:
This article presents a hybrid control system for a group of mobile robots. The components of this system are the supervisory controller(s), employing a discrete, event-driven model of concurrent robot processes, and robot motion controllers, employing a continuous time model with event-switched modes. The missions of the robots are specified by a sequence of to-be visited points, and the developed methodology ensures in a formal way their correct accomplishment.
Źródło:
Archives of Control Sciences; 2018, 28, 2; 189-200
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hybrid position control technique of induction motor drive
Autorzy:
Júnior, A. B. S.
Diniz, E. C. de
Honório, D. A.
Barreto, L. H. S. C.
Reis, L. L. N. dos
Powiązania:
https://bibliotekanauki.pl/articles/206685.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
vector control
predictive control
hybrid control
fuzzy logic
Opis:
This paper presents the study and implementation of a new vector control strategy using a hybrid control technique applied to the mechanical position loop aiming to obtain a system that acts in the fractional horsepower motor driver running at near zero frequency. For this purpose, some control techniques are employed to check which one has the best performance regarding this type of application. The use of three control techniques is considered: the Proportional-Integral-Derivative (PID) controller with fixed gain; the Generalized Predictive Control (GPC) controller; and a hybrid controller. The last one behaves as both PID and GPC using fuzzy logic in order to achieve improved system performance. Simulation and experimental results are shown and discussed to demonstrate the merits of the proposed approach.
Źródło:
Control and Cybernetics; 2013, 42, 4; 754-772
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Performance analysis between a hybrid force/position and conventional controllers for a wrist exoskeleton
Autorzy:
Avilés, Valeria
Avilés, Oscar F.
Aponte, Jorge
Caldas, Oscar I.
Mauledoux, Mauricio F.
Powiązania:
https://bibliotekanauki.pl/articles/2134891.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
exoskeleton
hybrid control
force
performance
position
Opis:
This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD+, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD+ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.
Źródło:
Archives of Control Sciences; 2022, 32, 2; 409--427
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust control system design in frequency domain
Autorzy:
Veselý, V
Osuský, J
Powiązania:
https://bibliotekanauki.pl/articles/964036.pdf
Data publikacji:
2013
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
hybrid control
equivalent subsystem method
PI controller
Opis:
In this paper two robust control methods for hybrid system are presented. Both methods are usefull for SISO and MIMO systems. Controller design procedure is developed in frequency domain. Equivalent subsystem method is used for controller design in this paper. Stability condition of proposed methods bases on small gain theory and uses additive and inverse additive model type. Two tank water system is presented in the paper and serves as a numerical example to compare effectiveness of described methods.
Źródło:
Archives of Control Sciences; 2013, 23, 1; 61-78
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modified position-force control for a manipulator geometrically constrained by round obstacles
Autorzy:
Mazur, Alicja
Kaczmarek, Mirela
Ratajczak, Joanna
Domski, Wojciech
Powiązania:
https://bibliotekanauki.pl/articles/950745.pdf
Data publikacji:
2019
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
manipulator
position-force control
principle of orthogonalisation
hybrid control
Opis:
This paper addresses the problem of position-force control for robot manipulators under geometric endpoint constraints defined as round obstacles. Considerations are based on hybrid position-force control and use modified Arimoto algorithm with the principle of ”orthogonalisation”. To achieve so-called joint space orthogonalisation, where motion signals are orthogonal to force vectors and the direction selection is performed in the joint space, projection matrix is utilized. The convergence of tracting and force errors is proved.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 2; 60-67
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Multi-degree of freedom robust control of the CNC X-Y table PMSM-based feed-drive module
Autorzy:
Pietrusewicz, K.
Powiązania:
https://bibliotekanauki.pl/articles/140606.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
kontrola jakości
obrabiarka
robust control
hybrid control systems
machine tool feed-drive
PMSM
Opis:
The paper presents results of studies on linear synchronous motors controlled in CNC feed axes through an intelligent digital servodrive. The research includes a conceptual design of an open servodrive control system and identification of dynamic models of a test stand with an open CNC system. Advantages of robust control over the classic one are discussed. A hybrid predictive approach to robust control of milling machine X-Y table velocity is proposed and results of simulation tests are presented. Was prepared during the work for the Ministry of Science and Higher Education grant number N N502 336936, (acronym for this project is M.A.R.I.N.E. multivariable hybryd ModulAR motIon coNtrollEr), while its main purpose is the development of new rob ust position/velocity model-based control system, as well as to introduce the measurement of the actual state into the switching algorithm between the locally synthesized controllers. Such switching increases the overall robustness of the machine tool feed-drive module. The paper is the extended version of material proposed in [10].
Źródło:
Archives of Electrical Engineering; 2012, 61, 1; 15-31
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A Hybrid System Control Approach to Biped Robot Control
Autorzy:
Yin, Y.
Hosoe, S.
Powiązania:
https://bibliotekanauki.pl/articles/384996.pdf
Data publikacji:
2008
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
biped robot
MLD model
periodic motion
hybrid system control
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2008, 2, 4; 64-69
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Disturbance observer-assisted hybrid control for autonomous manipulation in a robotic backhoe
Autorzy:
CS, Meera
Gupta, Mukul Kumar
Santhakumar, Mohan
Powiązania:
https://bibliotekanauki.pl/articles/139958.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
disturbance observer
robotic backhoe
autonomous excavation
hybrid control
obserwator zakłóceń
koparka zrobotyzowana
koparka autonomiczna
kontrola hybrydowa
Opis:
Automation of earth moving machineries is a widely studied problem. This paper focusses on one of the main challenges in automation of the earth moving industry, estimation of loading torque acting on the machinery. Loading torque acting on the excavation machinery is a very significant aspect in terms of both machine and operator safety. In this study, a disturbance observer-assisted control system for the estimation of loading torque acting on a robotic backhoe during excavation process is presented. The proposed observer does not use any acceleration measurements, rather, is proposed as a function of joint velocity. Numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme in tracking the reaction torques for a given dig cycle. Co-simulation experiments demonstrate robust performance and accurate tracking of the proposed control in both disturbance torque and position tracking. Further, the performance and sensitivity of the proposed control are also analyzed through the help of performance error quantifiers, the root-mean-square (RMS) values of the position and disturbance tracking errors.
Źródło:
Archive of Mechanical Engineering; 2019, LXVI, 2; 153-169
0004-0738
Pojawia się w:
Archive of Mechanical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analysis of a Hybrid Guided Bomb Control System while Self-guided to a Ground Target
Analiza hybrydowego systemu sterowania bombą kierowaną przy samonaprowadzaniu na cel naziemny
Autorzy:
Grzyb, Marta
Koruba, Zbigniew
Powiązania:
https://bibliotekanauki.pl/articles/2174682.pdf
Data publikacji:
2022
Wydawca:
Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
Tematy:
guidance
guided bomb
sliding control
proportional navigation
hybrid control systems
naprowadzanie
bomba kierowana
hybrydowy system sterowania
sterowanie ślizgowe
proporcjonalna nawigacja
Opis:
This article presents a mathematical model and an algorithm for controlling a guided bomb to a moving and a stationary ground target. The target path was determined from the kinematic relationships of the reciprocal movement of the bomb and the ground target, based on the proportional approximation method. The analysed control system used sliding control, with the PID algorithm to determine the sliding plane. Three types of sliding planes were considered. In addition, a comparative analysis was carried out for three types of controllers: classic PID, sliding and hybrid. Selected results of the computer simulation are listed.
W artykule przedstawiony jest model matematyczny oraz algorytm sterowania bombą kierowaną na ruchomy oraz nieruchomy cel naziemny. Tor zadany wyznaczono ze związków kinematycznych ruchu wzajemnego bomby i celu naziemnego z wykorzystaniem metody proporcjonalnego zbliżania. Analizowany system sterowania opiera się o sterowanie ślizgowe z algorytmem PID do określenia płaszczyzny ślizgu. Rozpatrzone zostały trzy rodzaje płaszczyzn ślizgu. Dodatkowo dokonano analizy porównawczej dla trzech typów regulatorów: klasycznego PID, ślizgowego oraz hybrydowego. Przytoczone zostały wybrane wyniki symulacji komputerowej.
Źródło:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa; 2022, 13, 4 (50); 23--38
2081-5891
Pojawia się w:
Problemy Mechatroniki : uzbrojenie, lotnictwo, inżynieria bezpieczeństwa
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A hybrid control strategy for a dynamic scheduling problem in transit networks
Autorzy:
Liu, Zhongshan
Yu, Bin
Zhang, Li
Wang, Wensi
Powiązania:
https://bibliotekanauki.pl/articles/2172126.pdf
Data publikacji:
2022
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
service reliability
transit network
proactive control method
deep reinforcement learning
hybrid control strategy
niezawodność usług
sieć tranzytowa
uczenie głębokie
kontrola hybrydowa
Opis:
Public transportation is often disrupted by disturbances, such as the uncertain travel time caused by road congestion. Therefore, the operators need to take real-time measures to guarantee the service reliability of transit networks. In this paper, we investigate a dynamic scheduling problem in a transit network, which takes account of the impact of disturbances on bus services. The objective is to minimize the total travel time of passengers in the transit network. A two-layer control method is developed to solve the proposed problem based on a hybrid control strategy. Specifically, relying on conventional strategies (e.g., holding, stop-skipping), the hybrid control strategy makes full use of the idle standby buses at the depot. Standby buses can be dispatched to bus fleets to provide temporary or regular services. Besides, deep reinforcement learning (DRL) is adopted to solve the problem of continuous decision-making. A long short-term memory (LSTM) method is added to the DRL framework to predict the passenger demand in the future, which enables the current decision to adapt to disturbances. The numerical results indicate that the hybrid control strategy can reduce the average headway of the bus fleet and improve the reliability of bus service.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2022, 32, 4; 553--567
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Speed control of doubly fed induction motor using backstepping control with interval type-2 fuzzy controller
Autorzy:
Herizi, Abdelghafour
Rouabhi, Riyadh
Zemmit, Abderrahim
Powiązania:
https://bibliotekanauki.pl/articles/2232527.pdf
Data publikacji:
2023
Wydawca:
Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
Tematy:
double fed induction motor
type-2 fuzzy logic
backstepping control
hybrid control
robust
silnik indukcyjny
logika rozmyta typu 2
kontrola wsteczna
sterowanie hybrydowe
Opis:
The control of the doubly-fed induction motor is a complex operation because of this motor characterised by a non-linear multivariable dynamics, having settings that change over time and a significant link between the mechanical component and magnetic behavior (flux) (speed and couple). This article then proposes a new strategy of a robust control of this motor, which is decoupled due to the stator flux’s direction. The proposed control is integrated with the backstepping control which based on Lyapunov theory; this approach consists in constructively designing a control law of nonlinear systems by considering some state variables as being virtual commands, and the important branch of artificial intelligence type-2 fuzzy logic. The hybrid control backstepping-fuzzy logic consists in replacing the regulators applied to the backstepping control by regulators based on type-2 fuzzy logic. This control will be evaluated by numerous simulations where there is a parametric and non-parametric variation.
Źródło:
Diagnostyka; 2023, 24, 3; art. no. 2023301
1641-6414
2449-5220
Pojawia się w:
Diagnostyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Development of grinding and polishing technology for stainless steel with a robot manipulator
Autorzy:
Shaw, Jinsiang
Fang, Yu-Jia
Powiązania:
https://bibliotekanauki.pl/articles/2141789.pdf
Data publikacji:
2021
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
active compliant
hybrid position/force control
robot manipulator
surface machining
surface roughness
Opis:
In traditional industries, manual grinding and polishing technologies are still used predominantly. However, these procedures have the following limitations: excessive processing time, labor consumption, and product quality not guaranteed. To address the aforementioned limitations, this study utilizes the good adaptability of a robotic arm to develop a tool-holding grinding and polishing system with force control mechanisms. Specifically, off-the-shelf handheld grinder is selected and attached to the robotic arm by considering the size, weight, and processing cost of the stainless steel parts. In addition, for contact machining, the robotic arm is equipped with a force/torque sensor to ensure that the system is active compliant. According to the experimental results, the developed system can reduce the surface roughness of 304 stainless steel to 0.47 µm for flat surface and 0.76 µm for circular surface. Moreover, the processing trajectory is programmed in the CAD/CAM software simulation environment, which can lead to good results in collision detection and arm posture establishment.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2021, 15, 4; 37-43
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Analysis and control of nonlinear vibration of autonomous vehicle passing through hybrid consecutive speed control humps
Autorzy:
Yang, Zhiyong
Wang, Long
Yu, Yanjun
Mou, Zhenping
Ou, Minghui
Powiązania:
https://bibliotekanauki.pl/articles/2173727.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
autonomous vehicles
hybrid consecutive speed control humps
nonlinear vibration
safety
comfort
pojazd autonomiczny
próg zwalniający
wibracje nieliniowe
bezpieczeństwo
komfort
Opis:
In order to improve the safety and comfort of autonomous vehicles passing through the expressway, relevant departments of expressway construction often design and lay consecutive speed control humps (SCHs) with cross-sections of different shapes according to different road conditions, such as the combination of trapezoidal and sinusoidal SCHs. In this paper, we conduct a study about the nonlinear dynamic characteristics of the autonomous vehicle passing through hybrid SCHs. Firstly, a four-degree-of-freedom (4-DOF) nonlinear model of the vehicle suspension and the speed coupling excitation model under hybrid SCHs are established. Then the fourth-fifth order Runge–Kutta method is used to simulate the nonlinear system, and its nonlinear dynamic characteristics are analyzed. The results show that chaotic motion occurs when the vehicle passes through hybrid SCHs, and the speed range of chaotic motion is obtained. Then, a direct variable feedback control method is used to suppress the chaotic vibration of semi-active suspension vehicles, and the effect is verified by simulation experiments. Finally, this paper presents a multi-objective optimization model based on a genetic algorithm (GA) for active suspension vehicles. The optimization model selects the vertical displacement and pitching angle of the vehicle body as the objective function. The research results of this paper can provide information on the ride comfort’s optimization for autonomous vehicles passing through hybrid SCHs and on the design of vehicle suspension system.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 6; art. no. e143643
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Comparison of two controllers for directional control of a hybrid electric vehicle
Autorzy:
Dash, B. K.
Subudhi, B.
Powiązania:
https://bibliotekanauki.pl/articles/229825.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
directional control
active steering
fuzzy logic control
PID control
hybrid vehicle
Opis:
Directional response of a vehicle implies changing its direction when sustaining lateral acceleration while moving on the road. From this response, the vehicle's explicit capabilities as well as its contribution to the system performance of the driver/vehicle combination are obtained. In vehicle control literature, handling is often used interchangeably with cornering, turning, or directional response. This paper focuses one aspect of the handling i.e. directional response. Two different controllers, namely a PID controller and a Fuzzy Logic Controller (FLC) for a hybrid electric vehicle (HEV) are designed in this paper to control the vehicle's steering in a smooth lane change maneuver. The performances of the aforesaid two controllers have been studied extensively in this paper. For achieving an improved path tracking and directional response, parameters of both the PID and FLC have been tuned and their performances have been compared. Further, the effect of changing the scale factors in the fuzzy logic approach to obtaining directional response is presented. To validate the above two control performances, a nonlinear simulation model of a HEV is developed and is used in simulation studies. Both the controllers track the desired directional signal efficiently. Both PID and Fuzzy controllers provide competitive performances. Although with the assumption of all parameters of the vehicle available PID controller exhibits slightly better dynamic performance but in the real-world scenario the fuzzy controller is preferred due to its robustness i.e. it does not depend on the parameters of the vehicle.
Źródło:
Archives of Control Sciences; 2012, 22, 2; 191-215
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Modeling and selection of the work of a powertrain hybrid wheeled vehicle
Autorzy:
Banaś, W.
Kost, G.
Nierychlok, A.
Powiązania:
https://bibliotekanauki.pl/articles/99683.pdf
Data publikacji:
2011
Wydawca:
Wrocławska Rada Federacji Stowarzyszeń Naukowo-Technicznych
Tematy:
hybrid vehicle
concept of control
stabilization process
Opis:
The paper presents the main issues of control the combustion engine by stabilizing power. Algorithms work, certain flue units for which the work of the internal combustion engine is most effective. A method of modeling the flow of energy between an engine and an electric generator as a function of engine speed and load of the specific fuel consumption - the greatest efficiency. Presented a stabilization system diagram under the internal combustion engine and generator for hybrid vehicle. Described to adopted algorithm the stabilization of power for the engine and generator exhaust in the rotational speed to stabilize at a point and stability in the area.
Źródło:
Journal of Machine Engineering; 2011, 11, No. 1-2; 162-170
1895-7595
2391-8071
Pojawia się w:
Journal of Machine Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
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