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Tytuł:
Multi-agent system inspired distributed control of a serial-link robot
Autorzy:
Soumya, S.
Guruprasad, K. R.
Powiązania:
https://bibliotekanauki.pl/articles/384673.pdf
Data publikacji:
2020
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
model-based control
distributed control
manipulator control
Opis:
Inspired by the multi-agent systems, we propose a model-based distributed control architecture for robotic manipulators. Here, each of the joints of the manipulator is controlled using a joint level controller and these controllers account for the dynamic coupling between the links by interacting among themselves. Apart from the reduced computational time due to distributed computation of the control law at the joint levels, the knowledge of dynamics is fully utilized in the proposed control scheme, unlike the decentralized control schemes proposed in the literature. While the proposed distributed control architecture is useful for a general serial-link manipulator, in this paper, we focus on planar manipulators with revolute joints. We provide a simple model-based distributed control scheme as an illustration of the proposed distributed model-based control architecture. Based on this scheme, distributed model-based controller has been designed for a planar 3R manipulator and simulations results are presented to demonstrate that the manipulator successfully tracks the desired trajectory.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2020, 14, 1; 29-38
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
State of the Art in Predictive Control of Wheeled Mobile Robots
Autorzy:
Harasim, P.
Trojnacki, M.
Powiązania:
https://bibliotekanauki.pl/articles/384731.pdf
Data publikacji:
2016
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
wheeled mobile robot
motion control
predictive control
model-based control
optimization
Opis:
The paper is concerned with the problem of tracking control of wheeled mobile robots (WMRs) using predictive control systems. Various kinematic structures of WMRs important from the point of view of motion control are discussed. A hierarchical approach to the problem of motion control of this kind of robots is presented. The problems of trajectory tracking and path following control of WMRs are briefly discussed. The methods of predictive control of WMRs are described in detail and the following aspects relevant to predictive control are considered: kinematic structures of robots, slip of wheels and its compensation, assumed constraints, methods of optimization of the objective function, problems of model nonlinearity, linearization and discretization, stability of the control system and use of the state observers.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2016, 10, 1; 34-42
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sterowanie poziomem cieczy przy pomocy regulatora wykorzystującego model neuronowy obiektu nieliniowego
Control system of liquid level using neural model of nonlinear plant
Autorzy:
Kula, K.
Powiązania:
https://bibliotekanauki.pl/articles/268339.pdf
Data publikacji:
2016
Wydawca:
Politechnika Gdańska. Wydział Elektrotechniki i Automatyki
Tematy:
sterowanie bazujące na modelu
sterowanie nieliniowe
model-based control
nonlinear control systems
Opis:
W pracy przedstawiono projekt układu regulacji poziomu wody w zespole zbiorników o swobodnym wypływie, który w swej strukturze wykorzystuje nieliniowe modele obiektu: neuronowy i model niskiego rzędu uwzględniający zależność stałych czasowych od wartości wielkości regulowanej. Tak przyjęta struktura pozwala realizować sterowanie w układzie otwartym z możliwością korekty wartości zadanej przy wystąpieniu zakłóceń na wejściu lub wyjściu obiektu.
The paper presents the concept of a nonlinear control system, which is the liquid level control system of two tanks It is based on the use in controller structure a non-linear models of the plant: neural and low-order model takes into account the dependence of the time constants and steady state gain of the controlled variable. So adopted structure allows to perform the control in an open-loop system with the possibility of setpoint correction under the influence of disturbances on the input or output of the plant.
Źródło:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej; 2016, 51; 87-92
1425-5766
2353-1290
Pojawia się w:
Zeszyty Naukowe Wydziału Elektrotechniki i Automatyki Politechniki Gdańskiej
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of the simple additive modeling of the first principle model inaccuracies for the offset–free process control
Autorzy:
Czeczot, J.
Łaszczyk, P
Powiązania:
https://bibliotekanauki.pl/articles/205682.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
first principle process modeling
modeling inaccuracies compensation
model-based control
adaptive control
Opis:
In this paper, the method for simple additive modeling of the first principle model inaccuracies for the offset-free process control is presented. Starting from transformation of the general nonlinear state model into the input affine dynamical equation describing directly the controlled variable, it is shown how to compensate for the potential modeling inaccuracies by lumping them into a single additive parameter. Its on-line estimation procedure based only on the measurement data collected from the process is very simple and effective and the estimate converges without any additional excitation of the process. The discussion on how to apply the suggested model as a basis for the chosen model-based control techniques is presented, and for the processes of the higher relative order, the practical simplification of this approach is shown. The experimental results show the practical applicability of the considered approach for the synthesis of the open loop InternalModel Controller (IMC) and of the Balance-Based Adaptive Controller (B-BAC).
Źródło:
Control and Cybernetics; 2014, 43, 2; 261-277
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Non‐linear model‐based predictive control for trajectory tracking and control effort minimization in a smartphone‐based quadrotor
Autorzy:
García, Luis
Rosero, Esteban
Powiązania:
https://bibliotekanauki.pl/articles/27314228.pdf
Data publikacji:
2022
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
quadrotor
model-based predictive control
smartphone
trajectory tracking
energy consumption
Opis:
In this paper, the design and implementation of a nonlinear model‐based predictive controller (NMPC) for predefined trajectory tracking and to minimize the control effort of a smartphone‐based quadrotor are developed. The optimal control actions are calculated in each iteration by means of an optimal control algorithm based on the non‐linear model of the quadrotor, considering some aerodynamic effects. Control algorithm implementation and simulation tests are executed on a smartphone using the CasADi framework. In addition, a technique for estimating the energy consumed based on control signals is presented. NMPC controller performance was compared with other works developed towards the con‐ trol of quadrotors, based on an H∞ controller and an LQI controller, and using three predefined trajectories, where the NMPC average tracking error was around 50% lower, and average estimated power and energy consumption slightly higher, with respect to the H∞ and LQI controllers.
Źródło:
Journal of Automation Mobile Robotics and Intelligent Systems; 2022, 16, 4; 13--18
1897-8649
2080-2145
Pojawia się w:
Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Noise sensitivity of selected kinematic path following controllers for a unicycle
Autorzy:
Libal, U.
Płaskonka, J.
Powiązania:
https://bibliotekanauki.pl/articles/200552.pdf
Data publikacji:
2014
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
wheeled mobile robots
path following
Serret-Frenet frame
model-based control
nonlinear control systems
nonholonomic constraints
probabilistic robotics
Opis:
In the paper a path following problem for a wheeled mobile robot of (2,0) type has been considered. The kinematic model of the robot was derived with respect to the Serret-Frenet frame. Two kinematic control algorithms - Samson and Morin-Samson - have been tested taking into account their sensitivity to a white noise with a zero mean appearing in the one of state variables. The properties of path following errors have been analysed using statistical techniques. The conclusions related to an acceptable level of noise and a range of applicability of the presented algorithms have been reached.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2014, 62, 1; 3-13
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Hands-on MPC tuning for industrial applications
Autorzy:
Ionescu, C.
Copot, D.
Powiązania:
https://bibliotekanauki.pl/articles/200293.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
step response
first order plus dead time
predictive control
hands-on tuning
model based control
model uncertainty
robustness
control education
plant operator
Opis:
This paper proposes a practical tuning of closed loops with model based predictive control. The data assumed to be known from the process is the result of the bump test commonly applied in industry and known in engineering as step response data. A simplified context is assumed such that no prior know-how is required from the plant operator. The relevance of this assumption is very realistic in the context of first time users, both for industrial operators and as educational competence of first hand student training. A first order plus dead time is approximated and the controller parameters immediately follow by heuristic rules. Analysis has been performed in simulation on representative dynamics with guidelines for the various types of processes. Three single-input-single-output experimental setups have been used with no expert users available in different locations – both educational and industrial – these setups are representative for practical cases: a variable time delay dominant system, a non-minimum phase system and an open loop unstable system. Furthermore, in a multivariable control context, a train of separation columns has been tested for control in simulation, followed by experimental tests on a laboratory system with similar dynamics, i.e. a sextuple coupled water tank system. The results indicate the proposed methodology is suitable for hands-on tuning of predictive control loops with some limitations on performance and multivariable process control.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 5; 925-945
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
O optymalnym sterowaniu temperaturą i stężeniem dwutlenku węgla w szklarni
On the optimal control of temperature and CO2 concentration in greenhouse
Autorzy:
Stankiewicz, A.
Powiązania:
https://bibliotekanauki.pl/articles/287078.pdf
Data publikacji:
2009
Wydawca:
Polskie Towarzystwo Inżynierii Rolniczej
Tematy:
sterowanie
klimat
szklarnia
model matematyczny
sprzężenie zwrotne
sprzężenie "wprzód"
greenhouse climate control
model-based control
feedback control
feedforward control
time-multiplied performance index
Opis:
Systemy sterowania klimatem we współczesnych szklarniach to złożone struktury wykorzystujące model matematyczny sterowanego procesu i nowoczesne koncepcje sterowania. W pracy rozważa się zadanie równoczesnej stabilizacji temperatury powietrza i stężenie dwutlenku węgla wewnątrz szklarni przy odcinkami stałych wartościach zadanych. Zaproponowano nowy system sterowania typu feedback-feedforward, który pozwala w torze sprzężenia "wprzód" skutecznie i szybko niwelować skutki szybkozmiennych zakłóceń, a w torze sprzężenia zwrotnego od stanu procesu zapewnia szybkie zanikanie błędu sterowania. Macierz regulatora dobrano optymalnie w sensie wskaźnika z mnożnikiem czasowym.
The optimal control of greenhouse climate has received considerable attention in agricultural engineering research. In this paper a new feedback-feedforward control system is proposed for the state variables stabilization on piecewise constant user-desired or computed by the upper level set-points for temperature and CO2 concentration. The proposed control structure consists of two main parts: a model based feedforward compensation of external disturbances and the model based optimal feedback simultaneous control of the greenhouse temperature and CO2 concentration. The applied decomposition is able to deal with rapidly fluctuating deterministic external inputs or disturbances acting on the system by feedforward static compensation and guarantee the fast decay of the control error due to the static state feedback with constant gain matrix optimal in the sense of timemultiplied quadratic index. In a forthcoming paper, the simulation experiments will be conducted for the known in the literature example of the production of a lettuce crop by the use of the Simulink toolbox of Matlab in order to demonstrate the effectiveness of the control system proposed.
Źródło:
Inżynieria Rolnicza; 2009, R. 13, nr 8, 8; 189-198
1429-7264
Pojawia się w:
Inżynieria Rolnicza
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Wireless communication for control of manipulation systems
Autorzy:
Belda, K.
Rychnovský, V.
Píša, P.
Powiązania:
https://bibliotekanauki.pl/articles/229781.pdf
Data publikacji:
2012
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
distributed mechatronic system
model-based control
multi-level control
odometry
optical sensors
standard IEEE 802.15.4
ZigBee protocol
Opis:
The paper deals with a novel application of the wireless data communication for a continual control of the distributed manipulation systems. The solution is intended for industrial robotic plants. A considered way of the wireless communication is based on ZigBee protocol. The protocol is tested for a real time bidirectional data communication within a manipulation system. The system consists of several moving manipulation units, several stationary auxiliary units and one control computer. The computer provides the cooperation of all units in the system in relation to the user requirements. The system is controlled by a simple feedback multi-level control realized in MATLAB - Simulink environment. The paper is focused on the realization of the boards of power electronics, transmitters, optical positional sensors, optical gates and their networking in accordance with ZigBee protocol definition. The behavior of the ZigBee is illustrated by several records from real experiments.
Źródło:
Archives of Control Sciences; 2012, 22, 1; 29-41
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Inverse heat transfer problem in digital temperature control in plate fin and tube heat exchangers
Autorzy:
Taler, D.
Sury, A.
Powiązania:
https://bibliotekanauki.pl/articles/240927.pdf
Data publikacji:
2011
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
odwrotny przepływ ciepła
regulacja temperatury
wymiennik ciepła
digital PID control
heat exchanger
inverse heat transfer problem
model-based control
temperature control
Opis:
The aim of the paper is a steady-state inverse heat transfer problem for plate-fin and tube heat exchangers. The objective of the process control is to adjust the number of fan revolutions per minute so that the water temperature at the heat exchanger outlet is equal to a preset value. Two control techniques were developed. The first is based on the presented mathematical model of the heat exchanger while the second is a digital proportional-integral-derivative (PID) control. The first procedure is very stable. The digital PID controller becomes unstable if the water volumetric flow rate changes significantly. The developed techniques were implemented in digital control system of the water exit temperature in a plate fin and tube heat exchanger. The measured exit temperature of the water was very close to the set value of the temperature if the first method was used. The experiments showed that the PID controller works also well but becomes frequently unstable.
Źródło:
Archives of Thermodynamics; 2011, 32, 4; 17-32
1231-0956
2083-6023
Pojawia się w:
Archives of Thermodynamics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
EHMAC - a New Simple Tool for Robust Linear Multivariable Control
Autorzy:
Latawiec, K. J.
Rojek, R.
Powiązania:
https://bibliotekanauki.pl/articles/911218.pdf
Data publikacji:
2000
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie wewnętrzne
sterowanie predykcyjne
sterowanie wielowymiarowe
internal model control
model-based predictive control
multivariable control
orthonormal basis functions
robust control
Opis:
A combination of long range predictive control-originated EHPC and internal model control-structured MAC is shown to produce a new, simple but effective Extended Horizon Model Algorithmic Control (EHMAC). The EHMAC strategy can be used to robustly control open-loop stable non-minimum phase (possibly non-square) MIMO systems under very large model-plant mismatches. Robust EHMAC design is made straightforward by means of a separate selection of a single prediction horizon and an IMC filter parameter, which can be easily auto-tuned.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2000, 10, 3; 575-590
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Adaptive Predictive Controller Using Orthonormal Series Functions
Autorzy:
Oliveira, G. H. C.
Amaral, W. C.
Favier, G.
Powiązania:
https://bibliotekanauki.pl/articles/908308.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
adaptacyjny układ sterowania
niepewność
model-based predictive control
adaptive control
uncertain process
orthonormal series functions
Opis:
A constrained adaptive predictive control method that uses uncertain process modelling based on orthonormal series functions is considered. Such unstructured modelling is described as a weighted sum of orthonormal functions using approximate information about the time constant of the process. The orthonormal series functions model can thus be used to derive a j-step-ahead output prediction according to the constrained adaptive predictive control law. In relation to predictive controllers based on structured models, this approach presents the advantage of not requiring prior knowledge of the order or time delay, which decrease prediction errors and lead to a better closed loop performance when these parameters are not well known. Stability issues of the proposed control scheme are discussed and, finally, a simulation example is given to show the performance of the algorithm.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 175-191
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
On possibilities of the practical implementation of balance-based adaptive control methodology
Autorzy:
Czeczot, J.
Powiązania:
https://bibliotekanauki.pl/articles/1839191.pdf
Data publikacji:
2007
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
model-based adaptive control
practical implementation
bumpless switching
virtual controllers
programmable logic controller (PLC)
recursive least-squares estimation
Opis:
This paper deals with two approaches to the practical implementation of the Balance-Based Adaptive Controller(B-BAC): the low-level PLC-based approach of the explicit form of the B-BAC and the high-level PC-based one in the form of the general "virtual controller". In both cases, we discuss the details of meeting the general requirements of a particular practical implementation. We also consider the implementation aspects that are independent of the implementation, such as development of the front panel, saturation of a manipulated variable, on-line measurement and data acquisition, implementation of the on-line estimation procedure, bumpless switching between the automatic and manual mode, etc. Additionally, we present how to derive both the general form and the final explicit form of the B-BAC on the example of a biotechnological process and how to apply these forms in the particular practical implementation.
Źródło:
Control and Cybernetics; 2007, 36, 4; 967-984
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust quasi-LPV model reference FTC of a quadrotor UAV subject to actuator faults
Autorzy:
Rotondo, D.
Nejjari, F.
Puig, V.
Powiązania:
https://bibliotekanauki.pl/articles/331147.pdf
Data publikacji:
2015
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
linear parameter varying systems
fault tolerant control
quadrotor
model reference based control
linear matrix inequalities
układ liniowy niestacjonarny
sterowanie tolerujące uszkodzenia
liniowe nierówności macierzowe
Opis:
A solution for fault tolerant control (FTC) of a quadrotor unmanned aerial vehicle (UAV) is proposed. It relies on model reference-based control, where a reference model generates the desired trajectory. Depending on the type of reference model used for generating the reference trajectory, and on the assumptions about the availability and uncertainty of fault estimation, different error models are obtained. These error models are suitable for passive FTC, active FTC and hybrid FTC, the latter being able to merge the benefits of active and passive FTC while reducing their respective drawbacks. The controller is generated using results from the robust linear parameter varying (LPV) polytopic framework, where the vector of varying parameters is used to schedule between uncertain linear time invariant (LTI) systems. The design procedure relies on solving a set of linear matrix inequalities (LMIs) in order to achieve regional pole placement and H∞ norm bounding constraints. Simulation results are used to compare the different FTC strategies.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2015, 25, 1; 7-22
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Application of Model-Based Design in algorithms’ prototyping for experimental acorn scarification rig
Zastosowanie metodyki projektowania opartej na modelu w prototypowaniu algorytmów dla badawczego stanowiska skaryfikacji żołędzi
Autorzy:
Przybyło, J.
Jabłoński, M.
Pociecha, D.
Tadeusiewicz, R.
Piłat, A.
Walczyk, J.
Kiełbasa, P.
Szczepaniak, J.
Adamczyk, F.
Powiązania:
https://bibliotekanauki.pl/articles/335729.pdf
Data publikacji:
2017
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Maszyn Rolniczych
Tematy:
scarification
acorn
Model-Based Design
control
skaryfikacja
żołędzie
projektowanie
model MBD
sterowanie
Opis:
Assessment of viability of oak seeds is mainly performed by mechanical scarification followed by visual assessment by trained employees. This procedure is slow and prone to human errors, thus automation of this process is desirable. Shortening the design of complex automation systems requires the use of modern methods, allowing for modeling and simulation of systems containing elements of mechanical, electrical and digital components. The article presents selected aspects of the design of control algorithms for the acorn scarification prototype. A virtual prototyping and Model-Based Design (MBD) approach have been used.
Jedną ze stosowanych metod badania zmian mumifikacyjnych nasion jest skaryfikacja mechaniczna, połączona ze wzrokową oceną żywotności nasion przez człowieka. Ręcznie wykonywana procedura jest powolna i podatna na błędy, dlatego też automatyzacja tego procesu jest pożądana. Skrócenie czasu projektowania złożonych systemów automatyki wymaga stosowania nowoczesnych metod, pozwalających na modelowanie i symulację systemów zawierających elementy zarówno mechaniczne, elektryczne, jak i podzespoły cyfrowe. W artykule zaprezentowano wybrane aspekty projektowania algorytmów sterujących stanowiska badawczego do skaryfikacji żołędzi. Do rozwoju stanowiska badawczego wykorzystano wirtualne prototypowanie oraz metodykę projektowania opartą na modelu (MBD - ang. Model-Based Design).
Źródło:
Journal of Research and Applications in Agricultural Engineering; 2017, 62, 1; 166-170
1642-686X
2719-423X
Pojawia się w:
Journal of Research and Applications in Agricultural Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
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