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Sample records for hybrid adaptive control

  1. Full Gradient Solution to Adaptive Hybrid Control

    Science.gov (United States)

    Bean, Jacob; Schiller, Noah H.; Fuller, Chris

    2017-01-01

    This paper focuses on the adaptation mechanisms in adaptive hybrid controllers. Most adaptive hybrid controllers update two filters individually according to the filtered reference least mean squares (FxLMS) algorithm. Because this algorithm was derived for feedforward control, it does not take into account the presence of a feedback loop in the gradient calculation. This paper provides a derivation of the proper weight vector gradient for hybrid (or feedback) controllers that takes into account the presence of feedback. In this formulation, a single weight vector is updated rather than two individually. An internal model structure is assumed for the feedback part of the controller. The full gradient is equivalent to that used in the standard FxLMS algorithm with the addition of a recursive term that is a function of the modeling error. Some simulations are provided to highlight the advantages of using the full gradient in the weight vector update rather than the approximation.

  2. Hybrid adaptive control of a dragonfly model

    Science.gov (United States)

    Couceiro, Micael S.; Ferreira, Nuno M. F.; Machado, J. A. Tenreiro

    2012-02-01

    Dragonflies show unique and superior flight performances than most of other insect species and birds. They are equipped with two pairs of independently controlled wings granting an unmatchable flying performance and robustness. In this paper, it is presented an adaptive scheme controlling a nonlinear model inspired in a dragonfly-like robot. It is proposed a hybrid adaptive ( HA) law for adjusting the parameters analyzing the tracking error. At the current stage of the project it is considered essential the development of computational simulation models based in the dynamics to test whether strategies or algorithms of control, parts of the system (such as different wing configurations, tail) as well as the complete system. The performance analysis proves the superiority of the HA law over the direct adaptive ( DA) method in terms of faster and improved tracking and parameter convergence.

  3. Adaptive powertrain control for plugin hybrid electric vehicles

    Science.gov (United States)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  4. Adaptive powertrain control for plugin hybrid electric vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Kedar-Dongarkar, Gurunath; Weslati, Feisel

    2013-10-15

    A powertrain control system for a plugin hybrid electric vehicle. The system comprises an adaptive charge sustaining controller; at least one internal data source connected to the adaptive charge sustaining controller; and a memory connected to the adaptive charge sustaining controller for storing data generated by the at least one internal data source. The adaptive charge sustaining controller is operable to select an operating mode of the vehicle's powertrain along a given route based on programming generated from data stored in the memory associated with that route. Further described is a method of adaptively controlling operation of a plugin hybrid electric vehicle powertrain comprising identifying a route being traveled, activating stored adaptive charge sustaining mode programming for the identified route and controlling operation of the powertrain along the identified route by selecting from a plurality of operational modes based on the stored adaptive charge sustaining mode programming.

  5. A hybrid adaptive control strategy for a smart prosthetic hand.

    Science.gov (United States)

    Chen, Cheng-Hung; Naidu, D Subbaram; Perez-Gracia, Alba; Schoen, Marco P

    2009-01-01

    This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two-dimensional movement of a prosthetic hand with a thumb and index finger. In particular, ANFIS is used for inverse kinematics, and the adaptive control is used for linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance. Work is in progress to extend this methodology to a five-fingered, three-dimensional prosthetic hand.

  6. Novel hybrid adaptive controller for manipulation in complex perturbation environments.

    Directory of Open Access Journals (Sweden)

    Alex M C Smith

    Full Text Available In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing.

  7. Novel Hybrid Adaptive Controller for Manipulation in Complex Perturbation Environments

    Science.gov (United States)

    Smith, Alex M. C.; Yang, Chenguang; Ma, Hongbin; Culverhouse, Phil; Cangelosi, Angelo; Burdet, Etienne

    2015-01-01

    In this paper we present a hybrid control scheme, combining the advantages of task-space and joint-space control. The controller is based on a human-like adaptive design, which minimises both control effort and tracking error. Our novel hybrid adaptive controller has been tested in extensive simulations, in a scenario where a Baxter robot manipulator is affected by external disturbances in the form of interaction with the environment and tool-like end-effector perturbations. The results demonstrated improved performance in the hybrid controller over both of its component parts. In addition, we introduce a novel method for online adaptation of learning parameters, using the fuzzy control formalism to utilise expert knowledge from the experimenter. This mechanism of meta-learning induces further improvement in performance and avoids the need for tuning through trial testing. PMID:26029916

  8. Hybrid adaptive ascent flight control for a flexible launch vehicle

    Science.gov (United States)

    Lefevre, Brian D.

    For the purpose of maintaining dynamic stability and improving guidance command tracking performance under off-nominal flight conditions, a hybrid adaptive control scheme is selected and modified for use as a launch vehicle flight controller. This architecture merges a model reference adaptive approach, which utilizes both direct and indirect adaptive elements, with a classical dynamic inversion controller. This structure is chosen for a number of reasons: the properties of the reference model can be easily adjusted to tune the desired handling qualities of the spacecraft, the indirect adaptive element (which consists of an online parameter identification algorithm) continually refines the estimates of the evolving characteristic parameters utilized in the dynamic inversion, and the direct adaptive element (which consists of a neural network) augments the linear feedback signal to compensate for any nonlinearities in the vehicle dynamics. The combination of these elements enables the control system to retain the nonlinear capabilities of an adaptive network while relying heavily on the linear portion of the feedback signal to dictate the dynamic response under most operating conditions. To begin the analysis, the ascent dynamics of a launch vehicle with a single 1st stage rocket motor (typical of the Ares 1 spacecraft) are characterized. The dynamics are then linearized with assumptions that are appropriate for a launch vehicle, so that the resulting equations may be inverted by the flight controller in order to compute the control signals necessary to generate the desired response from the vehicle. Next, the development of the hybrid adaptive launch vehicle ascent flight control architecture is discussed in detail. Alterations of the generic hybrid adaptive control architecture include the incorporation of a command conversion operation which transforms guidance input from quaternion form (as provided by NASA) to the body-fixed angular rate commands needed by the

  9. Adaptive Current Control Method for Hybrid Active Power Filter

    Science.gov (United States)

    Chau, Minh Thuyen

    2016-09-01

    This paper proposes an adaptive current control method for Hybrid Active Power Filter (HAPF). It consists of a fuzzy-neural controller, identification and prediction model and cost function. The fuzzy-neural controller parameters are adjusted according to the cost function minimum criteria. For this reason, the proposed control method has a capability on-line control clings to variation of the load harmonic currents. Compared to the single fuzzy logic control method, the proposed control method shows the advantages of better dynamic response, compensation error in steady-state is smaller, able to online control is better and harmonics cancelling is more effective. Simulation and experimental results have demonstrated the effectiveness of the proposed control method.

  10. NEURAL NETWORKS CONTROL OF THE HYBRID POWER UNIT BASED ON THE METHOD OF ADAPTIVE CRITICS

    Directory of Open Access Journals (Sweden)

    S. Serikov

    2012-01-01

    Full Text Available The formal statement of the optimization problem of hybrid vehicle power unit control is given. Its solving by neural networks method application on the basis of adaptive critic is considered.

  11. Adaptive and Reliable Control Algorithm for Hybrid System Architecture

    Directory of Open Access Journals (Sweden)

    Osama Abdel Hakeem Abdel Sattar

    2012-01-01

    Full Text Available A stand-alone system is defined as an autonomous system that supplies electricity without being connected to the electric grid. Hybrid systems combined renewable energy source, that are never depleted (such solar (photovoltaic (PV, wind, hydroelectric, etc. , With other sources of energy, like Diesel. If these hybrid systems are optimally designed, they can be more cost effective and reliable than single systems. However, the design of hybrid systems is complex because of the uncertain renewable energy supplies, load demands and the non-linear characteristics of some components, so the design problem cannot be solved easily by classical optimisation methods. The use of heuristic techniques, such as the genetic algorithms, can give better results than classical methods. This paper presents to a hybrid system control algorithm and also dispatches strategy design in which wind is the primary energy resource with photovoltaic cells. The dimension of the design (max. load is 2000 kW and the sources is implemented as flow 1500 kw from wind, 500 kw from solar and diesel 2000 kw. The main task of the preposed algorithm is to take full advantage of the wind energy and solar energy when it is available and to minimize diesel fuel consumption.

  12. Adaptive Swarm Formation Control for Hybrid Ground and Aerial Assets

    OpenAIRE

    Barnes, Laura; Garcia, Richard; Fields, Mary Anne; Valavanis, Kimon

    2010-01-01

    In this work, a methodology for control and coordination of UAVs and UGVs has been presented. UAVs and UGVs were integrated into a single team and were able to adapt their formation accordingly. Potential field functions together with limiting functions can be successfully utilized to control UGV and UAV swarm formation, obstacle avoidance and the overall swarm movement. A single UAV was also successfully used to pull the UGV swarm into formation. These formations can move as a un...

  13. Flexible Microgrid Power Quality Enhancement Using Adaptive Hybrid Voltage and Current Controller

    DEFF Research Database (Denmark)

    He, Jinwei; Li, Yun Wei; Blaabjerg, Frede

    2014-01-01

    To accomplish superior harmonic compensation performance using distributed generation (DG) unit power electronics interfaces, an adaptive hybrid voltage and current controlled method (HCM) is proposed in this paper. It shows that the proposed adaptive HCM can reduce the numbers of low-pass/bandpa...

  14. Learning and Adaptive Hybrid Systems for Nonlinear Control

    Science.gov (United States)

    1991-05-01

    6 2.1.1 Single Layer Networks 8 Perceptrons 8 Samuel’s Checker Player 10 ADALINE and MADALINE 12 2.1.2 Multilayer Networks 13 Hebbian Learning 13...was Widrow’s ADALINE and MADALINE [Wid89]. He developed a type of adaptive filter which is still in widespread use today in such items as high speed...time step, and used it for pattern recognition. This "Adaptive Linear Neuron" ( ADALINE ) [Wid89] was then built in actual hardware, where weights were

  15. Finite Element Analysis of Adaptive-Stiffening and Shape-Control SMA Hybrid Composites

    Science.gov (United States)

    Gao, Xiujie; Burton, Deborah; Turner, Travis L.; Brinson, Catherine

    2005-01-01

    Shape memory alloy hybrid composites with adaptive-stiffening or morphing functions are simulated using finite element analysis. The composite structure is a laminated fiber-polymer composite beam with embedded SMA ribbons at various positions with respect to the neutral axis of the beam. Adaptive stiffening or morphing is activated via selective resistance heating of the SMA ribbons or uniform thermal loads on the beam. The thermomechanical behavior of these composites was simulated in ABAQUS using user-defined SMA elements. The examples demonstrate the usefulness of the methods for the design and simulation of SMA hybrid composites. Keywords: shape memory alloys, Nitinol, ABAQUS, finite element analysis, post-buckling control, shape control, deflection control, adaptive stiffening, morphing, constitutive modeling, user element

  16. GA and Lyapunov theory-based hybrid adaptive fuzzy controller for non-linear systems

    Science.gov (United States)

    Roy, Ananya; Das Sharma, Kaushik

    2015-02-01

    In this present article, a new hybrid methodology for designing stable adaptive fuzzy logic controllers (AFLCs) for a class of non-linear system is proposed. The proposed design strategy exploits the features of genetic algorithm (GA)-based stochastic evolutionary global search technique and Lyapunov theory-based local adaptation scheme. The objective is to develop a methodology for designing AFLCs with optimised free parameters and guaranteed closed-loop stability. Simultaneously, the proposed method introduces automation in the design process. The stand-alone Lyapunov theory-based design, GA-based design and proposed hybrid GA-Lyapunov design methodologies are implemented for two benchmark non-linear plants in simulation case studies with different reference signals and one experimental case study. The results demonstrate that the hybrid design methodology outperforms the other control strategies on the whole.

  17. Adaptive control using a hybrid-neural model: application to a polymerisation reactor

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    Cubillos F.

    2001-01-01

    Full Text Available This work presents the use of a hybrid-neural model for predictive control of a plug flow polymerisation reactor. The hybrid-neural model (HNM is based on fundamental conservation laws associated with a neural network (NN used to model the uncertain parameters. By simulations, the performance of this approach was studied for a peroxide-initiated styrene tubular reactor. The HNM was synthesised for a CSTR reactor with a radial basis function neural net (RBFN used to estimate the reaction rates recursively. The adaptive HNM was incorporated in two model predictive control strategies, a direct synthesis scheme and an optimum steady state scheme. Tests for servo and regulator control showed excellent behaviour following different setpoint variations, and rejecting perturbations. The good generalisation and training capacities of hybrid models, associated with the simplicity and robustness characteristics of the MPC formulations, make an attractive combination for the control of a polymerisation reactor.

  18. Adaptive Hybrid Control of Vehicle Semiactive Suspension Based on Road Profile Estimation

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    Yechen Qin

    2015-01-01

    Full Text Available A new road estimation based suspension hybrid control strategy is proposed. Its aim is to adaptively change control gains to improve both ride comfort and road handling with the constraint of rattle space. To achieve this, analytical expressions for ride comfort, road handling, and rattle space with respect to road input are derived based on the hybrid control, and the problem is transformed into a MOOP (Multiobjective Optimization Problem and has been solved by NSGA-II (Nondominated Sorting Genetic Algorithm-II. A new road estimation and classification method, which is based on ANFIS (Adaptive Neurofuzzy Inference System and wavelet transforms, is then presented as a means of detecting the road profile level, and a Kalman filter is designed for observing unknown states. The results of simulations conducted with random road excitation show that the efficiency of the proposed control strategy compares favourably to that of a passive system.

  19. Adaptive kanban control mechanism for a single-stage hybrid system

    Science.gov (United States)

    Korugan, Aybek; Gupta, Surendra M.

    2002-02-01

    In this paper, we consider a hybrid manufacturing system with two discrete production lines. Here the output of either production line can satisfy the demand for the same type of product without any penalties. The interarrival times for demand occurrences and service completions are exponentially distributed i.i.d. variables. In order to control this type of manufacturing system we suggest a single stage pull type control mechanism with adaptive kanbans and state independent routing of the production information.

  20. A Muscle Synergy-inspired Adaptive Control Scheme for a Hybrid Walking Neuroprosthesis

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    Naji A Alibeji

    2015-12-01

    Full Text Available Abstract--- Abstract--- A hybrid neuroprosthesis that uses an electric motor-based wearable exoskeleton and functional electrical stimulation (FES has a promising potential to restore walking in persons with paraplegia. A hybrid actuation structure introduces effector redundancy, making its automatic control a challenging task because multiple muscles and additional electric motor need to be coordinated. Inspired by the muscle synergy principle, we designed a low dimensional controller to control multiple effectors: FES of multiple muscles and electric motors. The resulting control system may be less complex and easier to control. To obtain the muscle synergy-inspired low dimensional control, a subject-specific gait model was optimized to compute optimal control signals for the multiple effectors. The optimal control signals were then dimensionally reduced by using principal component analysis to extract synergies. Then, an adaptive feedforward controller with an update law for the synergy activation was designed. In addition, feedback control was used to provide stability and robustness to the control design. The adaptive-feedforward and feedback control structure makes the low dimensional controller more robust to disturbances and variations in the model parameters and may help to compensate for other time-varying phenomena (e.g., muscle fatigue. This is proven by using a Lyapunov stability analysis, which yielded semi-global uniformly ultimately bounded tracking. Computer simulations were performed to test the new controller on a 4 degree of freedom gait model.

  1. An adaptive metamaterial beam with hybrid shunting circuits for extremely broadband control of flexural waves

    Science.gov (United States)

    Chen, Y. Y.; Hu, G. K.; Huang, G. L.

    2016-10-01

    A great deal of research has been devoted to controlling the dynamic behaviors of phononic crystals and metamaterials by directly tuning the frequency regions and/or widths of their inherent band gaps. Here, we report a new class of adaptive metamaterial beams with hybrid shunting circuits to realize super broadband Lamb-wave band gaps at an extreme subwavelength scale. The proposed metamaterial is made of a homogeneous host beam on which tunable local resonators consisting of hybrid shunted piezoelectric stacks with proof masses are attached. The hybrid shunting circuits are composed of negative-capacitance and negative-inductance elements connected in series or in parallel in order to tune the desired frequency-dependent stiffness. It is shown theoretically and numerically that by properly modifying the shunting impedance, the adaptive mechanical mechanism within the tunable resonator can produce high-pass and low-pass wave filtering capabilities for the zeroth-order anti-symmetric Lamb-wave modes. These unique behaviors are due to the hybrid effects from the negative-capacitance and negative-inductance circuit elements. Such a system opens up important perspectives for the development of adaptive vibration or wave-attenuation devices for broadband frequency applications.

  2. A hybrid robust fault tolerant control based on adaptive joint unscented Kalman filter.

    Science.gov (United States)

    Shabbouei Hagh, Yashar; Mohammadi Asl, Reza; Cocquempot, Vincent

    2017-01-01

    In this paper, a new hybrid robust fault tolerant control scheme is proposed. A robust H∞ control law is used in non-faulty situation, while a Non-Singular Terminal Sliding Mode (NTSM) controller is activated as soon as an actuator fault is detected. Since a linear robust controller is designed, the system is first linearized through the feedback linearization method. To switch from one controller to the other, a fuzzy based switching system is used. An Adaptive Joint Unscented Kalman Filter (AJUKF) is used for fault detection and diagnosis. The proposed method is based on the simultaneous estimation of the system states and parameters. In order to show the efficiency of the proposed scheme, a simulated 3-DOF robotic manipulator is used.

  3. Adaptive Second Order Sliding Mode Control of a Fuel Cell Hybrid System for Electric Vehicle Applications

    Directory of Open Access Journals (Sweden)

    Jianxing Liu

    2015-01-01

    Full Text Available We present an adaptive-gain second order sliding mode (SOSM control applied to a hybrid power system for electric vehicle applications. The main advantage of the adaptive SOSM is that it does not require the upper bound of the uncertainty. The proposed hybrid system consists of a polymer electrolyte membrane fuel cell (PEMFC with a unidirectional DC/DC converter and a Li-ion battery stack with a bidirectional DC/DC converter, where the PEMFC is employed as the primary energy source and the battery is employed as the second energy source. One of the main limitations of the FC is its slow dynamics mainly due to the air-feed system and fuel-delivery system. Fuel starvation phenomenon will occur during fast load demand. Therefore, the second energy source is required to assist the main source to improve system perofrmance. The proposed energy management system contains two cascade control structures, which are used to regulate the fuel cell and battery currents to track the given reference currents and stabilize the DC bus voltage while satisfying the physical limitations. The proposed control strategy is evaluated for two real driving cycles, that is, Urban Dynamometer Driving Schedule (UDDS and Highway Fuel Economy Driving Schedule (HWFET.

  4. Hybrid Vibration Control under Broadband Excitation and Variable Temperature Using Viscoelastic Neutralizer and Adaptive Feedforward Approach

    Directory of Open Access Journals (Sweden)

    João C. O. Marra

    2016-01-01

    Full Text Available Vibratory phenomena have always surrounded human life. The need for more knowledge and domain of such phenomena increases more and more, especially in the modern society where the human-machine integration becomes closer day after day. In that context, this work deals with the development and practical implementation of a hybrid (passive-active/adaptive vibration control system over a metallic beam excited by a broadband signal and under variable temperature, between 5 and 35°C. Since temperature variations affect directly and considerably the performance of the passive control system, composed of a viscoelastic dynamic vibration neutralizer (also called a viscoelastic dynamic vibration absorber, the associative strategy of using an active-adaptive vibration control system (based on a feedforward approach with the use of the FXLMS algorithm working together with the passive one has shown to be a good option to compensate the neutralizer loss of performance and generally maintain the extended overall level of vibration control. As an additional gain, the association of both vibration control systems (passive and active-adaptive has improved the attenuation of vibration levels. Some key steps matured over years of research on this experimental setup are presented in this paper.

  5. Research of Ant Colony Optimized Adaptive Control Strategy for Hybrid Electric Vehicle

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2014-01-01

    Full Text Available Energy management control strategy of hybrid electric vehicle has a great influence on the vehicle fuel consumption with electric motors adding to the traditional vehicle power system. As vehicle real driving cycles seem to be uncertain, the dynamic driving cycles will have an impact on control strategy’s energy-saving effect. In order to better adapt the dynamic driving cycles, control strategy should have the ability to recognize the real-time driving cycle and adaptively adjust to the corresponding off-line optimal control parameters. In this paper, four types of representative driving cycles are constructed based on the actual vehicle operating data, and a fuzzy driving cycle recognition algorithm is proposed for online recognizing the type of actual driving cycle. Then, based on the equivalent fuel consumption minimization strategy, an ant colony optimization algorithm is utilized to search the optimal control parameters “charge and discharge equivalent factors” for each type of representative driving cycle. At last, the simulation experiments are conducted to verify the accuracy of the proposed fuzzy recognition algorithm and the validity of the designed control strategy optimization method.

  6. Adaptive Passivity-Based Control of PEM Fuel Cell/Battery Hybrid Power Source for Stand-Alone Applications

    Directory of Open Access Journals (Sweden)

    KALANTAR, A.

    2010-11-01

    Full Text Available In this paper, a DC hybrid power source composed of PEM fuel cell as main source, Li-ion battery storage as transient power source and their power electronic interfacing is modelled based on Euler-Lagrange framework. Subsequently, adaptive passivity-based controllers are synthesized using the energy shaping and damping injection technique. Local asymptotic stability is insured as well. In addition, the power management system is designed in order to manage power flow between components. Evaluation of the proposed system and simulation of the hybrid system are accomplished using MATLAB/Simulink. Afterwards, linear PI controllers are provided for the purpose of comparison with proposed controllers responses. The results show that the outputs of hybrid system based on adaptive passivity-based controllers have a good tracking response, low overshoot, short settling time and zero steady-state error. The comparison of results demonstrates the robustness of the proposed controllers for reference DC voltage and resistive load changes.

  7. Adaptive control paradigm for photovoltaic and solid oxide fuel cell in a grid-integrated hybrid renewable energy system.

    Science.gov (United States)

    Mumtaz, Sidra; Khan, Laiq

    2017-01-01

    The hybrid power system (HPS) is an emerging power generation scheme due to the plentiful availability of renewable energy sources. Renewable energy sources are characterized as highly intermittent in nature due to meteorological conditions, while the domestic load also behaves in a quite uncertain manner. In this scenario, to maintain the balance between generation and load, the development of an intelligent and adaptive control algorithm has preoccupied power engineers and researchers. This paper proposes a Hermite wavelet embedded NeuroFuzzy indirect adaptive MPPT (maximum power point tracking) control of photovoltaic (PV) systems to extract maximum power and a Hermite wavelet incorporated NeuroFuzzy indirect adaptive control of Solid Oxide Fuel Cells (SOFC) to obtain a swift response in a grid-connected hybrid power system. A comprehensive simulation testbed for a grid-connected hybrid power system (wind turbine, PV cells, SOFC, electrolyzer, battery storage system, supercapacitor (SC), micro-turbine (MT) and domestic load) is developed in Matlab/Simulink. The robustness and superiority of the proposed indirect adaptive control paradigm are evaluated through simulation results in a grid-connected hybrid power system testbed by comparison with a conventional PI (proportional and integral) control system. The simulation results verify the effectiveness of the proposed control paradigm.

  8. Adaptive control paradigm for photovoltaic and solid oxide fuel cell in a grid-integrated hybrid renewable energy system

    Science.gov (United States)

    Khan, Laiq

    2017-01-01

    The hybrid power system (HPS) is an emerging power generation scheme due to the plentiful availability of renewable energy sources. Renewable energy sources are characterized as highly intermittent in nature due to meteorological conditions, while the domestic load also behaves in a quite uncertain manner. In this scenario, to maintain the balance between generation and load, the development of an intelligent and adaptive control algorithm has preoccupied power engineers and researchers. This paper proposes a Hermite wavelet embedded NeuroFuzzy indirect adaptive MPPT (maximum power point tracking) control of photovoltaic (PV) systems to extract maximum power and a Hermite wavelet incorporated NeuroFuzzy indirect adaptive control of Solid Oxide Fuel Cells (SOFC) to obtain a swift response in a grid-connected hybrid power system. A comprehensive simulation testbed for a grid-connected hybrid power system (wind turbine, PV cells, SOFC, electrolyzer, battery storage system, supercapacitor (SC), micro-turbine (MT) and domestic load) is developed in Matlab/Simulink. The robustness and superiority of the proposed indirect adaptive control paradigm are evaluated through simulation results in a grid-connected hybrid power system testbed by comparison with a conventional PI (proportional and integral) control system. The simulation results verify the effectiveness of the proposed control paradigm. PMID:28329015

  9. Optimal reactive power and voltage control in distribution networks with distributed generators by fuzzy adaptive hybrid particle swarm optimisation method

    DEFF Research Database (Denmark)

    Chen, Shuheng; Hu, Weihao; Su, Chi

    2015-01-01

    A new and efficient methodology for optimal reactive power and voltage control of distribution networks with distributed generators based on fuzzy adaptive hybrid PSO (FAHPSO) is proposed. The objective is to minimize comprehensive cost, consisting of power loss and operation cost of transformers...... and capacitors, and subject to constraints such as minimum and maximum reactive power limits of distributed generators, maximum deviation of bus voltages, maximum allowable daily switching operation number (MADSON). Particle swarm optimization (PSO) is used to solve the corresponding mixed integer non......-linear programming problem (MINLP) and the hybrid PSO method (HPSO), consisting of three PSO variants, is presented. In order to mitigate the local convergence problem, fuzzy adaptive inference is used to improve the searching process and the final fuzzy adaptive inference based hybrid PSO is proposed. The proposed...

  10. Hybrid feedback feedforward: An efficient design of adaptive neural network control.

    Science.gov (United States)

    Pan, Yongping; Liu, Yiqi; Xu, Bin; Yu, Haoyong

    2016-04-01

    This paper presents an efficient hybrid feedback feedforward (HFF) adaptive approximation-based control (AAC) strategy for a class of uncertain Euler-Lagrange systems. The control structure includes a proportional-derivative (PD) control term in the feedback loop and a radial-basis-function (RBF) neural network (NN) in the feedforward loop, which mimics the human motor learning control mechanism. At the presence of discontinuous friction, a sigmoid-jump-function NN is incorporated to improve control performance. The major difference of the proposed HFF-AAC design from the traditional feedback AAC (FB-AAC) design is that only desired outputs, rather than both tracking errors and desired outputs, are applied as RBF-NN inputs. Yet, such a slight modification leads to several attractive properties of HFF-AAC, including the convenient choice of an approximation domain, the decrease of the number of RBF-NN inputs, and semiglobal practical asymptotic stability dominated by control gains. Compared with previous HFF-AAC approaches, the proposed approach possesses the following two distinctive features: (i) all above attractive properties are achieved by a much simpler control scheme; (ii) the bounds of plant uncertainties are not required to be known. Consequently, the proposed approach guarantees a minimum configuration of the control structure and a minimum requirement of plant knowledge for the AAC design, which leads to a sharp decrease of implementation cost in terms of hardware selection, algorithm realization and system debugging. Simulation results have demonstrated that the proposed HFF-AAC can perform as good as or even better than the traditional FB-AAC under much simpler control synthesis and much lower computational cost.

  11. Bridging the gap: adapting advanced display technologies for use in hybrid control rooms

    Energy Technology Data Exchange (ETDEWEB)

    Jokstad, Håkon [Inst. for Energy Technology, Halden (Norway); Boring, Ronald [Idaho National Lab. (INL), Idaho Falls, ID (United States)

    2015-02-01

    The Institute for Energy Technology (IFE), runs the OECD Halden Reactor Project (HRP), featuring a state-of-the-art research simulator facility in Halden, Norway, called HAMMLAB. HAMMLAB serves two main purposes: the study of human behaviour in interaction with complex process systems; and the development, test and evaluation of prototype control centres and their individual systems. By studying operator performance in HAMMLAB and integrating the knowledge gained into new designs, the HRP contributes to improving operational safety, reliability, efficiency and productivity. The U.S. Department of Energy’s (DOE) Light Water Reactor Sustainability (LWRS) Program has contracted IFE to assist DOE national laboratory staff at Idaho National Laboratory (INL) in adapting HAMMLAB design concepts for the purpose of control room modernization at nuclear power plants in the U.S. In support of this effort, the DOE has built a simulator research facility at INL called the Human Systems Simulation Laboratory (HSSL). The HSSL is centered on control room modernization, in which industry provided plant instrumentation and controls are modified for upgrade opportunities. The HSSL houses the LWRS simulator, which is a reconfigurable full-scale and full-scope control room simulator. Consisting of 45 large touchscreens on 15 panels, the LWRS simulator is currently using this glass top technology to digitally represent and replicate the functionality of the analog I&C systems in existing control rooms. The LWRS simulator is reconfigurable in that different plant training simulator models obtained from the utilities can be run on the panels, and the panels can be physically moved and arranged to mimic the layout of those control rooms. The glass top technology and reconfigurability capabilities allow the LWRS simulator to be the research platform that is necessary to design, prototype, and validate human-system interface (HSI) technologies that can replace existing analog I&C. IFE has

  12. Motion Planning Using an Impact-Based Hybrid Control for Trajectory Generation in Adaptive Walking

    Directory of Open Access Journals (Sweden)

    Umar Asif

    2011-09-01

    Full Text Available This paper aims to solve a major drawback of walking robots i.e. their inability to react to environmental disturbances while navigating in natural rough terrains. This problem is reduced here by suggesting the use of a hybrid force‐position control based trajectory generation with the impact dynamics into consideration that compensates for the stability variations, thus helping the robot react stably in the face of environmental disturbances. As a consequence, the proposed impact‐based hybrid control helps the robot achieve better and stable motion planning than conventional position‐based control algorithms. Dynamic simulations and real world outdoor experiments performed on a six legged hexapod robot show a relevant improvement in the robot locomotion.

  13. An adaptive metamaterial beam with hybrid shunting circuits for extremely broadband control of flexural wave (Conference Presentation)

    Science.gov (United States)

    Chen, Yangyang; Huang, Guoliang

    2017-04-01

    A great deal of research has been devoted to controlling the dynamic behaviors of phononic crystals and metamaterials by directly tuning the frequency regions and/or widths of their inherent band gaps. Here, we present a novel approach to achieve extremely broadband flexural wave/vibration attenuation based on tunable local resonators made of piezoelectric stacks shunted by hybrid negative capacitance and negative inductance circuits with proof masses attached on a host beam. First, wave dispersion relations of the adaptive metamaterial beam are calculated analytically by using the transfer matrix method. The unique modulus tuning properties induced by the hybrid shunting circuits are then characterized conceptually, from which the frequency dependent modulus tuning curves of the piezoelectric stack located within wave attenuation frequency regions are quantitatively identified. As an example, a flexural wave high-pass band filter with a wave attenuation region from 0 to 23.0 kHz is demonstrated analytically and numerically by using the hybrid shunting circuit, in which the two electric components are connected in series. By changing the connection pattern to be parallel, another super wide wave attenuation region from 13.5 to 73.0 kHz is demonstrated to function as a low-pass filter at a subwavelength scale. The proposed adaptive metamaterial possesses a super wide band gap created both naturally and artificially. Therefore, it can be used for the transient wave mitigation at extremely broadband frequencies such as blast or impact loadings. We envision that the proposed design and approach can open many possibilities in broadband vibration and wave control.

  14. A three-degree-of-freedom hybrid vibration isolation system using adaptive proportional control supported by passive weight support mechanism

    Science.gov (United States)

    Liu, Yun-Hui; Wu, Wei-Hao; Chu, Chih-Liang

    2013-10-01

    This paper presents a three-degree-of-freedom hybrid vibration isolation system integrated with an active sky-hook damper and a passive weight support mechanism for highly sensitive measurement equipment, e.g. atomic force microscopes, suffering from building vibration. Active sky-hook damper applies proportional controller incorporated with an adaptive filter to reduce the resonance of the passive weight support mechanism at nature frequency. The absolute vibration velocity signal acquired from an accelerator and being processed through an integrator is input to the controller as a feedback signal, and the controller output signal drives the voice coil actuator to produce a sky-hook damper force. The adaptive filter is used to compensate the phase error between the measuring input signal and the absolute vibration velocity. An analysis of this active vibration isolation system is presented, and model predictions are compared to experimental results. The results show that the system could effectively reduce transmissibility at resonance without the penalty of increased transmissibility at higher frequencies both in vertical and horizontal directions.

  15. Adaptive Hybrid Fuzzy-Proportional Plus Crisp-Integral Current Control Algorithm for Shunt Active Power Filter Operation

    Directory of Open Access Journals (Sweden)

    Nor Farahaida Abdul Rahman

    2016-09-01

    Full Text Available An adaptive hybrid fuzzy-proportional plus crisp-integral current control algorithm (CCA for regulating supply current and enhancing the operation of a shunt active power filter (SAPF is presented. It introduces a unique integration of fuzzy-proportional (Fuzzy-P and crisp-integral (Crisp-I current controllers. The Fuzzy-P current controller is developed to perform gain tuning procedure and proportional control action. This controller inherits the simplest configuration; it is constructed using a single-input single-output fuzzy rule configuration. Thus, an execution of few fuzzy rules is sufficient for the controller’s operation. Furthermore, the fuzzy rule is developed using the relationship of currents only. Hence, it simplifies the controller development. Meanwhile, the Crisp-I current controller is developed to perform integral control action using a controllable gain value; to improve the steady-state control mechanism. The gain value is modified and controlled using the Fuzzy-P current controller’s output variable. Therefore, the gain value will continuously be adjusted at every sample period (or throughout the SAPF operation. The effectiveness of the proposed CCA in regulating supply current is validated in both simulation and experimental work. All results have proven that the SAPF using the proposed CCA is capable to regulate supply current during steady-state and dynamic-state operations. At the same time, the SAPF is able to enhance its operation in compensating harmonic currents and reactive power. Furthermore, the implementation of the proposed CCA has resulted more stable dc-link voltage waveform.

  16. Indirect adaptive soft computing based wavelet-embedded control paradigms for WT/PV/SOFC in a grid/charging station connected hybrid power system.

    Science.gov (United States)

    Mumtaz, Sidra; Khan, Laiq; Ahmed, Saghir; Bader, Rabiah

    2017-01-01

    This paper focuses on the indirect adaptive tracking control of renewable energy sources in a grid-connected hybrid power system. The renewable energy systems have low efficiency and intermittent nature due to unpredictable meteorological conditions. The domestic load and the conventional charging stations behave in an uncertain manner. To operate the renewable energy sources efficiently for harvesting maximum power, instantaneous nonlinear dynamics should be captured online. A Chebyshev-wavelet embedded NeuroFuzzy indirect adaptive MPPT (maximum power point tracking) control paradigm is proposed for variable speed wind turbine-permanent synchronous generator (VSWT-PMSG). A Hermite-wavelet incorporated NeuroFuzzy indirect adaptive MPPT control strategy for photovoltaic (PV) system to extract maximum power and indirect adaptive tracking control scheme for Solid Oxide Fuel Cell (SOFC) is developed. A comprehensive simulation test-bed for a grid-connected hybrid power system is developed in Matlab/Simulink. The robustness of the suggested indirect adaptive control paradigms are evaluated through simulation results in a grid-connected hybrid power system test-bed by comparison with conventional and intelligent control techniques. The simulation results validate the effectiveness of the proposed control paradigms.

  17. Robust decentralized hybrid adaptive output feedback fuzzy control for a class of large-scale MIMO nonlinear systems and its application to AHS.

    Science.gov (United States)

    Huang, Yi-Shao; Liu, Wel-Ping; Wu, Min; Wang, Zheng-Wu

    2014-09-01

    This paper presents a novel observer-based decentralized hybrid adaptive fuzzy control scheme for a class of large-scale continuous-time multiple-input multiple-output (MIMO) uncertain nonlinear systems whose state variables are unmeasurable. The scheme integrates fuzzy logic systems, state observers, and strictly positive real conditions to deal with three issues in the control of a large-scale MIMO uncertain nonlinear system: algorithm design, controller singularity, and transient response. Then, the design of the hybrid adaptive fuzzy controller is extended to address a general large-scale uncertain nonlinear system. It is shown that the resultant closed-loop large-scale system keeps asymptotically stable and the tracking error converges to zero. The better characteristics of our scheme are demonstrated by simulations. Copyright © 2014. Published by Elsevier Ltd.

  18. Optimal control of hybrid vehicles

    CERN Document Server

    Jager, Bram; Kessels, John

    2013-01-01

    Optimal Control of Hybrid Vehicles provides a description of power train control for hybrid vehicles. The background, environmental motivation and control challenges associated with hybrid vehicles are introduced. The text includes mathematical models for all relevant components in the hybrid power train. The power split problem in hybrid power trains is formally described and several numerical solutions detailed, including dynamic programming and a novel solution for state-constrained optimal control problems based on Pontryagin’s maximum principle.   Real-time-implementable strategies that can approximate the optimal solution closely are dealt with in depth. Several approaches are discussed and compared, including a state-of-the-art strategy which is adaptive for vehicle conditions like velocity and mass. Two case studies are included in the book: ·        a control strategy for a micro-hybrid power train; and ·        experimental results obtained with a real-time strategy implemented in...

  19. Probabilistic assessment of uncertain adaptive hybrid composites

    Science.gov (United States)

    Shiao, Michael C.; Singhal, Surendra N.; Chamis, Christos C.

    1994-01-01

    Adaptive composite structures using actuation materials, such as piezoelectric fibers, were assessed probabilistically utilizing intraply hybrid composite mechanics in conjunction with probabilistic composite structural analysis. Uncertainties associated with the actuation material as well as the uncertainties in the regular (traditional) composite material properties were quantified and considered in the assessment. Static and buckling analyses were performed for rectangular panels with various boundary conditions and different control arrangements. The probability density functions of the structural behavior, such as maximum displacement and critical buckling load, were computationally simulated. The results of the assessment indicate that improved design and reliability can be achieved with actuation material.

  20. HYBRID VEHICLE CONTROL SYSTEM

    Directory of Open Access Journals (Sweden)

    V. Dvadnenko

    2016-06-01

    Full Text Available The hybrid vehicle control system includes a start–stop system for an internal combustion engine. The system works in a hybrid mode and normal vehicle operation. To simplify the start–stop system, there were user new possibilities of a hybrid car, which appeared after the conversion. Results of the circuit design of the proposed system of basic blocks are analyzed.

  1. The development and demonstration of hybrid programmable attitude control electronics. [with adaptable analog/digital design approach

    Science.gov (United States)

    Smith, L. S.; Kopf, E. H., Jr.

    1974-01-01

    HYPACE provides an adaptable, analog/digital design approach that permits preflight and in-flight accommodation of mission changes, component performance variations, spacecraft changes, etc., through programing. This enabled broad multimission flexibility of application in a cost-effective manner. The HYPACE design, which was demonstrated in breadboard form on a single-axis gas-bearing spacecraft simulation, uses a single control channel to perform the attitude control functions sequentially, thus significantly reducing the number of component parts over hard-wired designs. The success of this effort resulted in the concept being selected for the Mariner/Jupiter/Saturn 1977 spacecraft application.

  2. The development and demonstration of hybrid programmable attitude control electronics. [with adaptable analog/digital design approach

    Science.gov (United States)

    Smith, L. S.; Kopf, E. H., Jr.

    1974-01-01

    HYPACE provides an adaptable, analog/digital design approach that permits preflight and in-flight accommodation of mission changes, component performance variations, spacecraft changes, etc., through programing. This enabled broad multimission flexibility of application in a cost-effective manner. The HYPACE design, which was demonstrated in breadboard form on a single-axis gas-bearing spacecraft simulation, uses a single control channel to perform the attitude control functions sequentially, thus significantly reducing the number of component parts over hard-wired designs. The success of this effort resulted in the concept being selected for the Mariner/Jupiter/Saturn 1977 spacecraft application.

  3. Adaptive Fuzzy Control for CVT Vehicle

    Institute of Scientific and Technical Information of China (English)

    2005-01-01

    On the simple continuously variable transmission (CVT) driveline model, the design of adaptive fuzzy control system for CVT vehicle is presented. The adaptive fuzzy control system consists of a scaling factor self-tuning fuzzy-PI throttle controller, and a hybrid fuzzy-PID CVT ratio and brake controller. The presented adaptive fuzzy control strategy is vehicle model independent, which depends only on the instantaneous vehicle states, but does not depend on vehicle parameters. So it has good robustness against uncertain vehicle parameters and exogenous load disturbance. Simulation results show that the proposed adaptive fuzzy strategy has good adaptability and practicality value.

  4. Designframework for an Adaptive, Hybrid MOOC

    DEFF Research Database (Denmark)

    Gynther, Karsten

    2015-01-01

    The research project has developed a design framework for an adaptive hybrid MOOC that complements the MOOC format with blended learning. The design framework consists of a design model and a series of pedagogical design principles that can be used to design courses for teacher professional...

  5. 混合隔振系统自适应模糊滑模控制%Adaptive Fuzzy Sliding-mode Controller for Hybrid Vibration Isolation Systems

    Institute of Scientific and Technical Information of China (English)

    杨理华; 朱石坚; 楼京俊; 李棒

    2014-01-01

    针对机械设备被动隔振在低频段隔振效果较差的问题,建立磁致伸缩作动器的电—磁—机转化数学模型,提出一种基于自适应模糊滑模控制算法,并用李雅普诺夫方法证明控制器的稳定性,将该控制策略与磁致伸缩作动器应用于混合隔振系统中。仿真结果表明:在单频、多频及随即激励条件下,自适应模糊滑模控制器具有良好的动态特性和鲁棒性,能够提高系统隔振效率并拓宽隔振频段,有效减小传至基础的力。%Aiming at the problem of poor vibration isolation effect of passive vibration isolators of mechanical equip-ment in low frequency range, an electric-magnetic-mechanical conversion model for magnetostrictive actuators is estab-lished, and an adaptive fuzzy sliding-mode control algorithm is proposed. The stability of the controller is proved by Lyapu-nov method. Then, the control strategy and the magnetostrictive actuator are used in a hybrid vibration isolation system. The simulation results show that in whatever conditions of single frequency excitation, multi-frequency excitation or random ex-citation, the adaptive fuzzy sliding-mode controller has good dynamic characteristics and robustness. This property can also be used to improve the isolation efficiency and broaden the vibration isolation frequency band of the hybrid system, and ef-fectively reduce the force transmitted to the foundation of the mechanical equipment.

  6. Continuity Controlled Hybrid Automata

    OpenAIRE

    Bergstra, J. A.; Middelburg, C.A.

    2004-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of hybrid automata as timed transition systems. We also relate the synchronized product operator on hybrid automata to the parallel composition operator of the process algebra. It turns out that the f...

  7. Passivity-based adaptive hybrid synchronization of a new hyperchaotic system with uncertain parameters.

    Science.gov (United States)

    Zhou, Xiaobing; Fan, Zhangbiao; Zhou, Dongming; Cai, Xiaomei

    2012-01-01

    We investigate the adaptive hybrid synchronization problem for a new hyperchaotic system with uncertain parameters. Based on the passivity theory and the adaptive control theory, corresponding controllers and parameter estimation update laws are proposed to achieve hybrid synchronization between two identical uncertain hyperchaotic systems with different initial values, respectively. Numerical simulation indicates that the presented methods work effectively.

  8. Passivity-Based Adaptive Hybrid Synchronization of a New Hyperchaotic System with Uncertain Parameters

    OpenAIRE

    Xiaobing Zhou; Zhangbiao Fan; Dongming Zhou; Xiaomei Cai

    2012-01-01

    We investigate the adaptive hybrid synchronization problem for a new hyperchaotic system with uncertain parameters. Based on the passivity theory and the adaptive control theory, corresponding controllers and parameter estimation update laws are proposed to achieve hybrid synchronization between two identical uncertain hyperchaotic systems with different initial values, respectively. Numerical simulation indicates that the presented methods work effectively.

  9. Adaptation and hybridization in computational intelligence

    CERN Document Server

    Jr, Iztok

    2015-01-01

      This carefully edited book takes a walk through recent advances in adaptation and hybridization in the Computational Intelligence (CI) domain. It consists of ten chapters that are divided into three parts. The first part illustrates background information and provides some theoretical foundation tackling the CI domain, the second part deals with the adaptation in CI algorithms, while the third part focuses on the hybridization in CI. This book can serve as an ideal reference for researchers and students of computer science, electrical and civil engineering, economy, and natural sciences that are confronted with solving the optimization, modeling and simulation problems. It covers the recent advances in CI that encompass Nature-inspired algorithms, like Artificial Neural networks, Evolutionary Algorithms and Swarm Intelligence –based algorithms.  

  10. Continuity Controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    2004-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

  11. Continuity controlled Hybrid Automata

    NARCIS (Netherlands)

    Bergstra, J.A.; Middelburg, C.A.

    2008-01-01

    We investigate the connections between the process algebra for hybrid systems of Bergstra and Middelburg and the formalism of hybrid automata of Henzinger et al. We give interpretations of hybrid automata in the process algebra for hybrid systems and compare them with the standard interpretation of

  12. Adaptive hybrid control of a flexible master-slave arm system%柔性主从手臂系统自适应混合控制的研究

    Institute of Scientific and Technical Information of China (English)

    贾百龙; 刘颖; 小林幸德

    2011-01-01

    以柔性主从手臂系统为研究对象,提出一种新的自适应混合控制方法.建立了系统的动力学模型,在系数敏感性实验的基础上,分析了控制器权重系数对系统性能的影响,提出根据系统实时跟踪误差调整控制器中的权重系数,进而设计了自适应双向控制器和基于LQR的自适应伺服控制器.并以此为基础,通过选取合理的阈值,将两种自适应控制器有效结合,设计了自适应混合控制器.实验结果表明,自适应混合控制有效提高系统运动的稳定性,并显著减少了柔性执行手臂的振动衰减时间.%To study the motion and vibration of a flexible master-slave arm system, a new adaptive hybrid controller was designed here. In order to improve the performance of the system, a dynamic model was established, parameters sensitivity was analyzed based on experimental results, and then the adaptive bilateral controller and the adaptive servo controller based on LQR were designed. In both controllers, the parameters could be changed according to the real-time tracing error. Finally, the adaptive hybrid controller was built, it combined the adaptive bilateral controller and adaptive servo one based on LQR with the gauge of real-time tracing error. Experimental results indicated that the adaptive hybrid controller improves the motion stability and vibration suppression performance of the arm system significantly.

  13. Adaptive control of nonlinear underwater robotic systems

    Directory of Open Access Journals (Sweden)

    Thor I. Fossen

    1991-04-01

    Full Text Available The problem of controlling underwater mobile robots in 6 degrees of freedom (DOF is addressed. Uncertainties in the input matrix due to partly known nonlinear thruster characteristics are modeled as multiplicative input uncertainty. This paper proposes two methods to compensate for the model uncertainties: (1 an adaptive passivity-based control scheme and (2 deriving a hybrid (adaptive and sliding controller. The hybrid controller consists of a switching term which compensates for uncertainties in the input matrix and an on-line parameter estimation algorithm. Global stability is ensured by applying Barbalat's Lyapunovlike lemma. The hybrid controller is simulated for the horizontal motion of the Norwegian Experimental Remotely Operated Vehicle (NEROV.

  14. A PWM Buck Converter With Load-Adaptive Power Transistor Scaling Scheme Using Analog-Digital Hybrid Control for High Energy Efficiency in Implantable Biomedical Systems.

    Science.gov (United States)

    Park, Sung-Yun; Cho, Jihyun; Lee, Kyuseok; Yoon, Euisik

    2015-12-01

    We report a pulse width modulation (PWM) buck converter that is able to achieve a power conversion efficiency (PCE) of > 80% in light loads 100 μA) for implantable biomedical systems. In order to achieve a high PCE for the given light loads, the buck converter adaptively reconfigures the size of power PMOS and NMOS transistors and their gate drivers in accordance with load currents, while operating at a fixed frequency of 1 MHz. The buck converter employs the analog-digital hybrid control scheme for coarse/fine adjustment of power transistors. The coarse digital control generates an approximate duty cycle necessary for driving a given load and selects an appropriate width of power transistors to minimize redundant power dissipation. The fine analog control provides the final tuning of the duty cycle to compensate for the error from the coarse digital control. The mode switching between the analog and digital controls is accomplished by a mode arbiter which estimates the average of duty cycles for the given load condition from limit cycle oscillations (LCO) induced by coarse adjustment. The fabricated buck converter achieved a peak efficiency of 86.3% at 1.4 mA and > 80% efficiency for a wide range of load conditions from 45 μA to 4.1 mA, while generating 1 V output from 2.5-3.3 V supply. The converter occupies 0.375 mm(2) in 0.18 μm CMOS processes and requires two external components: 1.2 μF capacitor and 6.8 μH inductor.

  15. Advances in Adaptive Control Methods

    Science.gov (United States)

    Nguyen, Nhan

    2009-01-01

    This poster presentation describes recent advances in adaptive control technology developed by NASA. Optimal Control Modification is a novel adaptive law that can improve performance and robustness of adaptive control systems. A new technique has been developed to provide an analytical method for computing time delay stability margin for adaptive control systems.

  16. Cooperative adaptive cruise control

    NARCIS (Netherlands)

    Naus, G.J.L.; Molengraft, R. van de; Ploeg, J.

    2009-01-01

    Adaptive Cruise Control (ACC) enables automatic following of a preceding vehicle, based on measurements of the inter-vehicle distance xr,i and the relative velocity ˙ xr,i. Commonly, a radar is used for these measurements, see Figure 1. Decreasing the inter-vehicle distance to a small value of only

  17. Hybrid Surface Mesh Adaptation for Climate Modeling

    Institute of Scientific and Technical Information of China (English)

    Ahmed Khamayseh; Valmor de Almeida; Glen Hansen

    2008-01-01

    Solution-driven mesh adaptation is becoming quite popular for spatial error control in the numerical simulation of complex computational physics applications, such as climate modeling. Typically, spatial adaptation is achieved by element subdivision (h adaptation) with a primary goal of resolving the local length scales of interest. A second, lesspopular method of spatial adaptivity is called "mesh motion" (r adaptation); the smooth repositioning of mesh node points aimed at resizing existing elements to capture the local length scales. This paper proposes an adaptation method based on a combination of both element subdivision and node point repositioning (rh adaptation). By combining these two methods using the notion of a mobility function, the proposed approach seeks to increase the flexibility and extensibility of mesh motion algorithms while providing a somewhat smoother transition between refined regions than is pro-duced by element subdivision alone. Further, in an attempt to support the requirements of a very general class of climate simulation applications, the proposed method is de-signed to accommodate unstructured, polygonal mesh topologies in addition to the most popular mesh types.

  18. Hybrid spacecraft attitude control system

    Directory of Open Access Journals (Sweden)

    Renuganth Varatharajoo

    2016-02-01

    Full Text Available The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.The hybrid subsystem design could be an attractive approach for futurespacecraft to cope with their demands. The idea of combining theconventional Attitude Control System and the Electrical Power System ispresented in this article. The Combined Energy and Attitude ControlSystem (CEACS consisting of a double counter rotating flywheel assemblyis investigated for small satellites in this article. Another hybrid systemincorporating the conventional Attitude Control System into the ThermalControl System forming the Combined Attitude and Thermal ControlSystem (CATCS consisting of a "fluid wheel" and permanent magnets isalso investigated for small satellites herein. The governing equationsdescribing both these novel hybrid subsystems are presented and theironboard architectures are numerically tested. Both the investigated novelhybrid spacecraft subsystems comply with the reference missionrequirements.

  19. Robust Adaptive Control.

    Science.gov (United States)

    1985-09-19

    13.2 3.6. 14.0. 1.8. 11111.52 *.6 L 3 n1 i erated ~~~m nc. AFOSR-TR- 798 s AD-A 161 349 ROBUST ADAPTIVE CONTROL * FINAL REPORT PREPARED BY: R~ OBERT L... Centre Block Computes the Norm of the [1I] Solo, V., "Time Series Recursions and Stochastc Regressors. The Rematning Elemerts Imple- Approximation

  20. ADОPTIVE CONTROL OF THE HYBRID VEHICLE POWER UNIT

    Directory of Open Access Journals (Sweden)

    S. Serikov

    2014-10-01

    Full Text Available The problem of adaptive control of the hybrid vehicle power unit, which makes it possible to minimize the quality criterion under constraints on the state parameters and the control vector is considered. A formal statement of the optimization problem is given. The solution of this problem by the method of neural network control based on the adaptive criticism is considered.

  1. Battery control system for hybrid vehicle and method for controlling a hybrid vehicle battery

    Science.gov (United States)

    Bockelmann, Thomas R [Battle Creek, MI; Hope, Mark E [Marshall, MI; Zou, Zhanjiang [Battle Creek, MI; Kang, Xiaosong [Battle Creek, MI

    2009-02-10

    A battery control system for hybrid vehicle includes a hybrid powertrain battery, a vehicle accessory battery, and a prime mover driven generator adapted to charge the vehicle accessory battery. A detecting arrangement is configured to monitor the vehicle accessory battery's state of charge. A controller is configured to activate the prime mover to drive the generator and recharge the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a first predetermined level, or transfer electrical power from the hybrid powertrain battery to the vehicle accessory battery in response to the vehicle accessory battery's state of charge falling below a second predetermined level. The invention further includes a method for controlling a hybrid vehicle powertrain system.

  2. Adaptive Structural Mode Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — M4 Engineering proposes the development of an adaptive structural mode control system. The adaptive control system will begin from a "baseline" dynamic model of the...

  3. Vibration Control of Flexible Spacecraft Using Adaptive Controller

    Directory of Open Access Journals (Sweden)

    V.I. George

    2012-01-01

    Full Text Available The aim is to develop vibration control of flexible spacecraft by adaptive controller. A case study will be carried out which simulates planar motion of flexible spacecraft as a coupled hybrid dynamics of rigid body motion and the flexible arm vibration. The notch filter and adaptive vibration controller, which updates filter and controller parameters continuously from the sensor measurement, are implemented in the real time control. The least mean square algorithm using the adaptive notch filter is applied to the flexible spacecraft. This study will show that the adaptive vibration controller successfully stabilizes the uncertain and it will accurately control the vibration of flexible spacecraft. The Least mean square  algorithm is applied in flexible spacecraft to attenuate the vibration. The simulation studies are carried out in a Matlab/Simulink environment.

  4. Efficient adaptive fuzzy control scheme

    NARCIS (Netherlands)

    Papp, Z.; Driessen, B.J.F.

    1995-01-01

    The paper presents an adaptive nonlinear (state-) feedback control structure, where the nonlinearities are implemented as smooth fuzzy mappings defined as rule sets. The fine tuning and adaption of the controller is realized by an indirect adaptive scheme, which modifies the parameters of the fuzzy

  5. Hybrid vehicle control

    Energy Technology Data Exchange (ETDEWEB)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  6. Hybrid vehicle control

    Science.gov (United States)

    Shallvari, Iva; Velnati, Sashidhar; DeGroot, Kenneth P.

    2015-07-28

    A method and apparatus for heating a catalytic converter's catalyst to an efficient operating temperature in a hybrid electric vehicle when the vehicle is in a charge limited mode such as e.g., the charge depleting mode or when the vehicle's high voltage battery is otherwise charge limited. The method and apparatus determine whether a high voltage battery of the vehicle is incapable of accepting a first amount of charge associated with a first procedure to warm-up the catalyst. If it is determined that the high voltage battery is incapable of accepting the first amount of charge, a second procedure with an acceptable amount of charge is performed to warm-up the catalyst.

  7. Adaptive filtering prediction and control

    CERN Document Server

    Goodwin, Graham C

    2009-01-01

    Preface1. Introduction to Adaptive TechniquesPart 1. Deterministic Systems2. Models for Deterministic Dynamical Systems3. Parameter Estimation for Deterministic Systems4. Deterministic Adaptive Prediction5. Control of Linear Deterministic Systems6. Adaptive Control of Linear Deterministic SystemsPart 2. Stochastic Systems7. Optimal Filtering and Prediction8. Parameter Estimation for Stochastic Dynamic Systems9. Adaptive Filtering and Prediction10. Control of Stochastic Systems11. Adaptive Control of Stochastic SystemsAppendicesA. A Brief Review of Some Results from Systems TheoryB. A Summary o

  8. Hybrid Adaptive Observer for a Brushless DC Motor

    DEFF Research Database (Denmark)

    Niemczyk, Piotr; Porchez, Thomas; Bendtsen, Jan Dimon

    2008-01-01

    A novel hybrid adaptive observer for Brushless DC Motors (BLDCM) is presented. It uses two current measurements of BLDCM phases to estimate the angle and the speed of the rotor. The observer is designed on the basis of a hybrid model, which is also presented in this paper. The parameters...

  9. A robust adaptive robot controller

    NARCIS (Netherlands)

    Berghuis, Harry; Ortega, Romeo; Nijmeijer, Henk

    1993-01-01

    A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excit

  10. Power Adaptation Based on Truncated Channel Inversion for Hybrid FSO/RF Transmission With Adaptive Combining

    KAUST Repository

    Rakia, Tamer

    2015-07-23

    Hybrid free-space optical (FSO)/radio-frequency (RF) systems have emerged as a promising solution for high-data-rate wireless communications. In this paper, we consider power adaptation strategies based on truncated channel inversion for the hybrid FSO/RF system employing adaptive combining. Specifically, we adaptively set the RF link transmission power when FSO link quality is unacceptable to ensure constant combined signal-to-noise ratio (SNR) at the receiver. Two adaptation strategies are proposed. One strategy depends on the received RF SNR, whereas the other one depends on the combined SNR of both links. Analytical expressions for the outage probability of the hybrid system with and without power adaptation are obtained. Numerical examples show that the hybrid FSO/RF system with power adaptation achieves a considerable outage performance improvement over the conventional system.

  11. Hybrid Systems: Computation and Control.

    Science.gov (United States)

    2007-11-02

    elbow) and a pinned first joint (shoul- der) (see Figure 2); it is termed an underactuated system since it is a mechanical system with fewer...Montreal, PQ, Canada, 1998. [10] M. W. Spong. Partial feedback linearization of underactuated mechanical systems . In Proceedings, IROS󈨢, pages 314-321...control mechanism and search for optimal combinations of control variables. Besides the nonlinear and hybrid nature of powertrain systems , hardware

  12. IMPULSE CONTROL HYBRID ELECTRICAL SYSTEM

    Directory of Open Access Journals (Sweden)

    A. A. Lobaty

    2016-01-01

    Full Text Available This paper extends the recently introduced approach for modeling and solving the optimal control problem of fixedswitched mode DC-DC power converter. DCDC converters are a class of electric power circuits that used extensively in regulated DC power supplies, DC motor drives of different types, in Photovoltaic Station energy conversion and other applications due to its advantageous features in terms of size, weight and reliable performance. The main problem in controlling this type converters is in their hybrid nature as the switched circuit topology entails different modes of operation, each of it with its own associated linear continuous-time dynamics.This paper analyses the modeling and controller synthesis of the fixed-frequency buck DC-DC converter, in which the transistor switch is operated by a pulse sequence with constant frequency. In this case the regulation of the DC component of the output voltage is via the duty cycle. The optimization of the control system is based on the formation of the control signal at the output.It is proposed to solve the problem of optimal control of a hybrid system based on the formation of the control signal at the output of the controller, which minimizes a given functional integral quality, which is regarded as a linear quadratic Letov-Kalman functional. Search method of optimal control depends on the type of mathematical model of control object. In this case, we consider a linear deterministic model of the control system, which is common for the majority of hybrid electrical systems. For this formulation of the optimal control problem of search is a problem of analytical design of optimal controller, which has the analytical solution.As an example of the hybrid system is considered a step-down switching DC-DC converter, which is widely used in various electrical systems: as an uninterruptible power supply, battery charger for electric vehicles, the inverter in solar photovoltaic power plants.. A

  13. A robust adaptive robot controller

    OpenAIRE

    1993-01-01

    A globally convergent adaptive control scheme for robot motion control with the following features is proposed. First, the adaptation law possesses enhanced robustness with respect to noisy velocity measurements. Second, the controller does not require the inclusion of high gain loops that may excite the unmodeled dynamics and amplify the noise level. Third, we derive for the unknown parameter design a relationship between compensator gains and closed-loop convergence rates that is independen...

  14. Non-adaptive and adaptive hybrid approaches for enhancing water quality management

    Science.gov (United States)

    Kalwij, Ineke M.; Peralta, Richard C.

    2008-09-01

    SummaryUsing optimization to help solve groundwater management problems cost-effectively is becoming increasingly important. Hybrid optimization approaches, that combine two or more optimization algorithms, will become valuable and common tools for addressing complex nonlinear hydrologic problems. Hybrid heuristic optimizers have capabilities far beyond those of a simple genetic algorithm (SGA), and are continuously improving. SGAs having only parent selection, crossover, and mutation are inefficient and rarely used for optimizing contaminant transport management. Even an advanced genetic algorithm (AGA) that includes elitism (to emphasize using the best strategies as parents) and healing (to help assure optimal strategy feasibility) is undesirably inefficient. Much more efficient than an AGA is the presented hybrid (AGCT), which adds comprehensive tabu search (TS) features to an AGA. TS mechanisms (TS probability, tabu list size, search coarseness and solution space size, and a TS threshold value) force the optimizer to search portions of the solution space that yield superior pumping strategies, and to avoid reproducing similar or inferior strategies. An AGCT characteristic is that TS control parameters are unchanging during optimization. However, TS parameter values that are ideal for optimization commencement can be undesirable when nearing assumed global optimality. The second presented hybrid, termed global converger (GC), is significantly better than the AGCT. GC includes AGCT plus feedback-driven auto-adaptive control that dynamically changes TS parameters during run-time. Before comparing AGCT and GC, we empirically derived scaled dimensionless TS control parameter guidelines by evaluating 50 sets of parameter values for a hypothetical optimization problem. For the hypothetical area, AGCT optimized both well locations and pumping rates. The parameters are useful starting values because using trial-and-error to identify an ideal combination of control

  15. Flexible Satellite Attitude Control via Adaptive Fuzzy Linearization

    Institute of Scientific and Technical Information of China (English)

    GUAN Ping; LIU Xiang-dong; CHEN Jia-bin; LIU Xiao-he

    2005-01-01

    The adaptive fuzzy control is combined with input-output linearization control to constitute the hybrid controller. The control method is then applied to the attitude maneuver control of the flexible satellite.The basic control structure is given. The rules of the controller parameter selection, which guarantee the attitude stabilization of the satellite with parameter uncertainties, have been analyzed. Simulation results show that the precise attitude control is accomplished in spite of the uncertainty in the system.

  16. Control for a class of hybrid systems

    NARCIS (Netherlands)

    J.H. van Schuppen (Jan)

    1997-01-01

    textabstractA hybrid control system is a control theoretic model for a computer controlled engineering system. A definition of a hybrid control system is formulated that consists of a product of a finite state automaton and of a family of continuous control systems. An example of a transportation

  17. Adaptive Control Of Remote Manipulator

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

    Robotic control system causes remote manipulator to follow closely reference trajectory in Cartesian reference frame in work space, without resort to computationally intensive mathematical model of robot dynamics and without knowledge of robot and load parameters. System, derived from linear multivariable theory, uses relatively simple feedforward and feedback controllers with model-reference adaptive control.

  18. Controlling smart grid adaptivity

    NARCIS (Netherlands)

    Toersche, Hermen; Nykamp, Stefan; Molderink, Albert; Hurink, Johann L.; Smit, Gerardus Johannes Maria

    2012-01-01

    Methods are discussed for planning oriented smart grid control to cope with scenarios with limited predictability, supporting an increasing penetration of stochastic renewable resources. The performance of these methods is evaluated with simulations using measured wind generation and consumption

  19. Adaptive and Nonlinear Control

    Science.gov (United States)

    1992-02-29

    in [22], we also applied the concept of zero dynamics to the problem of exact linearization of a nonlinear control system by dynamic feedback. Exact ...nonlinear systems, although it was well-known that the conditions for exact linearization are very stringent and consequently do not apply to a broad...29th IEEE Conference n Decision and Control, Invited Paper delivered by Dr. Gilliam. Exact Linearization of Zero Dynamics, 29th IEEE Conference on

  20. Adaptive Extremum Control and Wind Turbine Control

    DEFF Research Database (Denmark)

    Ma, Xin

    1997-01-01

    This thesis is divided into two parts, i.e., adaptive extremum control and modelling and control of a wind turbine. The rst part of the thesis deals with the design of adaptive extremum controllers for some processes which have the behaviour that process should have as high e ciency as possible...... in parameters, and thus directly lends itself to parameter estimation and adaptive control. The extremum control law is derived based on static optimization of a performance function. For a process with nonlinearity at output the intermediate signal between the linear part and nonlinear part plays an important...... role. If it can be emphasis on control design. The models have beenvalidated by experimental data obtained from an existing wind turbine. The e ective wind speed experienced by the rotor of a wind turbine, which is often required by some control methods, is estimated by using a wind turbine as a wind...

  1. Adaptive Extremum Control and Wind Turbine Control

    DEFF Research Database (Denmark)

    Ma, Xin

    1997-01-01

    This thesis is divided into two parts, i.e., adaptive extremum control and modelling and control of a wind turbine. The rst part of the thesis deals with the design of adaptive extremum controllers for some processes which have the behaviour that process should have as high e ciency as possible...... in parameters, and thus directly lends itself to parameter estimation and adaptive control. The extremum control law is derived based on static optimization of a performance function. For a process with nonlinearity at output the intermediate signal between the linear part and nonlinear part plays an important...... role. If it can be emphasis on control design. The models have beenvalidated by experimental data obtained from an existing wind turbine. The e ective wind speed experienced by the rotor of a wind turbine, which is often required by some control methods, is estimated by using a wind turbine as a wind...

  2. Adaptive coordinated control of engine speed and battery charging voltage

    Institute of Scientific and Technical Information of China (English)

    Jiangyan ZHANG; Xiaohong JIAO

    2008-01-01

    In this paper, the control problem of auxiliary power unit (APU) for hybrid electric vehicles is investigated. An adaptive controller is provided to achieve the coordinated control between the engine speed and the battery charging voltage. The proposed adaptive coordinated control laws for the throttle angle of the engine and the voltage of the power-converter can guarantee not only the asymptotic tracking performance of the engine speed and the regulation of the battery charging voltage, but also the robust stability of the closed loop system under external load changes. Simulation results are given to verify the performance of the proposed adaptive controller.

  3. Ancient hybridization fuels rapid cichlid fish adaptive radiations

    Science.gov (United States)

    Meier, Joana I.; Marques, David A.; Mwaiko, Salome; Wagner, Catherine E.; Excoffier, Laurent; Seehausen, Ole

    2017-01-01

    Understanding why some evolutionary lineages generate exceptionally high species diversity is an important goal in evolutionary biology. Haplochromine cichlid fishes of Africa's Lake Victoria region encompass >700 diverse species that all evolved in the last 150,000 years. How this ‘Lake Victoria Region Superflock' could evolve on such rapid timescales is an enduring question. Here, we demonstrate that hybridization between two divergent lineages facilitated this process by providing genetic variation that subsequently became recombined and sorted into many new species. Notably, the hybridization event generated exceptional allelic variation at an opsin gene known to be involved in adaptation and speciation. More generally, differentiation between new species is accentuated around variants that were fixed differences between the parental lineages, and that now appear in many new combinations in the radiation species. We conclude that hybridization between divergent lineages, when coincident with ecological opportunity, may facilitate rapid and extensive adaptive radiation. PMID:28186104

  4. Dynamics and Adaptive Control for Stability Recovery of Damaged Aircraft

    Science.gov (United States)

    Nguyen, Nhan; Krishnakumar, Kalmanje; Kaneshige, John; Nespeca, Pascal

    2006-01-01

    This paper presents a recent study of a damaged generic transport model as part of a NASA research project to investigate adaptive control methods for stability recovery of damaged aircraft operating in off-nominal flight conditions under damage and or failures. Aerodynamic modeling of damage effects is performed using an aerodynamic code to assess changes in the stability and control derivatives of a generic transport aircraft. Certain types of damage such as damage to one of the wings or horizontal stabilizers can cause the aircraft to become asymmetric, thus resulting in a coupling between the longitudinal and lateral motions. Flight dynamics for a general asymmetric aircraft is derived to account for changes in the center of gravity that can compromise the stability of the damaged aircraft. An iterative trim analysis for the translational motion is developed to refine the trim procedure by accounting for the effects of the control surface deflection. A hybrid direct-indirect neural network, adaptive flight control is proposed as an adaptive law for stabilizing the rotational motion of the damaged aircraft. The indirect adaptation is designed to estimate the plant dynamics of the damaged aircraft in conjunction with the direct adaptation that computes the control augmentation. Two approaches are presented 1) an adaptive law derived from the Lyapunov stability theory to ensure that the signals are bounded, and 2) a recursive least-square method for parameter identification. A hardware-in-the-loop simulation is conducted and demonstrates the effectiveness of the direct neural network adaptive flight control in the stability recovery of the damaged aircraft. A preliminary simulation of the hybrid adaptive flight control has been performed and initial data have shown the effectiveness of the proposed hybrid approach. Future work will include further investigations and high-fidelity simulations of the proposed hybrid adaptive Bight control approach.

  5. INDIRECT ACCELERATED ADAPTIVE FUZZY CONTROLLER

    Institute of Scientific and Technical Information of China (English)

    ZHU Liye; FANG Yuan; ZHANG Weidong

    2008-01-01

    According to a type of normal nonlinear system, an indirect adaptive fuzzy (IAF) controller has been applied to those systems where no accurate mathematical models of the systems under control are available. To satisfy with system performance, an indirect accelerated adaptive fuzzy (IAAF) controller is proposed, and its general form is presented. The general form IAAF controller ensures necessary control criteria and system's global stability using Lyapunov Theorem. It has been proved that the close-loop system error converges to a small neighborhood of equilibrium point. The optimal IAAF controller is derived to guarantee the process's shortest settling time. Simulation results indicate the IAAF controller make the system more stable, accurate, and fast.

  6. A hybrid RNS adaptive filter for channel equalization

    DEFF Research Database (Denmark)

    Bernocchi, Gian Luca; Cardarilli, Gian Carlo; Re, Andrea Del

    2006-01-01

    In this work a hybrid Residue Number System (RNS) implementation of an adaptive FIR filter is presented. The used adaptation algorithm is the Least Mean Squares (LMS). The filter has been designed to meet the constraints of specific class of applications. In fact, it is suitable for applications...... requiring a large number of taps where a serial updating of the filter coefficients is feasible (channel equalization or echo cancellation). In the literature, it has been shown that the RNS implementation of FIR filters grants earnings in area ad power consumption due to the introduced arithmetic...... simplifications. Vice versa, the RNS implementation of the adaptation algorithm needs scaling circuits that are complex and expensive in RNS arithmetic. For this reason, a serial binary implementation of the adaptation algorithm is chosen. The advantages in terms of area and speed of the RNS adaptive filter...

  7. Adaptive control with aerospace applications

    Science.gov (United States)

    Gadient, Ross

    Robust and adaptive control techniques have a rich history of theoretical development with successful application. Despite the accomplishments made, attempts to combine the best elements of each approach into robust adaptive systems has proven challenging, particularly in the area of application to real world aerospace systems. In this research, we investigate design methods for general classes of systems that may be applied to representative aerospace dynamics. By combining robust baseline control design with augmentation designs, our work aims to leverage the advantages of each approach. This research contributes the development of robust model-based control design for two classes of dynamics: 2nd order cascaded systems, and a more general MIMO framework. We present a theoretically justified method for state limiting via augmentation of a robust baseline control design. Through the development of adaptive augmentation designs, we are able to retain system performance in the presence of uncertainties. We include an extension that combines robust baseline design with both state limiting and adaptive augmentations. In addition we develop an adaptive augmentation design approach for a class of dynamic input uncertainties. We present formal stability proofs and analyses for all proposed designs in the research. Throughout the work, we present real world aerospace applications using relevant flight dynamics and flight test results. We derive robust baseline control designs with application to both piloted and unpiloted aerospace system. Using our developed methods, we add a flight envelope protecting state limiting augmentation for piloted aircraft applications and demonstrate the efficacy of our approach via both simulation and flight test. We illustrate our adaptive augmentation designs via application to relevant fixed-wing aircraft dynamics. Both a piloted example combining the state limiting and adaptive augmentation approaches, and an unpiloted example with

  8. Robust Optimal Adaptive Control Method with Large Adaptive Gain

    Science.gov (United States)

    Nguyen, Nhan T.

    2009-01-01

    In the presence of large uncertainties, a control system needs to be able to adapt rapidly to regain performance. Fast adaptation is referred to the implementation of adaptive control with a large adaptive gain to reduce the tracking error rapidly. However, a large adaptive gain can lead to high-frequency oscillations which can adversely affect robustness of an adaptive control law. A new adaptive control modification is presented that can achieve robust adaptation with a large adaptive gain without incurring high-frequency oscillations as with the standard model-reference adaptive control. The modification is based on the minimization of the Y2 norm of the tracking error, which is formulated as an optimal control problem. The optimality condition is used to derive the modification using the gradient method. The optimal control modification results in a stable adaptation and allows a large adaptive gain to be used for better tracking while providing sufficient stability robustness. Simulations were conducted for a damaged generic transport aircraft with both standard adaptive control and the adaptive optimal control modification technique. The results demonstrate the effectiveness of the proposed modification in tracking a reference model while maintaining a sufficient time delay margin.

  9. A fully adaptive hybrid optimization of aircraft engine blades

    Science.gov (United States)

    Dumas, L.; Druez, B.; Lecerf, N.

    2009-10-01

    A new fully adaptive hybrid optimization method (AHM) has been developed and applied to an industrial problem in the field of the aircraft engine industry. The adaptivity of the coupling between a global search by a population-based method (Genetic Algorithms or Evolution Strategies) and the local search by a descent method has been particularly emphasized. On various analytical test cases, the AHM method overperforms the original global search method in terms of computational time and accuracy. The results obtained on the industrial case have also confirmed the interest of AHM for the design of new and original solutions in an affordable time.

  10. Adaptive Optoelectronic Eyes: Hybrid Sensor/Processor Architectures

    Science.gov (United States)

    2006-11-13

    J.  Lange , C. von der Malsburg, R. P. Würtz, and W. Konen, “Distortion Invariant Object Recognition Adaptive Optoelectronic Eyes: Hybrid Sensor...Meeting, Dallas, Texas, (November, 1998). 17.  G. Sáry, G. Kovács, K. Köteles, G.  Benedek , J. Fiser, and I. Biederman, “Selectivity Variations in Monkey

  11. Intraply Hybrid Composites Would Contain Control Strips

    Science.gov (United States)

    Chamis, Christos C.; Shiao, Chi-Yu

    1996-01-01

    "Smart" structural components with sensors and/or actuators distributed throughout their volumes made of intraply hybrid composite materials, according to proposal. Strips of hybrid control material interspersed with strips of ordinary (passive) composite material in some layers, providing distributed control capability. For example, near and far edges of plate bent upward by commanding bottom control strips to expand and simultaneously commanding upper control strips to contract.

  12. Fault tolerant control design for hybrid systems

    Energy Technology Data Exchange (ETDEWEB)

    Yang, Hao; Jiang, Bin [Nanjing University of Aeronautics and Astronautics, Nanjing (China); Cocquempot, Vincent [Universite des Sciences et Technologies de Lille, Villeneuve d' Ascq (France)

    2010-07-01

    This book intends to provide the readers a good understanding on how to achieve Fault Tolerant Control goal of Hybrid Systems. The book can be used as a reference for the academic research on Fault Tolerant Control and Hybrid Systems or used in Ph.D. study of control theory and engineering. The knowledge background for this monograph would be some undergraduate and graduate courses on Fault Diagnosis and Fault Tolerant Control theory, linear system theory, nonlinear system theory, Hybrid Systems theory and Discrete Event System theory. (orig.)

  13. Signatures of selection for environmental adaptation and zebu × taurine hybrid fitness in East African shorthorn zebu

    Science.gov (United States)

    The East African Shorthorn Zebu (EASZ) cattle are ancient hybrid between Asian zebu × African taurine cattle preferred by local farmers due to their adaptability to the African environment. The genetic controls of these adaptabilities are not clearly understood yet. Here, we genotyped 92 EASZ sample...

  14. Self-Adaptive Power Control Mechanism in D2D Enabled Hybrid Cellular Network with mmWave Small Cells:An Optimization Approach

    OpenAIRE

    Raza, Syed Ahsan; Hassan, Syed Ali; Pervaiz, Haris Bin; Ni, Qiang; Musavian, Leila

    2016-01-01

    Millimeter wave (mmWave) and Device-to-Device (D2D) communications have been considered as the key enablers of the next generation networks. We consider a D2D-enabled hybrid cellular network compromising of μW macro-cells coexisting with mmWave small cells. We investigate the dynamic resource sharing in downlink transmission to maximize the energy efficiency (EE) of the priority, or cellular users (CUs), that are opportunistically served by either macrocells or mmWave small cells, while satis...

  15. HYBRID CONTROL APPROACH FOR CONTAINER CRANES

    Institute of Scientific and Technical Information of China (English)

    Wang Xiaojun; Shao Huihe

    2005-01-01

    A hybrid control approach is proposed to achieve the desired performance. Firstly a robust input shaper is designed to reduce the transient vibration and residual vibration of the container efficiently. Then a simple fuzzy logic controller is designed to eliminate the residual vibration completely in order to guarantee the positioning precision. Such a hybrid approach is simple in structure and readily realizable. Simulation results verify the fine performance of this hybrid control approach. It can achieve perfect elimination of residual vibration and concise positioning of the container load, and it is robust to parameter variations (mainly for cable length) and external disturbances.

  16. Adaptive Agent Model with Hybrid Routing Selection Strategy for Improving the Road-Network Congestion Problem

    Institute of Scientific and Technical Information of China (English)

    Bin Jiang; Chao Yang; Takao Terano

    2015-01-01

    This paper proposes an adaptive agent model with a hybrid routing selection strategy for studying the road⁃network congestion problem. We focus on improving those severely congested links. Firstly, a multi⁃agent system is built, where each agent stands for a vehicle, and it makes its routing selection by considering the shortest path and the minimum congested degree of the target link simultaneously. The agent⁃based model captures the nonlinear feedback between vehicle routing behaviors and road⁃network congestion status. Secondly, a hybrid routing selection strategy is provided, which guides the vehicle routes adapting to the real⁃time road⁃network congestion status. On this basis, we execute simulation experiments and compare the simulation results of network congestion distribution, by Floyd agent with shortest path strategy and our proposed adaptive agent with hybrid strategy. The simulation results show that our proposed model has reduced the congestion degree of those seriously congested links of road⁃network. Finally, we execute our model on a real road map. The results finds that those seriously congested roads have some common features such as located at the road junction or near the unique road connecting two areas. And, the results also show an effectiveness of our model on reduction of those seriously congested links in this actual road network. Such a bottom⁃up congestion control approach with a hybrid congestion optimization perspective will have its significance for actual traffic congestion control.

  17. Active Vibration Control of Plate Partly Treated with ACLD Using Hybrid Control

    Directory of Open Access Journals (Sweden)

    Dongdong Zhang

    2014-01-01

    Full Text Available A finite element model of plate partly treated with ACLD treatments is developed based on the constitutive equations of elastic, piezoelectric, viscoelastic materials and Hamilton’s principle. The Golla-Hughes-Mctavish (GHM method is employed to describe the frequency-dependent characteristics of viscoelastic material (VEM. A model reduction is completed by using iterative dynamic condensation and balance model reduction method to design an effective control system. The emphasis is concerned on hybrid (combined feedback/feedforward control system to attenuate the vibration of plates with ACLD treatments. The optimal linear quadratic Gaussian (LQG controller is considered as a feedback channel and the adaptive filtered-reference LMS (FxLMS controller is used as a feedforward channel. They can be utilized individually or in a hybrid way to suppress the vibration of plate/ACLD system. The results show that the hybrid controller which combines feedback/feedforward together can reduce the displacement amplitude of plate/ACLD system subjected to a complicated disturbance substantially without requiring more control effort. Furthermore, the hybrid controller has more rapid and stable convergence rate than the adaptive feedforward FxLMS controller. Meanwhile, perfect robustness to phase error of the cancellation path in feedforward controller and the weight matrices in feedback LQG controller is demonstrated in proposed hybrid controller. Therefore, its application in structural engineering can be highly appreciated.

  18. Adaptation is Unnecessary in L1-"Adaptive" Control

    OpenAIRE

    2014-01-01

    We show in the paper that the, so--called, "new architecture of L_1-Adaptive Control" is, indeed, different from classical model reference adaptive control. Alas, it is not new, since it exactly coincides with a full--state feedback, linear time--invariant proportional plus integral controller (with a decaying additive disturbance).

  19. Design and control of hybrid active power filters

    CERN Document Server

    Lam, Chi-Seng

    2014-01-01

    Design and Control of Hybrid Active Power Filters presents an overview of the current quality problems and their compensators. To get a balance between the system cost and performance, hybrid active power filters (HAPFs) are valuable. The book presents the coverage of resonance phenomena prevention capability, filtering performance and system robustness analysis of HAPF; nonlinear inverter current slope characteristics and their linear operation region requirement analysis of the hysteresis PWM for the HAPF; minimum inverter capacity design procedure of HAPF, adaptive dc-link voltage controller for the HAPF and the real design example of a 220V 10kVA HAPF, in which the system performance analysis method, minimum dc voltage deduction concept and adaptive dc voltage idea can be further extended into the other active compensators, such as APF, static synchronous compensator STATCOM, etc. This book will benefit researchers, graduate students, and electrical power engineers in the field of power-quality compensati...

  20. Adaptive-feedback control algorithm.

    Science.gov (United States)

    Huang, Debin

    2006-06-01

    This paper is motivated by giving the detailed proofs and some interesting remarks on the results the author obtained in a series of papers [Phys. Rev. Lett. 93, 214101 (2004); Phys. Rev. E 71, 037203 (2005); 69, 067201 (2004)], where an adaptive-feedback algorithm was proposed to effectively stabilize and synchronize chaotic systems. This note proves in detail the strictness of this algorithm from the viewpoint of mathematics, and gives some interesting remarks for its potential applications to chaos control & synchronization. In addition, a significant comment on synchronization-based parameter estimation is given, which shows some techniques proposed in literature less strict and ineffective in some cases.

  1. An Adaptive Hybrid Multiprocessor technique for bioinformatics sequence alignment

    KAUST Repository

    Bonny, Talal

    2012-07-28

    Sequence alignment algorithms such as the Smith-Waterman algorithm are among the most important applications in the development of bioinformatics. Sequence alignment algorithms must process large amounts of data which may take a long time. Here, we introduce our Adaptive Hybrid Multiprocessor technique to accelerate the implementation of the Smith-Waterman algorithm. Our technique utilizes both the graphics processing unit (GPU) and the central processing unit (CPU). It adapts to the implementation according to the number of CPUs given as input by efficiently distributing the workload between the processing units. Using existing resources (GPU and CPU) in an efficient way is a novel approach. The peak performance achieved for the platforms GPU + CPU, GPU + 2CPUs, and GPU + 3CPUs is 10.4 GCUPS, 13.7 GCUPS, and 18.6 GCUPS, respectively (with the query length of 511 amino acid). © 2010 IEEE.

  2. Hybrid and adaptive meta-model-based global optimization

    Science.gov (United States)

    Gu, J.; Li, G. Y.; Dong, Z.

    2012-01-01

    As an efficient and robust technique for global optimization, meta-model-based search methods have been increasingly used in solving complex and computation intensive design optimization problems. In this work, a hybrid and adaptive meta-model-based global optimization method that can automatically select appropriate meta-modelling techniques during the search process to improve search efficiency is introduced. The search initially applies three representative meta-models concurrently. Progress towards a better performing model is then introduced by selecting sample data points adaptively according to the calculated values of the three meta-models to improve modelling accuracy and search efficiency. To demonstrate the superior performance of the new algorithm over existing search methods, the new method is tested using various benchmark global optimization problems and applied to a real industrial design optimization example involving vehicle crash simulation. The method is particularly suitable for design problems involving computation intensive, black-box analyses and simulations.

  3. Analysis and design of hybrid control systems

    Energy Technology Data Exchange (ETDEWEB)

    Malmborg, J.

    1998-05-01

    Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. Dynamics are not well defined if the control design methods lead to fast mode switching. The dynamics depend on the salient features of the implementation of the mode switches. A theorem for the stability of second order switching together with the resulting dynamics is derived. The dynamics on an intersection of two sliding sets are defined for two relays working on different time scales. The current simulation packages have problems modeling and simulating hybrid systems. It is shown how fast mode switches can be found before or during simulation. The necessary analysis work is a very small overhead for a modern simulation tool. To get some experience from practical problems with hybrid control the switching strategy is implemented in two different software environments. In one of them a time-optimal controller is added to an existing PID controller on a commercial control system. Successful experiments with this hybrid controller shows the practical use of the method 78 refs, 51 figs, 2 tabs

  4. Modular supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Lemos Pereira, A. de

    2000-06-01

    The power supply of remote places has been commonly provided by thermal power plants, usually diesel generators. Although hybrid power systems may constitute the most economical solution in many applications their widespread application to the electrification schemes of remote areas still depends on improvements in the issues of design and operation control. The main limitations of the present hybrid power systems technology, which are identified in this work, are related to the control and supervision of the power system. Therefore this thesis focuses on the modularity of supervisory controllers in order to design cost-competitive and reliable hybrid power systems. The modular supervisory controller created in this project is considered an important part of a system design approach that aims to overcome the technical difficulties of the current engineering practice and contribute to open the market of hybrid power systems. The term modular refers to a set of design characteristics that allows the use of basically the same supervisory controller in different projects. The modularization and standardisation of the controller include several issues such as interfacing components, communication protocols, modelling, programming and control strategies. The modularity can reduce the highly specialised system engineering related to the integration of components, operation and control. It can also avoid the high costs for installation, service and maintenance. A modular algorithm for supervisory controllers has been developed (a Matlab program called SuperCon) using an object-oriented design and it has been tested through several simulations using different hybrid system configurations and different control strategies. This thesis presents a complete control system design process which can be used as the basis for the development and implementation of intelligent and autonomous supervisory controllers for hybrid power systems with modular characteristics. (au)

  5. Evolved Finite State Controller For Hybrid System

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

    2009-01-01

    This paper presents an evolutionary methodology to automatically generate nite state automata (FSA) controllers to control hybrid systems. FSA controllers for a case study of two-tank system have been successfully obtained using the proposed evolutionary approach. Experimental results show...

  6. Hybrid Predictive Control for Dynamic Transport Problems

    CERN Document Server

    Núñez, Alfredo A; Cortés, Cristián E

    2013-01-01

    Hybrid Predictive Control for Dynamic Transport Problems develops methods for the design of predictive control strategies for nonlinear-dynamic hybrid discrete-/continuous-variable systems. The methodology is designed for real-time applications, particularly the study of dynamic transport systems. Operational and service policies are considered, as well as cost reduction. The control structure is based on a sound definition of the key variables and their evolution. A flexible objective function able to capture the predictive behaviour of the system variables is described. Coupled with efficient algorithms, mainly drawn from the area of computational intelligence, this is shown to optimize performance indices for real-time applications. The framework of the proposed predictive control methodology is generic and, being able to solve nonlinear mixed-integer optimization problems dynamically, is readily extendable to other industrial processes. The main topics of this book are: ●hybrid predictive control (HPC) ...

  7. Hybrid dynamical systems observation and control

    CERN Document Server

    Defoort, Michael

    2015-01-01

    This book is a collection of contributions defining the state of current knowledge and new trends in hybrid systems – systems involving both continuous dynamics and discrete events – as described by the work of several well-known groups of researchers. Hybrid Dynamical Systems presents theoretical advances in such areas as diagnosability, observability and stabilization for various classes of system. Continuous and discrete state estimation and self-triggering control of nonlinear systems are advanced. The text employs various methods, among them, high-order sliding modes, Takagi–Sugeno representation and sampled-data switching to achieve its ends. The many applications of hybrid systems from power converters to computer science are not forgotten; studies of flexible-joint robotic arms and – as representative biological systems – the behaviour of the human heart and vasculature, demonstrate the wide-ranging practical significance of control in hybrid systems. The cross-disciplinary origins of study ...

  8. Almost optimal adaptive LQ control: SISO case

    NARCIS (Netherlands)

    Polderman, Jan W.; Daams, Jasper

    2002-01-01

    In this paper an almost optimal indirect adaptive controller for input/output dynamical systems is proposed. The control part of the adaptive control scheme is based on a modified LQ control law: by adding a time-varying gain to the certainty equivalent control law the conflict between

  9. Pilot Evaluation of Adaptive Control in Motion-Based Flight Simulator

    Science.gov (United States)

    Kaneshige, John T.; Campbell, Stefan Forrest

    2009-01-01

    The objective of this work is to assess the strengths, weaknesses, and robustness characteristics of several MRAC (Model-Reference Adaptive Control) based adaptive control technologies garnering interest from the community as a whole. To facilitate this, a control study using piloted and unpiloted simulations to evaluate sensitivities and handling qualities was conducted. The adaptive control technologies under consideration were ALR (Adaptive Loop Recovery), BLS (Bounded Linear Stability), Hybrid Adaptive Control, L1, OCM (Optimal Control Modification), PMRAC (Predictor-based MRAC), and traditional MRAC

  10. A "Hybrid" Approach for Synthesizing Optimal Controllers of Hybrid Systems

    DEFF Research Database (Denmark)

    Zhao, Hengjun; Zhan, Naijun; Kapur, Deepak

    2012-01-01

    We propose an approach to reduce the optimal controller synthesis problem of hybrid systems to quantifier elimination; furthermore, we also show how to combine quantifier elimination with numerical computation in order to make it more scalable but at the same time, keep arising errors due...... to discretization manageable and within bounds. A major advantage of our approach is not only that it avoids errors due to numerical computation, but it also gives a better optimal controller. In order to illustrate our approach, we use the real industrial example of an oil pump provided by the German company HYDAC...

  11. Method and apparatus for adaptive force and position control of manipulators

    Science.gov (United States)

    Seraji, Homayoun (Inventor)

    1995-01-01

    The described and improved multi-arm invention of this application presents three strategies for adaptive control of cooperative multi-arm robots which coordinate control over a common load. In the position-position control strategy, the adaptive controllers ensure that the end-effector positions of both arms track desired trajectories in Cartesian space despite unknown time-varying interaction forces exerted through a load. In the position-hybrid control strategy, the adaptive controller of one arm controls end-effector motions in the free directions and applied forces in the constraint directions; while the adaptive controller of the other arm ensures that the end-effector tracks desired position trajectories. In the hybrid-hybrid control strategy, the adaptive controllers ensure that both end-effectors track reference position trajectories while simultaneously applying desired forces on the load. In all three control strategies, the cross-coupling effects between the arms are treated as disturbances which are compensated for by the adaptive controllers while following desired commands in a common frame of reference. The adaptive controllers do not require the complex mathematical model of the arm dynamics or any knowledge of the arm dynamic parameters or the load parameters such as mass and stiffness. Circuits in the adaptive feedback and feedforward controllers are varied by novel adaptation laws.

  12. Hybrid Feedforward-Feedback Noise Control Using Virtual Sensors

    Science.gov (United States)

    Bean, Jacob; Fuller, Chris; Schiller, Noah

    2016-01-01

    Several approaches to active noise control using virtual sensors are evaluated for eventual use in an active headrest. Specifically, adaptive feedforward, feedback, and hybrid control structures are compared. Each controller incorporates the traditional filtered-x least mean squares algorithm. The feedback controller is arranged in an internal model configuration to draw comparisons with standard feedforward control theory results. Simulation and experimental results are presented that illustrate each controllers ability to minimize the pressure at both physical and virtual microphone locations. The remote microphone technique is used to obtain pressure estimates at the virtual locations. It is shown that a hybrid controller offers performance benefits over the traditional feedforward and feedback controllers. Stability issues associated with feedback and hybrid controllers are also addressed. Experimental results show that 15-20 dB reduction in broadband disturbances can be achieved by minimizing the measured pressure, whereas 10-15 dB reduction is obtained when minimizing the estimated pressure at a virtual location.

  13. Adaptive fuzzy controllers based on variable universe

    Institute of Scientific and Technical Information of China (English)

    李洪兴

    1999-01-01

    Adaptive fuzzy controllers by means of variable universe are proposed based on interpolation forms of fuzzy control. First, monotonicity of control rules is defined, and it is proved that the monotonicity of interpolation functions of fuzzy control is equivalent to the monotonicity of control rules. This means that there is not any contradiction among the control rules under the condition for the control rules being monotonic. Then structure of the contraction-expansion factor is discussed. At last, three models of adaptive fuzzy control based on variable universe are given which are adaptive fuzzy control model with potential heredity, adaptive fuzzy control model with obvious heredity and adaptive fuzzy control model with successively obvious heredity.

  14. Outage Performance of Hybrid FSO/RF System with Low-Complexity Power Adaptation

    KAUST Repository

    Rakia, Tamer

    2016-02-26

    Hybrid free-space optical (FSO) / radio-frequency (RF) systems have emerged as a promising solution for high data- rate wireless communication systems. We consider truncated channel inversion based power adaptation strategy for coherent and non- coherent hybrid FSO/RF systems, employing an adaptive combining scheme. Specifically, we activate the RF link along with the FSO link when FSO link quality is unacceptable, and adaptively set RF transmission power to ensure constant combined signal-to-noise ratio at receiver terminal. Analytical expressions for the outage probability of the hybrid system with and without power adaptation are derived. Numerical examples show that, the hybrid FSO/RF systems with power adaptation achieve considerable outage performance improvement over conventional hybrid FSO/RF systems without power adaptation. © 2015 IEEE.

  15. Flight Test Approach to Adaptive Control Research

    Science.gov (United States)

    Pavlock, Kate Maureen; Less, James L.; Larson, David Nils

    2011-01-01

    The National Aeronautics and Space Administration s Dryden Flight Research Center completed flight testing of adaptive controls research on a full-scale F-18 testbed. The validation of adaptive controls has the potential to enhance safety in the presence of adverse conditions such as structural damage or control surface failures. This paper describes the research interface architecture, risk mitigations, flight test approach and lessons learned of adaptive controls research.

  16. Nonholonomic Mobile Robot Trajectory Tracking using Hybrid Controller

    Directory of Open Access Journals (Sweden)

    Muhammad Safwan

    2016-04-01

    Full Text Available A control scheme is being presented for the trajectory tracking of a nonholonomic kinematic model of mobile robots. As a kinematic model of mobile robots is nonlinear in nature, therefore, it is controlling is always being a difficult task. Thus, a control hybrid scheme comprises of fuzzy logic and PID (Proportional Integral Derivative is being proposed, in which adaptive gains of PID controller is being tuned by a fuzzy logic controller. Moreover, the effectiveness of this innovative technique is also proved using the simulations by adding model uncertainties and external disturbances in the system. Besides, the fuzzy logic control system is also being compared by the proposed control system. Resultsattained shows that the fuzzy based PID controller drivesimproved results than fuzzy logic controller.

  17. Locomotion control of hybrid cockroach robots

    Science.gov (United States)

    Sanchez, Carlos J.; Chiu, Chen-Wei; Zhou, Yan; González, Jorge M.; Vinson, S. Bradleigh; Liang, Hong

    2015-01-01

    Natural systems retain significant advantages over engineered systems in many aspects, including size and versatility. In this research, we develop a hybrid robotic system using American (Periplaneta americana) and discoid (Blaberus discoidalis) cockroaches that uses the natural locomotion and robustness of the insect. A tethered control system was firstly characterized using American cockroaches, wherein implanted electrodes were used to apply an electrical stimulus to the prothoracic ganglia. Using this approach, larger discoid cockroaches were engineered into a remotely controlled hybrid robotic system. Locomotion control was achieved through electrical stimulation of the prothoracic ganglia, via a remotely operated backpack system and implanted electrodes. The backpack consisted of a microcontroller with integrated transceiver protocol, and a rechargeable battery. The hybrid discoid roach was able to walk, and turn in response to an electrical stimulus to its nervous system with high repeatability of 60%. PMID:25740855

  18. Hybrid position/force control of a constrained manipulator using adaptive wavelet sliding mode%受限机械臂的自适应小波滑模位置/力混合控制

    Institute of Scientific and Technical Information of China (English)

    周芳; 朱齐丹; 姜迈; 汪瞳

    2009-01-01

    针对终端运动受约束的机械臂位置/力混合控制问题,提出了一种自适应小波滑模控制算法.该控制方案将滑模控制的鲁棒性及自适应调整能力与小波神经网络相结合,根据坐标变换得到降阶位置/力模型,针对降阶模型采用小波神经网络在线学习系统未知动力学模型中的非线性部分,同时引入滑模控制自动调整小波网络权值参数,从而对神经网络的固有逼近误差进行有效补偿,达到期望的跟踪性能.二自由度机械臂的仿真结果表明该控制器能保证系统快速有效跟踪指定参考信号.%The hybrid position/force control of the robotic manipulator whose motion was constrained in the end was discussed. An adaptive wavelet sling mode control strategy was proposed, in which in-tegrating the robustness and self-adjustment advantages of sliding mode control were integrated into the wavelet network controller. A reduced position/force model was obtained according to the nonlinear translation, a wavelet network was used to learn the unknown nonlinear dynamic of system. Sim-ultaneous, the sliding mode technique was designed such that the wavelet weighted parameters could be automatically tuned thereby compensating the approximate error of the wavelet network in order to obtain the desired tracking performances. Simulation results of two-degree of freedom manipulator show the designed controller ensures the system track the desired reference signals quickly and efficiency.

  19. Hybrid Intelligent Control for Submarine Stabilization

    Directory of Open Access Journals (Sweden)

    Minghui Wang

    2013-05-01

    Full Text Available While sailing near the sea surface, submarines will often undergo rolling motion caused by wave disturbance. Fierce rolling motion seriously affects their normal operation and even threatens their security. We propose a new control method for roll stabilization. This paper studies hybrid intelligent control combining a fuzzy control, a neural network and extension control technology. Every control strategy can achieve the ideal control effect within the scope of its effective control. The neuro‐fuzzy control strategy is used to improve the robustness of the controller. The speed control strategy and the course control strategy are conducted to extend the control range. The paper also proposes the design of the controller and carries out the simulation experiment in different sea conditions. The simulation results show that the control method proposed can indeed effectively improve the control performance of submarine stabilization.

  20. Hybrid Intelligent Control for Submarine Stabilization

    Directory of Open Access Journals (Sweden)

    Minghui Wang

    2013-05-01

    Full Text Available Abstract While sailing near the sea surface, submarines will often undergo rolling motion caused by wave disturbance. Fierce rolling motion seriously affects their normal operation and even threatens their security. We propose a new control method for roll stabilization. This paper studies hybrid intelligent control combining a fuzzy control, a neural network and extension control technology. Every control strategy can achieve the ideal control effect within the scope of its effective control. The neuro-fuzzy control strategy is used to improve the robustness of the controller. The speed control strategy and the course control strategy are conducted to extend the control range. The paper also proposes the design of the controller and carries out the simulation experiment in different sea conditions. The simulation results show that the control method proposed can indeed effectively improve the control performance of submarine stabilization.

  1. Adaptive Hybrid Mobile Agent Protocol for Wireless Multihop Internet Access

    Directory of Open Access Journals (Sweden)

    A. Velmurugan

    2006-01-01

    Full Text Available Internet-based Mobile Ad Hoc Networking (MANET is an emerging technology that supports self-organizing mobile networking infrastructures. This is expected to be of great use in commercial applications for the next generation Internet users. A number of technical challenges are faced today due to the heterogeneous, dynamic nature of this hybrid MANET. A new hybrid routing scheme AODV_ALMA is proposed, which act simultaneously combining mobile agents to find path to the gateway to establish connection with Internet host and on-demand distance vector approach to find path in local MANET is one of the unique solution. An adaptive gateway discovery mechanism based on mobile agents making use of pheromone value, pheromone decay time and balance index is used to estimate the path and next hop to the gateway. The mobile nodes automatically configure the address using mobile agents first selecting the gateway and then using the gateway prefix address. The mobile agents are also used to track changes in topology enabling high network connectivity with reduced delay in packet transmission to Internet. The performance tradeoffs and limitations with existing solutions for various mobility conditions are evaluated using simulation."

  2. Infinite Dimensional Differential Games with Hybrid Controls

    Indian Academy of Sciences (India)

    A J Shaiju; Sheetal Dharmatti

    2007-05-01

    A two-person zero-sum infinite dimensional differential game of infinite duration with discounted payoff involving hybrid controls is studied. The minimizing player is allowed to take continuous, switching and impulse controls whereas the maximizing player is allowed to take continuous and switching controls. By taking strategies in the sense of Elliott–Kalton, we prove the existence of value and characterize it as the unique viscosity solution of the associated system of quasi-variational inequalities.

  3. Double Motor Coordinated Control Based on Hybrid Genetic Algorithm and CMAC

    Science.gov (United States)

    Cao, Shaozhong; Tu, Ji

    A novel hybrid cerebellar model articulation controller (CMAC) and online adaptive genetic algorithm (GA) controller is introduced to control two Brushless DC motor (BLDCM) which applied in a biped robot. Genetic Algorithm simulates the random learning among the individuals of a group, and CMAC simulates the self-learning of an individual. To validate the ability and superiority of the novel algorithm, experiments have been done in MATLAB/SIMULINK. Analysis among GA, hybrid GA-CMAC and CMAC feed-forward control is also given. The results prove that the torque ripple of the coordinated control system is eliminated by using the hybrid GA-CMAC algorithm.

  4. Research in digital adaptive flight controllers

    Science.gov (United States)

    Kaufman, H.

    1976-01-01

    A design study of adaptive control logic suitable for implementation in modern airborne digital flight computers was conducted. Both explicit controllers which directly utilize parameter identification and implicit controllers which do not require identification were considered. Extensive analytical and simulation efforts resulted in the recommendation of two explicit digital adaptive flight controllers. Interface weighted least squares estimation procedures with control logic were developed using either optimal regulator theory or with control logic based upon single stage performance indices.

  5. A robust adaptive controller for robot manipulators

    NARCIS (Netherlands)

    Berghuis, Harry; Ortega, Romeo; Nijmeijer, Henk

    1992-01-01

    The authors propose a globally convergent adaptive control scheme for robot motion control with the following features: first, the adaptation law processes enhanced robustness with respect to noisy velocity measurements; secondly, the controller does not require the inclusion of high-gain loops that

  6. Adaptive Control of Rigid Body Satellite

    Institute of Scientific and Technical Information of China (English)

    Thawar T. Arif

    2008-01-01

    The minimal controller synthesis (MCS) is an extension of the hyperstable model reference adaptive control algorithm. The aim of minimal controller synthesis is to achieve excellent closed-loop control despite the presence of plant parameter variations, external disturbances, dynamic coupling within the plant and plant nonlinearities. The minimal controller synthesis algorithm was successfully applied to the problem of decentralized adaptive schemes. The decentralized minimal controller synthesis adaptive control strategy for controlling the attitude of a rigid body satellite is adopted in this paper. A model reference adaptive control strategy which uses one single three-axis slew is proposed for the purpose of controlling the attitude of a rigid body satellite. The simulation results are excellent and show that the controlled system is robust against disturbances.

  7. MERCURY CONTROL WITH ADVANCED HYBRID PARTICULATE COLLECTOR

    Energy Technology Data Exchange (ETDEWEB)

    Ye Zhuang; Stanley J. Miller

    2005-05-01

    This project was awarded under U.S. Department of Energy (DOE) National Energy Technology Laboratory (NETL) Program Solicitation DE-PS26-00NT40769 and specifically addressed Technical Topical Area 4-Testing Novel and Less Mature Control Technologies on Actual Flue Gas at the Pilot Scale. The project team included the Energy & Environmental Research Center (EERC) as the main contractor; W.L. Gore & Associates, Inc., as a technical and financial partner; and the Big Stone Power Plant operated by Otter Tail Power Company, host for the field-testing portion of the research. Since 1995, DOE has supported development of a new concept in particulate control called the advanced hybrid particulate collector (AHPC). The AHPC has been licensed to W.L. Gore & Associates, Inc., and has been marketed as the Advanced Hybrid{trademark} filter by Gore. The Advanced Hybrid{trademark} filter combines the best features of electrostatic precipitators (ESPs) and baghouses in a unique configuration, providing major synergism between the two collection methods, both in the particulate collection step and in the transfer of dust to the hopper. The Advanced Hybrid{trademark} filter provides ultrahigh collection efficiency, overcoming the problem of excessive fine-particle emissions with conventional ESPs, and it solves the problem of reentrainment and re-collection of dust in conventional baghouses. The Advanced Hybrid{trademark} filter also appears to have unique advantages for mercury control over baghouses or ESPs as an excellent gas--solid contactor. The objective of the project was to demonstrate 90% total mercury control in the Advanced Hybrid{trademark} filter at a lower cost than current mercury control estimates. The approach included bench-scale batch tests, larger-scale pilot testing with real flue gas on a coal-fired combustion system, and field demonstration at the 2.5-MW (9000-acfm) scale at a utility power plant to prove scale-up and demonstrate longer-term mercury control

  8. Hybrid internal model control and proportional control of chaotic dynamical systems

    Institute of Scientific and Technical Information of China (English)

    齐冬莲; 姚良宾

    2004-01-01

    A new chaos control method is proposed to take advantage of chaos or avoid it. The hybrid Internal Model Control and Proportional Control learning scheme are introduced. In order to gain the desired robust performance and ensure the system's stability, Adaptive Momentum Algorithms are also developed. Through properly designing the neural network plant model and neural network controller, the chaotic dynamical systems are controlled while the parameters of the BP neural network are modified. Taking the Lorenz chaotic system as example, the results show that chaotic dynamical systems can be stabilized at the desired orbits by this control strategy.

  9. Hybrid internal model control and proportional control of chaotic dynamical systems.

    Science.gov (United States)

    Qi, Dong-lian; Yao, Liang-bin

    2004-01-01

    A new chaos control method is proposed to take advantage of chaos or avoid it. The hybrid Internal Model Control and Proportional Control learning scheme are introduced. In order to gain the desired robust performance and ensure the system's stability, Adaptive Momentum Algorithms are also developed. Through properly designing the neural network plant model and neural network controller, the chaotic dynamical systems are controlled while the parameters of the BP neural network are modified. Taking the Lorenz chaotic system as example, the results show that chaotic dynamical systems can be stabilized at the desired orbits by this control strategy.

  10. Adaptive control method for nonlinear time-delay processes

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    Two complex properties,varying time-delay and block-oriented nonlinearity,are very common in chemical engineering processes and not easy to be controlled by routine control methods.Aimed at these two complex properties,a novel adaptive control algorithm the basis of nonlinear OFS(orthonormal functional series) model is proposed.First,the hybrid model which combines OFS and Volterra series is introduced.Then,a stable state feedback strategy is used to construct a nonlinear adaptive control algorithm that can guarantee the closed-loop stability and can track the set point curve without steady-state errors.Finally,control simulations and experiments on a nonlinear process with varying time-delay are presented.A number of experimental results validate the efficiency and superiority of this algorithm.

  11. Operator versus computer control of adaptive automation

    Science.gov (United States)

    Hilburn, Brian; Molloy, Robert; Wong, Dick; Parasuraman, Raja

    1993-01-01

    Adaptive automation refers to real-time allocation of functions between the human operator and automated subsystems. The article reports the results of a series of experiments whose aim is to examine the effects of adaptive automation on operator performance during multi-task flight simulation, and to provide an empirical basis for evaluations of different forms of adaptive logic. The combined results of these studies suggest several things. First, it appears that either excessively long, or excessively short, adaptation cycles can limit the effectiveness of adaptive automation in enhancing operator performance of both primary flight and monitoring tasks. Second, occasional brief reversions to manual control can counter some of the monitoring inefficiency typically associated with long cycle automation, and further, that benefits of such reversions can be sustained for some time after return to automated control. Third, no evidence was found that the benefits of such reversions depend on the adaptive logic by which long-cycle adaptive switches are triggered.

  12. Adaptive Method Using Controlled Grid Deformation

    Directory of Open Access Journals (Sweden)

    Florin FRUNZULICA

    2011-09-01

    Full Text Available The paper presents an adaptive method using the controlled grid deformation over an elastic, isotropic and continuous domain. The adaptive process is controlled with the principal strains and principal strain directions and uses the finite elements method. Numerical results are presented for several test cases.

  13. Dynamic optimization and adaptive controller design

    Science.gov (United States)

    Inamdar, S. R.

    2010-10-01

    In this work I present a new type of controller which is an adaptive tracking controller which employs dynamic optimization for optimizing current value of controller action for the temperature control of nonisothermal continuously stirred tank reactor (CSTR). We begin with a two-state model of nonisothermal CSTR which are mass and heat balance equations and then add cooling system dynamics to eliminate input multiplicity. The initial design value is obtained using local stability of steady states where approach temperature for cooling action is specified as a steady state and a design specification. Later we make a correction in the dynamics where material balance is manipulated to use feed concentration as a system parameter as an adaptive control measure in order to avoid actuator saturation for the main control loop. The analysis leading to design of dynamic optimization based parameter adaptive controller is presented. The important component of this mathematical framework is reference trajectory generation to form an adaptive control measure.

  14. Hybridization of Adaptive Differential Evolution with an Expensive Local Search Method

    Directory of Open Access Journals (Sweden)

    Rashida Adeeb Khanum

    2016-01-01

    Full Text Available Differential evolution (DE is an effective and efficient heuristic for global optimization problems. However, it faces difficulty in exploiting the local region around the approximate solution. To handle this issue, local search (LS techniques could be hybridized with DE to improve its local search capability. In this work, we hybridize an updated version of DE, adaptive differential evolution with optional external archive (JADE with an expensive LS method, Broydon-Fletcher-Goldfarb-Shano (BFGS for solving continuous unconstrained global optimization problems. The new hybrid algorithm is denoted by DEELS. To validate the performance of DEELS, we carried out extensive experiments on well known test problems suits, CEC2005 and CEC2010. The experimental results, in terms of function error values, success rate, and some other statistics, are compared with some of the state-of-the-art algorithms, self-adaptive control parameters in differential evolution (jDE, sequential DE enhanced by neighborhood search for large-scale global optimization (SDENS, and differential ant-stigmergy algorithm (DASA. These comparisons reveal that DEELS outperforms jDE and SDENS except DASA on the majority of test instances.

  15. Robust Adaptive Control of Multivariable Nonlinear Systems

    Science.gov (United States)

    2011-03-28

    IEEE Transactions on Automatic Control , 42(9): 1200-1221, 1997. 6. D. Li, N. Hovakimyan...limitations of performance,” IEEE Transactions on Automatic Control , vol. 52, no. 7, pp. 1604–1615, 2008. 8. X. Wang, N. Hovakimyan, 1L Adaptive...550-564, 2010. 5. C. Cao, N. Hovakimyan, Stability Margins of 1L Adaptive Control Architecture, IEEE Transactions on Automatic Control , vol. 55,

  16. Adaptive control of bifurcation and chaos in a time-delayed system

    Institute of Scientific and Technical Information of China (English)

    Li Ning; Yuan Hui-Qun; Sun Hai-Yi; Zhang Qing-Ling

    2013-01-01

    In this paper,the stabilization of a continuous time-delayed system is considered.To control the bifurcation and chaos in a time-delayed system,a parameter perturbation control and a hybrid control are proposed.Then,to ensure the asymptotic stability of the system in the presence of unexpected system parameter changes,the adaptive control idea is introduced,i.e.,the perturbation control parameter and the hybrid control parameter are automatically tuned according to the adaptation laws,respectively.The adaptation algorithms are constructed based on the Lyapunov-Krasovskii stability theorem.The adaptive parameter perturbation control and the adaptive hybrid control methods improve the corresponding constant control methods.They have the advantages of increased stability,adaptability to the changes of the system parameters,control cost saving,and simplicity.Numerical simulations for a well-known chaotic time-delayed system are performed to demonstrate the feasibility and superiority of the proposed control methods.A comparison of the two adaptive control methods is also made in an experimental study.

  17. Flight Approach to Adaptive Control Research

    Science.gov (United States)

    Pavlock, Kate Maureen; Less, James L.; Larson, David Nils

    2011-01-01

    The National Aeronautics and Space Administration's Dryden Flight Research Center completed flight testing of adaptive controls research on a full-scale F-18 testbed. The testbed served as a full-scale vehicle to test and validate adaptive flight control research addressing technical challenges involved with reducing risk to enable safe flight in the presence of adverse conditions such as structural damage or control surface failures. This paper describes the research interface architecture, risk mitigations, flight test approach and lessons learned of adaptive controls research.

  18. Modelling supervisory controller for hybrid power systems

    Energy Technology Data Exchange (ETDEWEB)

    Pereira, A.; Bindner, H.; Lundsager, P. [Risoe National Lab., Roskilde (Denmark); Jannerup, O. [Technical Univ. of Denmark, Dept. of Automation, Lyngby (Denmark)

    1999-03-01

    Supervisory controllers are important to achieve optimal operation of hybrid power systems. The performance and economics of such systems depend mainly on the control strategy for switching on/off components. The modular concept described in this paper is an attempt to design standard supervisory controllers that could be used in different applications, such as village power and telecommunication applications. This paper presents some basic aspects of modelling and design of modular supervisory controllers using the object-oriented modelling technique. The functional abstraction hierarchy technique is used to formulate the control requirements and identify the functions of the control system. The modular algorithm is generic and flexible enough to be used with any system configuration and several goals (different applications). The modularity includes accepting modification of system configuration and goals during operation with minor or no changes in the supervisory controller. (au)

  19. Hybrid Active Noise Control using Adjoint LMS Algorithms

    Energy Technology Data Exchange (ETDEWEB)

    Nam, Hyun Do; Hong, Sik Ki [Dankook University (Korea, Republic of)

    1998-07-01

    A multi-channel hybrid active noise control(MCHANC) is derived by combining hybrid active noise control techniques and adjoint LMS algorithms, and this algorithm is applied to an active noise control system in a three dimensional enclosure. A MCHANC system uses feed forward and feedback filters simultaneously to cancel noises in an enclosure. The adjoint LMs algorithm, in which the error is filtered through an adjoint filter of the secondary channel, is also used to reduce the computational burden of adaptive filters. The overall attenuation performance and convergence characteristics of MCHANC algorithm is better than both multiple-channel feed forward algorithms and multiple-channel feedback algorithms. In a large enclosure, the acoustic reverberation can be very long, which means a very high order feed forward filter must be used to cancel the reverberation noises. Strong reverberation noises are generally narrow band and low frequency, which can be effectively predicted and canceled by a feedback adaptive filters. So lower order feed forward filter taps can be used in MCHANC algorithm which combines advantages of fast convergence and small excess mean square error. In this paper, computer simulations and real time implementations is carried out on a TMS320C31 processor to evaluate the performance of the MCHANC systems. (author). 11 refs., 11 figs., 1 tab.

  20. Decentralized Adaptive Control For Robots

    Science.gov (United States)

    Seraji, Homayoun

    1989-01-01

    Precise knowledge of dynamics not required. Proposed scheme for control of multijointed robotic manipulator calls for independent control subsystem for each joint, consisting of proportional/integral/derivative feedback controller and position/velocity/acceleration feedforward controller, both with adjustable gains. Independent joint controller compensates for unpredictable effects, gravitation, and dynamic coupling between motions of joints, while forcing joints to track reference trajectories. Scheme amenable to parallel processing in distributed computing system wherein each joint controlled by relatively simple algorithm on dedicated microprocessor.

  1. Digital adaptive control laws for VTOL aircraft

    Science.gov (United States)

    Hartmann, G. L.; Stein, G.

    1979-01-01

    Honeywell has designed a digital self-adaptive flight control system for flight test in the VALT Research Aircraft (a modified CH-47). The final design resulted from a comparison of two different adaptive concepts: one based on explicit parameter estimates from a real-time maximum likelihood estimation algorithm and the other based on an implicit model reference adaptive system. The two designs are compared on the basis of performance and complexity.

  2. A robust adaptive controller for robot manipulators

    OpenAIRE

    1992-01-01

    The authors propose a globally convergent adaptive control scheme for robot motion control with the following features: first, the adaptation law processes enhanced robustness with respect to noisy velocity measurements; secondly, the controller does not require the inclusion of high-gain loops that may excite the unmodeled dynamics and amplify the noise level; thirdly the authors derive for the known parameter design a relationship between compensator gains and closed-loop convergence rates ...

  3. ADAPTIVE GENERALIZED PREDICTIVE CONTROL OF SWITCHED SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    WANG Yi-jing; WANG Long

    2005-01-01

    The problem of adaptive generalized predictive control which consists of output prediction errors for a class of switched systems is studied. The switching law is determined by the output predictive errors of a finite number of subsystems. For the single subsystem and multiple subsystems cases, it is proved that the given direct algorithm of generalized predictive control guarantees the global convergence of the system. This algorithm overcomes the inherent drawbacks of the slow convergence and large transient errors for the conventional adaptive control.

  4. Stochastic Adaptive Estimation and Control.

    Science.gov (United States)

    1994-10-26

    1294-1320. 9. R. Kumar, V. Garg and S.I. Marcus, "On Supervisory Control of Sequential Behaviors," IEEE Transactions on Automatic Control , 37...Systems," IEEE Transactions on Automatic Control , 38, February 1993, 232-247. 11. E. Fernindez-Gaucherand, M. K. Ghosh, and S.I. Marcus, "Controlled

  5. Chaotic satellite attitude control by adaptive approach

    Science.gov (United States)

    Wei, Wei; Wang, Jing; Zuo, Min; Liu, Zaiwen; Du, Junping

    2014-06-01

    In this article, chaos control of satellite attitude motion is considered. Adaptive control based on dynamic compensation is utilised to suppress the chaotic behaviour. Control approaches with three control inputs and with only one control input are proposed. Since the adaptive control employed is based on dynamic compensation, faithful model of the system is of no necessity. Sinusoidal disturbance and parameter uncertainties are considered to evaluate the robustness of the closed-loop system. Both of the approaches are confirmed by theoretical and numerical results.

  6. Hybrid Genetic Algorithms with Fuzzy Logic Controller

    Institute of Scientific and Technical Information of China (English)

    2001-01-01

    In this paper, a new implementation of genetic algorithms (GAs) is developed for the machine scheduling problem, which is abundant among the modern manufacturing systems. The performance measure of early and tardy completion of jobs is very natural as one's aim, which is usually to minimize simultaneously both earliness and tardiness of all jobs. As the problem is NP-hard and no effective algorithms exist, we propose a hybrid genetic algorithms approach to deal with it. We adjust the crossover and mutation probabilities by fuzzy logic controller whereas the hybrid genetic algorithm does not require preliminary experiments to determine probabilities for genetic operators. The experimental results show the effectiveness of the GAs method proposed in the paper.``

  7. Adaptive Feedfoward Feedback Control Framework Project

    Data.gov (United States)

    National Aeronautics and Space Administration — An Adaptive Feedforward and Feedback Control (AFFC) Framework is proposed to suppress the aircraft's structural vibrations and to increase the resilience of the...

  8. Adaptive Fuzzy Attitude Control of Flexible Satellite

    Institute of Scientific and Technical Information of China (English)

    GUAN Ping; LIU Xiang-dong; CHEN Jia-bin

    2005-01-01

    The adaptive fuzzy control is applied in the attitude stabilization of flexible satellite. The detailed design procedure of the adaptive fuzzy control system is presented. Two T-S models are used as both controller and identifier. The parameters of the controller could be modified according to the information of the identifier. Simulation results show that the method can effectively cope with the uncertainty of flexible satellite by on-line learning and thus posses the good robustness. With the proposed method, the precise attitude control is accomplished.

  9. Optimized Treatment of Fibromyalgia Using System Identification and Hybrid Model Predictive Control.

    Science.gov (United States)

    Deshpande, Sunil; Nandola, Naresh N; Rivera, Daniel E; Younger, Jarred W

    2014-12-01

    The term adaptive intervention is used in behavioral health to describe individually-tailored strategies for preventing and treating chronic, relapsing disorders. This paper describes a system identification approach for developing dynamical models from clinical data, and subsequently, a hybrid model predictive control scheme for assigning dosages of naltrexone as treatment for fibromyalgia, a chronic pain condition. A simulation study that includes conditions of significant plant-model mismatch demonstrates the benefits of hybrid predictive control as a decision framework for optimized adaptive interventions. This work provides insights on the design of novel personalized interventions for chronic pain and related conditions in behavioral health.

  10. Multiple models adaptive feedforward decoupling controller

    Institute of Scientific and Technical Information of China (English)

    Wang Xin; Li Shaoyuan; Wang Zhongjie

    2005-01-01

    When the parameters of the system change abruptly, a new multivariable adaptive feedforward decoupling controller using multiple models is presented to improve the transient response. The system models are composed of multiple fixed models, one free-running adaptive model and one re-initialized adaptive model. The fixed models are used to provide initial control to the process. The re-initialized adaptive model can be reinitialized as the selected model to improve the adaptation speed. The free-running adaptive controller is added to guarantee the overall system stability. At each instant, the best system model is selected according to the switching index and the corresponding controller is designed. During the controller design, the interaction is viewed as the measurable disturbance and eliminated by the choice of the weighting polynomial matrix. It not only eliminates the steady-state error but also decouples the system dynamically. The global convergence is obtained and several simulation examples are presented to illustrate the effectiveness of the proposed controller.

  11. Hybrid upconversion nanomaterials for optogenetic neuronal control

    Science.gov (United States)

    Shah, Shreyas; Liu, Jing-Jing; Pasquale, Nicholas; Lai, Jinping; McGowan, Heather; Pang, Zhiping P.; Lee, Ki-Bum

    2015-10-01

    Nanotechnology-based approaches offer the chemical control required to develop precision tools suitable for applications in neuroscience. We report a novel approach employing hybrid upconversion nanomaterials, combined with the photoresponsive ion channel channelrhodopsin-2 (ChR2), to achieve near-infrared light (NIR)-mediated optogenetic control of neuronal activity. Current optogenetic methodologies rely on using visible light (e.g. 470 nm blue light), which tends to exhibit high scattering and low tissue penetration, to activate ChR2. In contrast, our approach enables the use of 980 nm NIR light, which addresses the short-comings of visible light as an excitation source. This was facilitated by embedding upconversion nanomaterials, which can convert NIR light to blue luminescence, into polymeric scaffolds. These hybrid nanomaterial scaffolds allowed for NIR-mediated neuronal stimulation, with comparable efficiency as that of 470 nm blue light. Our platform was optimized for NIR-mediated optogenetic control by balancing multiple physicochemical properties of the nanomaterial (e.g. size, morphology, structure, emission spectra, concentration), thus providing an early demonstration of rationally-designing nanomaterial-based strategies for advanced neural applications.Nanotechnology-based approaches offer the chemical control required to develop precision tools suitable for applications in neuroscience. We report a novel approach employing hybrid upconversion nanomaterials, combined with the photoresponsive ion channel channelrhodopsin-2 (ChR2), to achieve near-infrared light (NIR)-mediated optogenetic control of neuronal activity. Current optogenetic methodologies rely on using visible light (e.g. 470 nm blue light), which tends to exhibit high scattering and low tissue penetration, to activate ChR2. In contrast, our approach enables the use of 980 nm NIR light, which addresses the short-comings of visible light as an excitation source. This was facilitated by

  12. A Novel Robust Adaptive Fuzzy Controller

    Institute of Scientific and Technical Information of China (English)

    LIU Xiao-hua; WANG Xiu-hong; FEN En-min

    2002-01-01

    For a class of continuous-time nonlinear system, a novel robust adaptive fuzzy controller is proposed by using of Lyapunov method. It is proven that the control algorithm is globally stable, the output tracking-error can convergence to a domain of zero under the assumptions. As a result, the system controlled has stronger robustness for disturbance and modeling error.

  13. Simple adaptive tracking control for mobile robots

    Science.gov (United States)

    Bobtsov, Alexey; Faronov, Maxim; Kolyubin, Sergey; Pyrkin, Anton

    2014-12-01

    The problem of simple adaptive and robust control is studied for the case of parametric and dynamic dimension uncertainties: only the maximum possible relative degree of the plant model is known. The control approach "consecutive compensator" is investigated. To illustrate the efficiency of proposed approach an example with the mobile robot motion control using computer vision system is considered.

  14. Stochastic Adaptive Control and Estimation Enhancement.

    Science.gov (United States)

    1991-02-01

    Multiple Model Algorithm for Systems with Markovian Switching Coefficients, (Henk A. Blom and Yaakov Bar-Shalom, IEEE Transactions on Automatic Control Vol...environment with a distributed sensor network. 4. An Adaptive Dual Controller for a MIMO-ARMA System, (P. Mookerjee and Y. Bar-Shalom, IEEE Transactions on Automatic Control , Vol

  15. An Optimal Control Modification to Model-Reference Adaptive Control for Fast Adaptation

    Science.gov (United States)

    Nguyen, Nhan T.; Krishnakumar, Kalmanje; Boskovic, Jovan

    2008-01-01

    This paper presents a method that can achieve fast adaptation for a class of model-reference adaptive control. It is well-known that standard model-reference adaptive control exhibits high-gain control behaviors when a large adaptive gain is used to achieve fast adaptation in order to reduce tracking error rapidly. High gain control creates high-frequency oscillations that can excite unmodeled dynamics and can lead to instability. The fast adaptation approach is based on the minimization of the squares of the tracking error, which is formulated as an optimal control problem. The necessary condition of optimality is used to derive an adaptive law using the gradient method. This adaptive law is shown to result in uniform boundedness of the tracking error by means of the Lyapunov s direct method. Furthermore, this adaptive law allows a large adaptive gain to be used without causing undesired high-gain control effects. The method is shown to be more robust than standard model-reference adaptive control. Simulations demonstrate the effectiveness of the proposed method.

  16. Adaptive change in corporate control practices.

    Science.gov (United States)

    Alexander, J A

    1991-03-01

    Multidivisional organizations are not concerned with what structure to adopt but with how they should exercise control within the divisional form to achieve economic efficiencies. Using an information-processing framework, I examined control arrangements between the headquarters and operating divisions of such organizations and how managers adapted control practices to accommodate increasing environmental uncertainty. Also considered were the moderating effects of contextual attributes on such adaptive behavior. Analyses of panel data from 97 multihospital systems suggested that organizations generally practice selective decentralization under conditions of increasing uncertainty but that organizational age, dispersion, and initial control arrangements significantly moderate the direction and magnitude of such changes.

  17. Hybrid fitness, adaptation and evolutionary diversification: lessons learned from Louisiana Irises.

    Science.gov (United States)

    Arnold, M L; Ballerini, E S; Brothers, A N

    2012-03-01

    Estimates of hybrid fitness have been used as either a platform for testing the potential role of natural hybridization in the evolution of species and species complexes or, alternatively, as a rationale for dismissing hybridization events as being of any evolutionary significance. From the time of Darwin's publication of The Origin, through the neo-Darwinian synthesis, to the present day, the observation of variability in hybrid fitness has remained a challenge for some models of speciation. Yet, Darwin and others have reported the elevated fitness of hybrid genotypes under certain environmental conditions. In modern scientific terminology, this observation reflects the fact that hybrid genotypes can demonstrate genotype × environment interactions. In the current review, we illustrate the development of one plant species complex, namely the Louisiana Irises, into a 'model system' for investigating hybrid fitness and the role of genetic exchange in adaptive evolution and diversification. In particular, we will argue that a multitude of approaches, involving both experimental and natural environments, and incorporating both manipulative analyses and surveys of natural populations, are necessary to adequately test for the evolutionary significance of introgressive hybridization. An appreciation of the variability of hybrid fitness leads to the conclusion that certain genetic signatures reflect adaptive evolution. Furthermore, tests of the frequency of allopatric versus sympatric/parapatric divergence (that is, divergence with ongoing gene flow) support hybrid genotypes as a mechanism of evolutionary diversification in numerous species complexes.

  18. Hybrid Adaptive Ray-Moment Method (HARM2): A highly parallel method for radiation hydrodynamics on adaptive grids

    Science.gov (United States)

    Rosen, A. L.; Krumholz, M. R.; Oishi, J. S.; Lee, A. T.; Klein, R. I.

    2017-02-01

    We present a highly-parallel multi-frequency hybrid radiation hydrodynamics algorithm that combines a spatially-adaptive long characteristics method for the radiation field from point sources with a moment method that handles the diffuse radiation field produced by a volume-filling fluid. Our Hybrid Adaptive Ray-Moment Method (HARM2) operates on patch-based adaptive grids, is compatible with asynchronous time stepping, and works with any moment method. In comparison to previous long characteristics methods, we have greatly improved the parallel performance of the adaptive long-characteristics method by developing a new completely asynchronous and non-blocking communication algorithm. As a result of this improvement, our implementation achieves near-perfect scaling up to O (103) processors on distributed memory machines. We present a series of tests to demonstrate the accuracy and performance of the method.

  19. Hybrid Adaptive Ray-Moment Method (HARM$^2$): A Highly Parallel Method for Radiation Hydrodynamics on Adaptive Grids

    CERN Document Server

    Rosen, Anna L; Oishi, Jeffrey S; Lee, Aaron T; Klein, Richard I

    2016-01-01

    We present a highly-parallel multi-frequency hybrid radiation hydrodynamics algorithm that combines a spatially-adaptive long characteristics method for the radiation field from point sources with a moment method that handles the diffuse radiation field produced by a volume-filling fluid. Our Hybrid Adaptive Ray-Moment Method (HARM$^2$) operates on patch-based adaptive grids, is compatible with asynchronous time stepping, and works with any moment method. In comparison to previous long characteristics methods, we have greatly improved the parallel performance of the adaptive long-characteristics method by developing a new completely asynchronous and non-blocking communication algorithm. As a result of this improvement, our implementation achieves near-perfect scaling up to $\\mathcal{O}(10^3)$ processors on distributed memory machines. We present a series of tests to demonstrate the accuracy and performance of the method.

  20. Fuzzy Adaptive Model Following Speed Control for Vector Controlled Permanent Magnet Synchronous Motor

    Directory of Open Access Journals (Sweden)

    Baghdad BELABES

    2008-12-01

    Full Text Available In this paper a hybrid controller combining a linear model following controller (LMFC and fuzzy logic control (FLC for speed vector controlled permanent magnet synchronous motor (PMSM is described on this study. The FLC is introduced at the adaptive mechanism level. First, an LMFC system is designed to allow the plant states to be controlled to follow the states produced by a reference model. In the nominal conditions, the model following is perfect and the adaptive mechanism based on the fuzzy logic is idle. Secondly, when parameter variations or external disturbances occur, an augmented signal will be generated by FLC mechanism to preserve the desired model following control performance. The effectiveness and robustness of the proposed controller is demonstrated by some simulation results.

  1. Maritime Adaptive Optics Beam Control

    Science.gov (United States)

    2010-09-01

    mantis shrimp for getting me through the home stretch. To all my advisors, mentors, friends, and family—you have my eternal gratitude for helping...the RLS algorithm does in fact converge faster than the LMS algorithm, yet at the same time the LMS algorithm can control significantly better during

  2. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

    Directory of Open Access Journals (Sweden)

    Zain Anwar Ali

    2016-05-01

    Full Text Available In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV. The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST controller with model reference adaptive control (MRAC, in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

  3. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV.

    Science.gov (United States)

    Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

    2016-05-09

    In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability.

  4. Fuzzy-Based Hybrid Control Algorithm for the Stabilization of a Tri-Rotor UAV

    Science.gov (United States)

    Ali, Zain Anwar; Wang, Daobo; Aamir, Muhammad

    2016-01-01

    In this paper, a new and novel mathematical fuzzy hybrid scheme is proposed for the stabilization of a tri-rotor unmanned aerial vehicle (UAV). The fuzzy hybrid scheme consists of a fuzzy logic controller, regulation pole-placement tracking (RST) controller with model reference adaptive control (MRAC), in which adaptive gains of the RST controller are being fine-tuned by a fuzzy logic controller. Brushless direct current (BLDC) motors are installed in the triangular frame of the tri-rotor UAV, which helps maintain control on its motion and different altitude and attitude changes, similar to rotorcrafts. MRAC-based MIT rule is proposed for system stability. Moreover, the proposed hybrid controller with nonlinear flight dynamics is shown in the presence of translational and rotational velocity components. The performance of the proposed algorithm is demonstrated via MATLAB simulations, in which the proposed fuzzy hybrid controller is compared with the existing adaptive RST controller. It shows that our proposed algorithm has better transient performance with zero steady-state error, and fast convergence towards stability. PMID:27171084

  5. Hybrid Sterility over Tens of Meters Between Ecotypes Adapted to Serpentine and Non-Serpentine Soils

    Science.gov (United States)

    Leonie Moyle; Levine Mia; Stanton Maureen; Jessica Wright

    2012-01-01

    The development of hybrid sterility is an important step in the process of speciation, however the role of adaptive evolution in triggering these postzygotic barriers is poorly understood. We show that, in the California endemic plant Collinsia sparsiflora ecotypic adaptation to two distinct soil types is associated with the expression of...

  6. Modeling and (adaptive) control of greenhouse climates

    NARCIS (Netherlands)

    Udink ten Cate, A.J.

    1983-01-01

    The material presented in this thesis can be grouped around four themes, system concepts, modeling, control and adaptive control. In this summary these themes will be treated separately.

    System concepts

    In Chapters 1 and 2 an overview of the problem formulation

  7. Modelling and (adaptive) control of greenhouse climates

    NARCIS (Netherlands)

    Udink ten Cate, A.J.

    1983-01-01

    The material presented in this thesis can be grouped around four themes, system concepts, modeling, control and adaptive control. In this summary these themes will be treated separately.System conceptsIn Chapters 1 and 2 an overview of the problem formulation is presented. It is suggested that there

  8. Adaptive Sliding Mode Control for Hydraulic Drives

    DEFF Research Database (Denmark)

    Schmidt, Lasse; Andersen, Torben Ole; Pedersen, Henrik C.

    2013-01-01

    This paper presents a new adaptive sliding mode controller generally applicable for position tracking control of electro-hydraulic valve-cylinder drives (VCD’s). The proposed control scheme requires limited knowledge on system parameters, and employs only piston- and valve spool position feedback....... The main target is to overcome problems with linear controllers deteriorating performance due to the inherent nonlinear nature of such systems, without requiring extensive knowledge on system parameters nor advanced control theory. In order to accomplish this task, an integral sliding mode controller...... employing parameter adaption through a recursive algorithm is presented. This is based on a reduced order model approximation of a VCD with unmatched valve flow- and cylinder asymmetries. Bounds on parameters are obtained despite lack of parameter knowledge, and the proposed controller demonstrates improved...

  9. Joint Adaptive Modulation and Combining for Hybrid FSO/RF Systems

    KAUST Repository

    Rakia, Tamer

    2015-11-12

    In this paper, we present and analyze a new transmission scheme for hybrid FSO/RF communication system based on joint adaptive modulation and adaptive combining. Specifically, the data rate on the FSO link is adjusted in discrete manner according to the FSO link\\'s instantaneous received signal-to-noise-ratio (SNR). If the FSO link\\'s quality is too poor to maintain the target bit-error-rate, the system activates the RF link along with the FSO link. When the RF link is activated, simultaneous transmission of the same modulated data takes place on both links, where the received signals from both links are combined using maximal ratio combining scheme. In this case, the data rate of the system is adjusted according to the instantaneous combined SNRs. Novel analytical expression for the cumulative distribution function (CDF) of the received SNR for the proposed adaptive hybrid system is obtained. This CDF expression is used to study the spectral and outage performances of the proposed adaptive hybrid FSO/RF system. Numerical examples are presented to compare the performance of the proposed adaptive hybrid FSO/RF system with that of switch-over hybrid FSO/RF and FSO-only systems employing the same adaptive modulation schemes. © 2015 IEEE.

  10. CVT shift control for a hybrid driveline

    Energy Technology Data Exchange (ETDEWEB)

    Mueller, C. [VDI (Germany); Schroeder, D.

    2002-07-01

    In this contribution, chain drive CVTs will be investigated. Pushing belt CVTs are characterized by a different construction, but some basic concepts can be partly transferred. The identification results refer to the drive train of a parallel hybrid passenger car which is discussed as an example for application. It is equipped with a special CVT based gearbox. A set of clutches allows the squaring of the single CVT range of possible gear ratios. A detailed description of the system is given in [2]. CVT models discussed in literature [15],[10] focus primarily on component strain in order to support the design process. These models are usually rather complex and are not well-suited for control purposes. In the following, a short system description will be given. Properties relevant for control will be outlined. (orig.)

  11. Adaptive Control Algorithm of the Synchronous Generator

    Directory of Open Access Journals (Sweden)

    Shevchenko Victor

    2017-01-01

    Full Text Available The article discusses the the problem of controlling a synchronous generator, namely, maintaining the stability of the control object in the conditions of occurrence of noise and disturbances in the regulatory process. The model of a synchronous generator is represented by a system of differential equations of Park-Gorev, where state variables are computed relative to synchronously rotating d, q-axis. Management of synchronous generator is proposed to organize on the basis of the position-path control using algorithms to adapt with the reference model. Basic control law directed on the stabilizing indicators the frequency generated by the current and the required power level, which is achieved by controlling the mechanical torque on the shaft of the turbine and the value of the excitation voltage of the synchronous generator. Modification of the classic adaptation algorithm using the reference model, allowing to minimize the error of the reference regulation and the model under investigation within the prescribed limits, produced by means of the introduction of additional variables controller adaptation in the model. Сarried out the mathematical modeling of control provided influence on the studied model of continuous nonlinear and unmeasured the disturbance. Simulation results confirm the high level accuracy of tracking and adaptation investigated model with respect to the reference, and the present value of the loop error depends on parameters performance of regulator.

  12. Robust adaptive neural network control with supervisory controller

    Institute of Scientific and Technical Information of China (English)

    张天平; 梅建东

    2004-01-01

    The problem of direct adaptive neural network control for a class of uncertain nonlinear systems with unknown constant control gain is studied in this paper. Based on the supervisory control strategy and the approximation capability of multilayer neural networks (MNNs), a novel design scheme of direct adaptive neural network controller is proposed.The adaptive law of the adjustable parameter vector and the matrix of weights in the neural networks and the gain of sliding mode control term to adaptively compensate for the residual and the approximation error of MNNs is determined by using a Lyapunov method. The approach does not require the optimal approximation error to be square-integrable or the supremum of the optimal approximation error to be known. By theoretical analysis, the closed-loop control system is proven to be globally stable in the sense that all signals involved are bounded, with tracking error converging to zero.Simulation results demonstrate the effectiveness of the approach.

  13. Neuronal control of adaptive thermogenesis

    Directory of Open Access Journals (Sweden)

    Xiaoyong eYang

    2015-09-01

    Full Text Available The obesity epidemic continues rising as a global health challenge, despite the increasing public awareness and the use of lifestyle and medical interventions. The biomedical community is urged to develop new treatments to obesity. Excess energy is stored as fat in white adipose tissue (WAT, dysfunction of which lie at the core of obesity and associated metabolic disorders. In contrast, brown adipose tissue (BAT burns fat and dissipates chemical energy as heat. The development and activation of brown-like adipocytes, also known as beige cells, result in WAT browning and thermogenesis. The recent discovery of brown and beige adipocytes in adult humans has sparked the exploration of the development, regulation, and function of these thermogenic adipocytes. The central nervous system (CNS drives the sympathetic nerve activity in BAT and WAT to control heat production and energy homeostasis. This review provides an overview of the integration of thermal, hormonal, and nutritional information on hypothalamic circuits in thermoregulation.

  14. Intelligent Control Scheme of Engineering Machinery of Cluster Hybrid System

    Institute of Scientific and Technical Information of China (English)

    GAO Qiang; WANG Hongli

    2005-01-01

    In a hybrid system, the subsystems with discrete dynamics play a central role in a hybrid system. In the course of engineering machinery of cluster construction, the discrete control law is hard to obtain because the construction environment is complex and there exist many affecting factors. In this paper, hierarchically intelligent control, expert control and fuzzy control are introduced into the discrete subsystems of engineering machinery of cluster hybrid system, so as to rebuild the hybrid system and make the discrete control law easily and effectively obtained. The structures, reasoning mechanism and arithmetic of intelligent control are replanted to discrete dynamic, conti-nuous process and the interface of the hybrid system. The structures of three types of intelligent hybrid system are presented and the human experiences summarized from engineering machinery of cluster are taken into account.

  15. Hybrid optimization schemes for quantum control

    Energy Technology Data Exchange (ETDEWEB)

    Goerz, Michael H.; Koch, Christiane P. [Universitaet Kassel, Theoretische Physik, Kassel (Germany); Whaley, K. Birgitta [University of California, Department of Chemistry, Berkeley, CA (United States)

    2015-12-15

    Optimal control theory is a powerful tool for solving control problems in quantum mechanics, ranging from the control of chemical reactions to the implementation of gates in a quantum computer. Gradient-based optimization methods are able to find high fidelity controls, but require considerable numerical effort and often yield highly complex solutions. We propose here to employ a two-stage optimization scheme to significantly speed up convergence and achieve simpler controls. The control is initially parametrized using only a few free parameters, such that optimization in this pruned search space can be performed with a simplex method. The result, considered now simply as an arbitrary function on a time grid, is the starting point for further optimization with a gradient-based method that can quickly converge to high fidelities. We illustrate the success of this hybrid technique by optimizing a geometric phase gate for two superconducting transmon qubits coupled with a shared transmission line resonator, showing that a combination of Nelder-Mead simplex and Krotov's method yields considerably better results than either one of the two methods alone. (orig.)

  16. Dynamics and Control of Adaptive Shells with Curvature Transformations

    OpenAIRE

    1995-01-01

    Adaptive structures with controllable geometries and shapes are rather useful in many engineering applications, such as adaptive wings, variable focus mirrors, adaptive machines, micro-electromechanical systems, etc. Dynamics and feedback control effectiveness of adaptive shells whose curvatures are actively controlled and continuously changed are evaluated. An adaptive piezoelectric laminated cylindrical shell composite with continuous curvature changes is studied, and its natural frequencie...

  17. Adaptive PID control based on orthogonal endocrine neural networks.

    Science.gov (United States)

    Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D

    2016-12-01

    A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances.

  18. Hybrid systems, optimal control and hybrid vehicles theory, methods and applications

    CERN Document Server

    Böhme, Thomas J

    2017-01-01

    This book assembles new methods showing the automotive engineer for the first time how hybrid vehicle configurations can be modeled as systems with discrete and continuous controls. These hybrid systems describe naturally and compactly the networks of embedded systems which use elements such as integrators, hysteresis, state-machines and logical rules to describe the evolution of continuous and discrete dynamics and arise inevitably when modeling hybrid electric vehicles. They can throw light on systems which may otherwise be too complex or recondite. Hybrid Systems, Optimal Control and Hybrid Vehicles shows the reader how to formulate and solve control problems which satisfy multiple objectives which may be arbitrary and complex with contradictory influences on fuel consumption, emissions and drivability. The text introduces industrial engineers, postgraduates and researchers to the theory of hybrid optimal control problems. A series of novel algorithmic developments provides tools for solving engineering pr...

  19. Hybrid intelligent PID control design for PEMFC anode system

    Institute of Scientific and Technical Information of China (English)

    Rui-min WANG; Ying-ying ZHANG; Guang-yi CAO

    2008-01-01

    Control design is important for proton exchange membrane fuel cell (PEMFC) generator. This work researched the anode system of a 60-kW PEMFC generator. Both anode pressure and humidity must he maintained at ideal levels during steady operation. In view of characteristics and requirements of the system, a hybrid intelligent PID controller is designed specifically based on dynamic simulation. A single neuron PI controller is used for anode humidity by adjusting the water injection to the hydrogen cell. Another incremental PID controller, based on the diagonal recurrent neural network (DRNN) dynamic identification, is used to control anode pressure to be more stable and exact by adjusting the hydrogen flow rate. This control strategy can avoid the coupling problem of the PEMFC and achieve a more adaptive ability. Simulation results showed that the control strategy can maintain both anode humidity and pressure at ideal levels regardless of variable load, nonlinear dynamic and coupling characteristics of the system. This work will give some guides for further control design and applications of the total PEMFC generator.

  20. Model-Free Adaptive Heating Process Control

    OpenAIRE

    Ivana LUKÁČOVÁ; Piteľ, Ján

    2009-01-01

    The aim of this paper is to analyze the dynamic behaviour of a Model-Free Adaptive (MFA) heating process control. The MFA controller is designed as three layer neural network with proportional element. The method of backward propagation of errors was used for neural network training. Visualization and training of the artificial neural network was executed by Netlab in Matlab environment. Simulation of the MFA heating process control with outdoor temperature compensation has proved better resu...

  1. Robust Adaptive Control of Hypnosis During Anesthesia

    Science.gov (United States)

    2007-11-02

    1 of 4 ROBUST ADAPTIVE CONTROL OF HYPNOSIS DURING ANESTHESIA Pascal Grieder1, Andrea Gentilini1, Manfred Morari1, Thomas W. Schnider2 1ETH Zentrum...A closed-loop controller for hypnosis was designed and validated on humans at our laboratory. The controller aims at regulat- ing the Bispectral Index...BIS) - a surro- gate measure of hypnosis derived from the electroencephalogram of the patient - with the volatile anesthetic isoflurane administered

  2. Bayesian nonparametric adaptive control using Gaussian processes.

    Science.gov (United States)

    Chowdhary, Girish; Kingravi, Hassan A; How, Jonathan P; Vela, Patricio A

    2015-03-01

    Most current model reference adaptive control (MRAC) methods rely on parametric adaptive elements, in which the number of parameters of the adaptive element are fixed a priori, often through expert judgment. An example of such an adaptive element is radial basis function networks (RBFNs), with RBF centers preallocated based on the expected operating domain. If the system operates outside of the expected operating domain, this adaptive element can become noneffective in capturing and canceling the uncertainty, thus rendering the adaptive controller only semiglobal in nature. This paper investigates a Gaussian process-based Bayesian MRAC architecture (GP-MRAC), which leverages the power and flexibility of GP Bayesian nonparametric models of uncertainty. The GP-MRAC does not require the centers to be preallocated, can inherently handle measurement noise, and enables MRAC to handle a broader set of uncertainties, including those that are defined as distributions over functions. We use stochastic stability arguments to show that GP-MRAC guarantees good closed-loop performance with no prior domain knowledge of the uncertainty. Online implementable GP inference methods are compared in numerical simulations against RBFN-MRAC with preallocated centers and are shown to provide better tracking and improved long-term learning.

  3. Adaptive Piezoelectric Absorber for Active Vibration Control

    Directory of Open Access Journals (Sweden)

    Sven Herold

    2016-02-01

    Full Text Available Passive vibration control solutions are often limited to working reliably at one design point. Especially applied to lightweight structures, which tend to have unwanted vibration, active vibration control approaches can outperform passive solutions. To generate dynamic forces in a narrow frequency band, passive single-degree-of-freedom oscillators are frequently used as vibration absorbers and neutralizers. In order to respond to changes in system properties and/or the frequency of excitation forces, in this work, adaptive vibration compensation by a tunable piezoelectric vibration absorber is investigated. A special design containing piezoelectric stack actuators is used to cover a large tuning range for the natural frequency of the adaptive vibration absorber, while also the utilization as an active dynamic inertial mass actuator for active control concepts is possible, which can help to implement a broadband vibration control system. An analytical model is set up to derive general design rules for the system. An absorber prototype is set up and validated experimentally for both use cases of an adaptive vibration absorber and inertial mass actuator. Finally, the adaptive vibration control system is installed and tested with a basic truss structure in the laboratory, using both the possibility to adjust the properties of the absorber and active control.

  4. Adaptive control of an unmanned aerial vehicle

    Science.gov (United States)

    Nguen, V. F.; Putov, A. V.; Nguen, T. T.

    2017-01-01

    The paper deals with design and comparison of adaptive control systems based on plant state vector and output for unmanned aerial vehicle (UAV) with nonlinearity and uncertainty of parameters of the aircraft incomplete measurability of its state and presence of wind disturbances. The results of computer simulations of flight stabilization processes on the example of the experimental model UAV-70V (Aerospace Academy, Hanoi) with presence of periodic and non-periodic vertical wind disturbances with designed adaptive control systems based on plant state vector with state observer and plant output.

  5. Adaptive control of solar energy collector systems

    CERN Document Server

    Lemos, João M; Igreja, José M

    2014-01-01

    This book describes methods for adaptive control of distributed-collector solar fields: plants that collect solar energy and deliver it in thermal form. Controller design methods are presented that can overcome difficulties found in these type of plants:they are distributed-parameter systems, i.e., systems with dynamics that depend on space as well as time;their dynamics is nonlinear, with a bilinear structure;there is a significant level of uncertainty in plant knowledge.Adaptive methods form the focus of the text because of the degree of uncertainty in the knowledge of plant dynamics. Parts

  6. Control of aggregation-induced emission by DNA hybridization

    OpenAIRE

    Li, Shaoguang; Langenegger, Simon Matthias; Häner, Robert

    2013-01-01

    Aggregation-induced emission (AIE) was studied by hybridization of dialkynyl-tetraphenylethylene (DATPE) modified DNA strands. Molecular aggregation and fluorescence of DATPEs are controlled by duplex formation.

  7. Framework of Combined Adaptive and Non-adaptive Attitude Control System for a Helicopter Experimental System

    Institute of Scientific and Technical Information of China (English)

    Akira Inoue; Ming-Cong Deng

    2006-01-01

    This paper presents a framework of a combined adaptive and non-adaptive attitude control system for a helicopter experimental system. The design method is based on a combination of adaptive nonlinear control and non-adaptive nonlinear control. With regard to detailed attitude control system design, two schemes are shown for different application cases.

  8. A Hybrid Acoustic and Pronunciation Model Adaptation Approach for Non-native Speech Recognition

    Science.gov (United States)

    Oh, Yoo Rhee; Kim, Hong Kook

    In this paper, we propose a hybrid model adaptation approach in which pronunciation and acoustic models are adapted by incorporating the pronunciation and acoustic variabilities of non-native speech in order to improve the performance of non-native automatic speech recognition (ASR). Specifically, the proposed hybrid model adaptation can be performed at either the state-tying or triphone-modeling level, depending at which acoustic model adaptation is performed. In both methods, we first analyze the pronunciation variant rules of non-native speakers and then classify each rule as either a pronunciation variant or an acoustic variant. The state-tying level hybrid method then adapts pronunciation models and acoustic models by accommodating the pronunciation variants in the pronunciation dictionary and by clustering the states of triphone acoustic models using the acoustic variants, respectively. On the other hand, the triphone-modeling level hybrid method initially adapts pronunciation models in the same way as in the state-tying level hybrid method; however, for the acoustic model adaptation, the triphone acoustic models are then re-estimated based on the adapted pronunciation models and the states of the re-estimated triphone acoustic models are clustered using the acoustic variants. From the Korean-spoken English speech recognition experiments, it is shown that ASR systems employing the state-tying and triphone-modeling level adaptation methods can relatively reduce the average word error rates (WERs) by 17.1% and 22.1% for non-native speech, respectively, when compared to a baseline ASR system.

  9. Adaptive Control with Approximated Policy Search Approach

    Directory of Open Access Journals (Sweden)

    Agus Naba

    2010-05-01

    Full Text Available Most of existing adaptive control schemes are designed to minimize error between plant state and goal state despite the fact that executing actions that are predicted to result in smaller errors only can mislead to non-goal states. We develop an adaptive control scheme that involves manipulating a controller of a general type to improve its performance as measured by an evaluation function. The developed method is closely related to a theory of Reinforcement Learning (RL but imposes a practical assumption made for faster learning. We assume that a value function of RL can be approximated by a function of Euclidean distance from a goal state and an action executed at the state. And, we propose to use it for the gradient search as an evaluation function. Simulation results provided through application of the proposed scheme to a pole-balancing problem using a linear state feedback controller and fuzzy controller verify the scheme’s efficacy.

  10. Hybrid intelligent system for Sale Forecasting using Delphi and adaptive Fuzzy Back-Propagation Neural Networks

    Directory of Open Access Journals (Sweden)

    Attariuas Hicham

    2012-12-01

    Full Text Available ales forecasting is one of the most crucial issues addressed in business. Control and evaluation of future sales still seem concerned both researchers and policy makers and managers of companies. this research propose an intelligent hybrid sales forecasting system Delphi-FCBPN sales forecast based on Delphi Method, fuzzy clustering and Back-propagation (BP Neural Networks with adaptive learning rate. The proposed model is constructed to integrate expert judgments, using Delphi method, in enhancing the model of FCBPN. Winter’s Exponential Smoothing method will be utilized to take the trend effect into consideration. The data for this search come from an industrial company that manufactures packaging. Analyze of results show that the proposed model outperforms other three different forecasting models in MAPE and RMSE measures.

  11. Real Time & Power Efficient Adaptive - Robust Control

    Science.gov (United States)

    Ioan Gliga, Lavinius; Constantin Mihai, Cosmin; Lupu, Ciprian; Popescu, Dumitru

    2017-01-01

    A design procedure for a control system suited for dynamic variable processes is presented in this paper. The proposed adaptive - robust control strategy considers both adaptive control advantages and robust control benefits. It estimates the degradation of the system’s performances due to the dynamic variation in the process and it then utilizes it to determine when the system must be adapted with a redesign of the robust controller. A single integral criterion is used for the identification of the process, and for the design of the control algorithm, which is expressed in direct form, through a cost function defined in the space of the parameters of both the process and the controller. For the minimization of this nonlinear function, an adequate mathematical programming minimization method is used. The theoretical approach presented in this paper was validated for a closed loop control system, simulated in an application developed in C. Because of the reduced number of operations, this method is suitable for implementation on fast processes. Due to its effectiveness, it increases the idle time of the CPU, thereby saving electrical energy.

  12. Evolving Systems and Adaptive Key Component Control

    Science.gov (United States)

    Frost, Susan A.; Balas, Mark J.

    2009-01-01

    We propose a new framework called Evolving Systems to describe the self-assembly, or autonomous assembly, of actively controlled dynamical subsystems into an Evolved System with a higher purpose. An introduction to Evolving Systems and exploration of the essential topics of the control and stability properties of Evolving Systems is provided. This chapter defines a framework for Evolving Systems, develops theory and control solutions for fundamental characteristics of Evolving Systems, and provides illustrative examples of Evolving Systems and their control with adaptive key component controllers.

  13. Coordinated intelligent adaptive control of legged robots

    Science.gov (United States)

    McLauchlan, Lifford; Mehrübeoğlu, Mehrübe

    2006-05-01

    In planetary or hazardous environment exploration, there will be unforseen environmental circumstances which can not be planned. To overcome telerobotic control issues due to communication delays, autonomous robot control becomes necessary. Autonomously controlled landers and instrumentation can be used in exploration, such as lunar and martian missions. However, wheeled robots have difficulty in exploring uneven terrain; thus, legged robots can be used in such situations. This research develops intelligent and adaptive control of mobile robots to perform functions such as environmental exploration in coordination and obstacle avoidance. The coordinated control is demonstrated in simulations.

  14. Predictive control of speededness in adaptive testing

    NARCIS (Netherlands)

    van der Linden, Willem J.

    2009-01-01

    An adaptive testing method is presented that controls the speededness of a test using predictions of the test takers' response times on the candidate items in the pool. Two different types of predictions are investigated: posterior predictions given the actual response times on the items already

  15. An asymptotically optimal nonparametric adaptive controller

    Institute of Scientific and Technical Information of China (English)

    郭雷; 谢亮亮

    2000-01-01

    For discrete-time nonlinear stochastic systems with unknown nonparametric structure, a kernel estimation-based nonparametric adaptive controller is constructed based on truncated certainty equivalence principle. Global stability and asymptotic optimality of the closed-loop systems are established without resorting to any external excitations.

  16. Two scale high gain adaptive control

    NARCIS (Netherlands)

    Polderman, Jan W.; Mareels, I.M.Y.; Mareels, Iven

    2004-01-01

    Simple adaptive controllers based on high gain output feedback suffer a lack of robustness with respect to bounded disturbances. Existing modifications achieve boundedness of all solutions but introduce solutions that, even in the absence of disturbances, do not achieve regulation. In this paper a

  17. Predictive Control of Speededness in Adaptive Testing

    Science.gov (United States)

    van der Linden, Wim J.

    2009-01-01

    An adaptive testing method is presented that controls the speededness of a test using predictions of the test takers' response times on the candidate items in the pool. Two different types of predictions are investigated: posterior predictions given the actual response times on the items already administered and posterior predictions that use the…

  18. Adaptive Control of Nonlinear Flexible Systems

    Science.gov (United States)

    1993-01-18

    disturbances. The following example illustrates the need for a robust state-feedback law and the sensi- tivity of the exact - linearization based control law... exact linearization , one can bring an input-output approach to a particular case of certainty- equivalence based adaptive control design. We now...are available for this model, exact linearization can be performed. Let C(s) be the compensator that is being used so far in the previous three

  19. Biomimetic Hybrid Feedback Feedforward Neural-Network Learning Control.

    Science.gov (United States)

    Pan, Yongping; Yu, Haoyong

    2017-06-01

    This brief presents a biomimetic hybrid feedback feedforward neural-network learning control (NNLC) strategy inspired by the human motor learning control mechanism for a class of uncertain nonlinear systems. The control structure includes a proportional-derivative controller acting as a feedback servo machine and a radial-basis-function (RBF) NN acting as a feedforward predictive machine. Under the sufficient constraints on control parameters, the closed-loop system achieves semiglobal practical exponential stability, such that an accurate NN approximation is guaranteed in a local region along recurrent reference trajectories. Compared with the existing NNLC methods, the novelties of the proposed method include: 1) the implementation of an adaptive NN control to guarantee plant states being recurrent is not needed, since recurrent reference signals rather than plant states are utilized as NN inputs, which greatly simplifies the analysis and synthesis of the NNLC and 2) the domain of NN approximation can be determined a priori by the given reference signals, which leads to an easy construction of the RBF-NNs. Simulation results have verified the effectiveness of this approach.

  20. Constrained Optimization Based on Hybrid Evolutionary Algorithm and Adaptive Constraint-Handling Technique

    DEFF Research Database (Denmark)

    Wang, Yong; Cai, Zixing; Zhou, Yuren

    2009-01-01

    A novel approach to deal with numerical and engineering constrained optimization problems, which incorporates a hybrid evolutionary algorithm and an adaptive constraint-handling technique, is presented in this paper. The hybrid evolutionary algorithm simultaneously uses simplex crossover and two...... mutation operators to generate the offspring population. Additionally, the adaptive constraint-handling technique consists of three main situations. In detail, at each situation, one constraint-handling mechanism is designed based on current population state. Experiments on 13 benchmark test functions...... and four well-known constrained design problems verify the effectiveness and efficiency of the proposed method. The experimental results show that integrating the hybrid evolutionary algorithm with the adaptive constraint-handling technique is beneficial, and the proposed method achieves competitive...

  1. Adaptive Hybrid Visual Servo Regulation of Mobile Robots Based on Fast Homography Decomposition

    Directory of Open Access Journals (Sweden)

    Chunfu Wu

    2015-01-01

    Full Text Available For the monocular camera-based mobile robot system, an adaptive hybrid visual servo regulation algorithm which is based on a fast homography decomposition method is proposed to drive the mobile robot to its desired position and orientation, even when object’s imaging depth and camera’s position extrinsic parameters are unknown. Firstly, the homography’s particular properties caused by mobile robot’s 2-DOF motion are taken into account to induce a fast homography decomposition method. Secondly, the homography matrix and the extracted orientation error, incorporated with the desired view’s single feature point, are utilized to form an error vector and its open-loop error function. Finally, Lyapunov-based techniques are exploited to construct an adaptive regulation control law, followed by the experimental verification. The experimental results show that the proposed fast homography decomposition method is not only simple and efficient, but also highly precise. Meanwhile, the designed control law can well enable mobile robot position and orientation regulation despite the lack of depth information and camera’s position extrinsic parameters.

  2. Multivariable adaptive control of bio process

    Energy Technology Data Exchange (ETDEWEB)

    Maher, M.; Bahhou, B.; Roux, G. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Maher, M. [Faculte des Sciences, Rabat (Morocco). Lab. de Physique

    1995-12-31

    This paper presents a multivariable adaptive control of a continuous-flow fermentation process for the alcohol production. The linear quadratic control strategy is used for the regulation of substrate and ethanol concentrations in the bioreactor. The control inputs are the dilution rate and the influent substrate concentration. A robust identification algorithm is used for the on-line estimation of linear MIMO model`s parameters. Experimental results of a pilot-plant fermenter application are reported and show the control performances. (authors) 8 refs.

  3. Robust and Adaptive Control With Aerospace Applications

    CERN Document Server

    Lavretsky, Eugene

    2013-01-01

    Robust and Adaptive Control shows the reader how to produce consistent and accurate controllers that operate in the presence of uncertainties and unforeseen events. Driven by aerospace applications the focus of the book is primarily on continuous-dynamical systems.  The text is a three-part treatment, beginning with robust and optimal linear control methods and moving on to a self-contained presentation of the design and analysis of model reference adaptive control (MRAC) for nonlinear uncertain dynamical systems. Recent extensions and modifications to MRAC design are included, as are guidelines for combining robust optimal and MRAC controllers. Features of the text include: ·         case studies that demonstrate the benefits of robust and adaptive control for piloted, autonomous and experimental aerial platforms; ·         detailed background material for each chapter to motivate theoretical developments; ·         realistic examples and simulation data illustrating key features ...

  4. Adaptive Variable Bias Magnetic Bearing Control

    Science.gov (United States)

    Johnson, Dexter; Brown, Gerald V.; Inman, Daniel J.

    1998-01-01

    Most magnetic bearing control schemes use a bias current with a superimposed control current to linearize the relationship between the control current and the force it delivers. With the existence of the bias current, even in no load conditions, there is always some power consumption. In aerospace applications, power consumption becomes an important concern. In response to this concern, an alternative magnetic bearing control method, called Adaptive Variable Bias Control (AVBC), has been developed and its performance examined. The AVBC operates primarily as a proportional-derivative controller with a relatively slow, bias current dependent, time-varying gain. The AVBC is shown to reduce electrical power loss, be nominally stable, and provide control performance similar to conventional bias control. Analytical, computer simulation, and experimental results are presented in this paper.

  5. On-line identification of hybrid systems using an adaptive growing and pruning RBF neural network

    DEFF Research Database (Denmark)

    Alizadeh, Tohid

    2008-01-01

    This paper introduces an adaptive growing and pruning radial basis function (GAP-RBF) neural network for on-line identification of hybrid systems. The main idea is to identify a global nonlinear model that can predict the continuous outputs of hybrid systems. In the proposed approach, GAP......-RBF neural network uses a modified unscented kalman filter (UKF) with forgetting factor scheme as the required on-line learning algorithm. The effectiveness of the resulting identification approach is tested and evaluated on a simulated benchmark hybrid system....

  6. Active vibration isolation by adaptive proportional control

    Science.gov (United States)

    Liu, Yun-Hui; Wu, Wei-Hao; Chu, Chih-Liang

    2013-01-01

    An active vibration isolation system that applies proportional controller incorporated with an adaptive filter to reduce the transmission of base excitations to a precision instrument is proposed in this work. The absolute vibration velocity signal acquired from an accelerator and being processed through an integrator is input to the controller as a feedback signal, and the controller output signal drives the voice coil actuator to produce a sky-hook damper force. In practice, the phase response of integrator at low frequency such as 2~5 Hz deviate from the 90 degree which is the exact phase difference between the vibration velocity and acceleration. Therefore, an adaptive filter is used to compensate the phase error in this paper. An analysis of this active vibration isolation system is presented, and model predictions are compared to experimental results. The results show that the proposed method significantly reduces transmissibility at resonance without the penalty of increased transmissibility at higher frequencies.

  7. Adaptive pitch control of wind turbine

    Energy Technology Data Exchange (ETDEWEB)

    Kjaer Joergensen, H.

    1993-12-31

    The wind turbines used in Denmark today to produce electric power are mostly stall-controlled turbines up to 300-400 kW. The quality of the produced electrical power from small stall-controlled wind turbines is poor compared to the electrical power from the utility grid. The main goal of this report is to describe another way of generating electric power by wind turbines. The produced power is regulated by controlling the pitch of the rotor blades. Only medium wind speeds ranging from 14 m{sup 3} to 20 m{sup 3} are considered. The regulation problem is to keep the power at the nominal value and to minimize variations in the produced power and variations in the torques acting upon the turbine. Furthermore fluctuations in the displacement of the nacelle have to be controlled so the natural frequency of the nacelle is not excited. The regulation problem is solved for the 750 kW wind turbine, Windane 40, owned by ELKRAFT. A control model is developed for use in the control design procedure and a simulation model is developed to test the designed controllers. Several controllers are designed. A continuous-time PID-controller (Proportional Integrating Differentiating) is designed because this controller is used in practical pitch-control today - this controller is used as a reference of performance. A LQG-controller (Least Quadratic Gaussian) and a GSP-controller (General Stochastic Poleplacement) are designed to test some conventional controllers used to solve many other regulation problems. Finally an AGSP-controller (Adaptive General Stochastic Poleplacement) is designed to test a controller that is able to change the control law according to the wind speed. The controllers are tested at different wind conditions. All controllers are compared to a wind turbine with fixed pitch angle (stall-control). Simulation studies show that all controllers give better results than the fixed pitch-controlled system. (EG) (14 refs.)

  8. Observer-based hybrid control algorithm for semi-active suspension systems

    Institute of Scientific and Technical Information of China (English)

    任宏斌; 陈思忠; 赵玉壮; 刘刚; 杨林

    2016-01-01

    In order to improve ride comfort and handling performance of the vehicle, an adaptive hybrid control algorithm is proposed for semi-active suspension systems. The virtues of sky-hook is combined with ground-hook control strategies and a more suitable compromise for the suspension systems is chosen. The hybrid coefficient is tuned according to the longitudinal and lateral acceleration so as to improve the vehicle stability especially in high speed conditions. Damping continuous adjustable absorber is used to continuously control the damping force so as to eliminate the damping force jerk instead of traditional on-off control policy. Based on suspension stroke measured by sensors, unscented Kalman filter is designed to estimate the suspension states in real-time for the realization of hybrid control, which improves the robustness of the control strategy and is adaptive to different types of road profiles. Finally, the proposed control algorithm is validated under the following two typical road profiles: half-sine speed bump road and the random road. The simulation results indicate that the hybrid control algorithm could offer a good coordination between ride comfort and handling of the vehicle.

  9. In vitro spine testing using a robot-based testing system: comparison of displacement control and "hybrid control".

    Science.gov (United States)

    Bell, Kevin M; Hartman, Robert A; Gilbertson, Lars G; Kang, James D

    2013-06-21

    The two leading control algorithms for in-vitro spine biomechanical testing-"load control" and "displacement control"-are limited in their lack of adaptation to changes in the load-displacement response of a spine specimen-pointing to the need for sufficiently sophisticated control algorithms that are able to govern the application of loads/motions to a spine specimen in a more realistic, adaptive manner. A robotics-based spine testing system was programmed with a novel hybrid control algorithm combining "load control" and "displacement control" into a single, robust algorithm. Prior to in-vitro cadaveric testing, preliminary testing of the new algorithm was performed using a rigid-body-spring model with known structural properties. The present study also offers a direct comparison between "hybrid control" and "displacement control". The hybrid control algorithm enabled the robotics-based spine testing system to apply pure moments to an FSU (in flexion/extension, lateral bending, or axial rotation) in an unconstrained manner through active control of secondary translational/rotational degrees-of-freedom-successfully minimizing coupled forces/moments. The characteristic nonlinear S-shaped curves of the primary moment-rotation responses were consistent with previous reports of the FSU having a region of low stiffness (neutral zone) bounded by regions of increasing stiffness (elastic zone). Direct comparison of "displacement control" and "hybrid control" showed that hybrid control was able to actively minimize off-axis forces and resulted in larger neutral zone and range of motion. Copyright © 2013 Elsevier Ltd. All rights reserved.

  10. Improvement of Adaptive Cruise Control Performance

    Directory of Open Access Journals (Sweden)

    Nakagami Takashi

    2010-01-01

    Full Text Available This paper describes the Adaptive Cruise Control system (ACC, a system which reduces the driving burden on the driver. The ACC system primarily supports four driving modes on the road and controls the acceleration and deceleration of the vehicle in order to maintain a set speed or to avoid a crash. This paper proposes more accurate methods of detecting the preceding vehicle by radar while cornering, with consideration for the vehicle sideslip angle, and also of controlling the distance between vehicles. By making full use of the proposed identification logic for preceding vehicles and path estimation logic, an improvement in driving stability was achieved.

  11. ADAPTIVE CONTROL AND IDENTIFICATION OF CHAOTIC SYSTEMS

    Institute of Scientific and Technical Information of China (English)

    LI ZHI; HAN CHONG-ZHAO

    2001-01-01

    A novel adaptive control and identification on-line method is proposed for a class of chaotic system with uncertain parameters. We prove that, using the presented method, a controller and identifier is developed which can remove chaos in nonlinear systems and make the system asymptotically stabilizing to an arbitrarily desired smooth orbit. And at the same time, estimates to uncertain parameters converge to their true values. The advantage of our method over the existing result is that the controller and identifier is directly constructed by analytic formula without knowing unknown bounds about uncertain parameters in advance. A computer simulation example is given to validate the proposed approach.

  12. An adaptive strategy for controlling chaotic system

    Institute of Scientific and Technical Information of China (English)

    曹一家; 张红先

    2003-01-01

    This paper presents an adaptive strategy for controlling chaotic systems. By employing the phase space reconstruction technique in nonlinear dynamical systems theory, the proposed strategy transforms the nonlinear system into canonical form, and employs a nonlinear observer to estimate the uncertainties and disturbances of the nonlinear system, and then establishes a state-error-like feedback law. The developed control scheme allows chaos control in spite of modeling errors and parametric variations. The effectiveness of the proposed approach has been demonstrated through its applications to two well-known chaotic systems : Duffing oscillator and Rǒssler chaos.

  13. Adaptive rate control on wireless transcoder

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    To guarantee the real-time transmission of a video stream,based on the stochastic optimal control method,a frame layer adaptive rate control algorithm for the wireless transcoder is proposed,which is capable of dynamically determining the transcoder's objective bit rate,according to the bandwidth variation of the wireless channel and the bufier occupancy. Then the transient performance,steady performance,and computational complexity of the algorithm are analyzed.Finally,the experiment results demonstrate that the algorithm can improve the synthetic performance of rate control through the compromise between the end-to-end delay and the playout quality.

  14. An adaptive strategy for controlling chaotic system.

    Science.gov (United States)

    Cao, Yi-Jia; Hang, Hong-Xian

    2003-01-01

    This paper presents an adaptive strategy for controlling chaotic systems. By employing the phase space reconstruction technique in nonlinear dynamical systems theory, the proposed strategy transforms the nonlinear system into canonical form, and employs a nonlinear observer to estimate the uncertainties and disturbances of the nonlinear system, and then establishes a state-error-like feedback law. The developed control scheme allows chaos control in spite of modeling errors and parametric variations. The effectiveness of the proposed approach has been demonstrated through its applications to two well-known chaotic systems: Duffing oscillator and Rössler chaos.

  15. An adaptive strategy for controlling chaotic system

    Institute of Scientific and Technical Information of China (English)

    曹一家; 张红先

    2003-01-01

    This paper presents an adaptive strategy for controlling chaotic systems. By employing the phase space reconstruction technique in nonlinear dynamical systems theory, the proposed strategy transforms the nonlinear system into canonical form, and employs a nonlinear observer to estimate the uncertainties and disturbances of the nonlinear system, and then establishes a state-error-like feedback law. The developed control scheme allows chaos control in spite of modeling errors and parametric variations. The effectiveness of the proposed approach has been demonstrated through its applications to two well-known chaotic systems: Duffing oscillator and Rossler chaos.

  16. Intelligent controller of a flexible hybrid robot machine for ITER assembly and maintenance

    Energy Technology Data Exchange (ETDEWEB)

    Al-saedi, Mazin I., E-mail: mazin.al-saedi@lut.fi; Wu, Huapeng; Handroos, Heikki

    2014-10-15

    Highlights: • Studying flexible multibody dynamic of hybrid parallel robot. • Investigating fuzzy-PD controller to control a hybrid flexible hydraulically driven robot. • Investigating ANFIS-PD controller to control a hybrid flexible robot. Compare to traditional PID this method gives better performance. • Using the equilibrium of reaction forces between the parallel and serial parts of hybrid robot to control the serial part hydraulically driven. - Abstract: The assembly and maintenance of International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. To fulfill the tasks in ITER application, this paper presents a hybrid redundant manipulator with four DOFs provided by serial kinematic axes and six DOFs by parallel mechanism. Thus, in machining, to achieve greater end-effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. In this paper, the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two control schemes have been investigated: (1) fuzzy-PID self tuning controller composed of the conventional PID control and with fuzzy logic; (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel robot based on rod position predictions. The obtained results of the fuzzy-PID and ANFIS-PID self tuning controller can reduce more tracking errors than the conventional PID controller. Subsequently, the serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should

  17. DSP Control of Line Hybrid Active Filter

    DEFF Research Database (Denmark)

    Dan, Stan George; Benjamin, Doniga Daniel; Magureanu, R.;

    2005-01-01

    Active Power Filters have been intensively explored in the past decade. Hybrid active filters inherit the efficiency of passive filters and the improved performance of active filters, and thus constitute a viable improved approach for harmonic compensation. In this paper a parallel hybrid filter ...

  18. A hybrid electromechanical solid state switch for ac power control

    Science.gov (United States)

    1972-01-01

    Bidirectional thyristor coupled to a series of actuator driven electromechanical contacts generates hybrid electromechanical solid state switch for ac power control. Device is useful in power control applications where zero crossover switching is required.

  19. Adaptive tracking control of chaotic systems

    Institute of Scientific and Technical Information of China (English)

    卢钊; 卢和

    2004-01-01

    It is important to develop control techniques able to control not only known chaos but also chaotic systems with unknown parameters. This paper proposes a novel adaptive tracking control approach for identifying the unknown parameters and controlling the chaos, which is not closely related to the particular chaotic system to be controlled. The global uniform boundedness of estimated parameters and the asymptotical stability of the tracking errors are proved by Lyapunov stability theory and LaSalle-Yoshizawa theorem. The suggested method enables stabilization of chaotic motion to a steady state ad well as tracking of any desired trajectory to be achieved in a systematic way. Computer simulation on a complex chaotic system illustrtes the effectiveness of the proposed control method.

  20. Heterosis in locally adapted sorghum genotypes and potential of hybrids for increased productivity in contrasting environments in Ethiopia

    Institute of Scientific and Technical Information of China (English)

    Taye T. Mindaye; Emma S. Mace; Ian D. Godwin; David R. Jordan

    2016-01-01

    Increased productivity in sorghum has been achieved in the developed world using hybrids. Despite their yield advantage, introduced hybrids have not been adopted in Ethiopia due to the lack of adaptive traits, their short plant stature and small grain size. This study was conducted to investigate hybrid performance and the magnitude of heterosis of locally adapted genotypes in addition to introduced hybrids in three contrasting environments in Ethiopia. In total, 139 hybrids, derived from introduced seed parents crossed with locally adapted genotypes and introduced R lines, were evaluated. Overall, the hybrids matured earlier than the adapted parents, but had higher grain yield, plant height, grain number and grain weight in all environments. The lowland adapted hybrids displayed a mean better parent heterosis (BPH) of 19%, equating to 1160 kg ha−1 and a 29%mean increase in grain yield, in addition to increased plant height and grain weight, in comparison to the hybrids derived from the introduced R lines. The mean BPH for grain yield for the highland adapted hybrids was 16%in the highland and 52%in the intermediate environment equating to 698 kg ha−1 and 2031 kg ha−1, respectively, in addition to increased grain weight. The magnitude of heterosis observed for each hybrid group was related to the genetic distance between the parental lines. The majority of hybrids also showed superiority over the standard check varieties. In general, hybrids from locally adapted genotypes were superior in grain yield, plant height and grain weight compared to the high parents and introduced hybrids indicating the potential for hybrids to increase productivity while addressing farmers' required traits.

  1. An Adaptive 6-DOF Tracking Method by Hybrid Sensing for Ultrasonic Endoscopes

    Directory of Open Access Journals (Sweden)

    Chengyang Du

    2014-06-01

    Full Text Available In this paper, a novel hybrid sensing method for tracking an ultrasonic endoscope within the gastrointestinal (GI track is presented, and the prototype of the tracking system is also developed. We implement 6-DOF localization by sensing integration and information fusion. On the hardware level, a tri-axis gyroscope and accelerometer, and a magnetic angular rate and gravity (MARG sensor array are attached at the end of endoscopes, and three symmetric cylindrical coils are placed around patients’ abdomens. On the algorithm level, an adaptive fast quaternion convergence (AFQC algorithm is introduced to determine the orientation by fusing inertial/magnetic measurements, in which the effects of magnetic disturbance and acceleration are estimated to gain an adaptive convergence output. A simplified electro-magnetic tracking (SEMT algorithm for dimensional position is also implemented, which can easily integrate the AFQC’s results and magnetic measurements. Subsequently, the average position error is under 0.3 cm by reasonable setting, and the average orientation error is 1° without noise. If magnetic disturbance or acceleration exists, the average orientation error can be controlled to less than 3.5°.

  2. An adaptive 6-DOF tracking method by hybrid sensing for ultrasonic endoscopes.

    Science.gov (United States)

    Du, Chengyang; Chen, Xiaodong; Wang, Yi; Li, Junwei; Yu, Daoyin

    2014-06-06

    In this paper, a novel hybrid sensing method for tracking an ultrasonic endoscope within the gastrointestinal (GI) track is presented, and the prototype of the tracking system is also developed. We implement 6-DOF localization by sensing integration and information fusion. On the hardware level, a tri-axis gyroscope and accelerometer, and a magnetic angular rate and gravity (MARG) sensor array are attached at the end of endoscopes, and three symmetric cylindrical coils are placed around patients' abdomens. On the algorithm level, an adaptive fast quaternion convergence (AFQC) algorithm is introduced to determine the orientation by fusing inertial/magnetic measurements, in which the effects of magnetic disturbance and acceleration are estimated to gain an adaptive convergence output. A simplified electro-magnetic tracking (SEMT) algorithm for dimensional position is also implemented, which can easily integrate the AFQC's results and magnetic measurements. Subsequently, the average position error is under 0.3 cm by reasonable setting, and the average orientation error is 1° without noise. If magnetic disturbance or acceleration exists, the average orientation error can be controlled to less than 3.5°.

  3. Cooperative Energy Management of Hybrid DC Renewable Grid Using Decentralized Control Strategies

    Directory of Open Access Journals (Sweden)

    Mehrdad Beykverdi

    2016-10-01

    Full Text Available This paper attempted to control a hybrid DC microgrid in islanded operation mode using decentralized power management strategies. Proposed adaptive I/V characteristic for hybrid photovoltaic (PV and battery energy storage system (BESS and wind turbine generator (WTG adapts the distributed energy resources (DER behavior independently in accordance with the load demand. Hence, the PV module can spend its maximum power on load demand and spend the extra power for charging the BESS, which will regulate DC bus voltage and maintain the power balance within the microgrid. When load demand is beyond the maximum generation power of PV unit, WTG will supply the energy shortage. The proposed control system was applied on the DC microgrid in order to achieve control objectives through a decentralized procedure, without telecommunication links. In order to validate the proposed strategies, the control system was implemented on a DC microgrid within MATLAB/SIMULINK, where the simulation results were analyzed and validated.

  4. L1 adaptive control with sliding-mode based adaptive law

    Institute of Scientific and Technical Information of China (English)

    Jie LUO; Chengyu CAO

    2015-01-01

    This paper presents an adaptive control scheme with an integration of sliding mode control into the L1 adaptive control architecture, which provides good tracking performance as well as robustness against matched uncertainties. Sliding mode control is used as an adaptive law in the L1 adaptive control architecture, which is considered as a virtual control of error dynamics between estimated states and real states. Low-pass filtering mechanism in the control law design prevents a discontinuous signal in the adaptive law from appearing in actual control signal while maintaining control accuracy. By using sliding mode control as a virtual control of error dynamics and introducing the low-pass filtered control signal, the chattering effect is eliminated. The performance bounds between the close-loop adaptive system and the closed-loop reference system are characterized in this paper. Numerical simulation is provided to demonstrate the performance of the presented adaptive control scheme.

  5. Adaptive Control for a Spacecraft Robotic Manipulator

    Science.gov (United States)

    1993-12-16

    research relied on restrictive assumptions or approximations including linearization of robot dynamics , decoupling assumption for joint motors and...slow variation of the inertia matrix [Ref. 1] [Ref. 2][Ref. 3] (Ref. 4]. Later research resulted in the linear parameterization of robot dynamics allowing...the adaptive controller to fully account for the non-linear, time- varying and coupled nature of robot dynamics [Ref. 5] [Ref. 61 [Ref. 7

  6. HYBRID CONTROL OF HYDRAULIC PRESS MACHINE BASED ON ROBUST CONTROL

    Institute of Scientific and Technical Information of China (English)

    FANG Yu; YANG Jian; CHAI Xiaodong

    2008-01-01

    A robust control algorithm is proposed to focus on the non-linearity and variables of the hydraulic press machine with the proportional valve. The proposed robust controller does not need to design stable compensator in advance, which is simple in design and has large scope of uncertainty applications. The feedback gains of the proposed robust controller are small, so it is easily implemented in engineering applications. The theoretical and experimental research on the position and speed control of the hydraulic press machine is carried out. The control requirements of the hydraulic press machine during the working process are met in the position and speed at the same time. Experimental results show that the proposed controller has better robustness subject to load variables and adaptability of parameter variations of the hydraulic press machine with the proportional valve.

  7. Controllable hybrid shape of correlation and squeezing

    Science.gov (United States)

    Abdisa, Garuma; Ahmed, Irfan; Wang, Xiuxiu; Liu, Zongchen; Wang, Hongxing; Zhang, Yanpeng

    2016-08-01

    Two- and three-mode correlation and squeezing of spontaneous parametric four-wave mixing (SPFWM) and fourth-order fluorescence (FL) composite signals are investigated theoretically and experimentally in both homonuclear (two-level) and heteronuclearlike (V-type level) molecular systems of P r3 + :YSO. By selecting different time positions, changing the power, and changing the frequency detuning of the laser field, the competition between the composite signals is demonstrated. It is found that as the laser parameters change, the signal evolves from a nonlinear χ(4 ) process resulting in a FL signal to a SPFWM signal (χ(3 ) process). In addition, the competition effect between the signals determines the evolution of the shape of the correlation from a pure sharp to a two-stage (mixed) shape and finally to a pure broad peak amplitude. Furthermore, the signal evolution determines the magnitude of squeezing, which can control the noise level. Such progress may find potential applications in optical hybrid communication and information processing.

  8. Review of hybrid laminar flow control systems

    Science.gov (United States)

    Krishnan, K. S. G.; Bertram, O.; Seibel, O.

    2017-08-01

    The aeronautic community always strived for fuel efficient aircraft and presently, the need for ecofriendly aircraft is even more, especially with the tremendous growth of air traffic and growing environmental concerns. Some of the important drivers for such interests include high fuel prices, less emissions requirements, need for more environment friendly aircraft to lessen the global warming effects. Hybrid laminar flow control (HLFC) technology is promising and offers possibility to achieve these goals. This technology was researched for decades for its application in transport aircraft, and it has achieved a new level of maturity towards integration and safety and maintenance aspects. This paper aims to give an overview of HLFC systems research and associated flight tests in the past years both in the US and in Europe. The review makes it possible to distinguish between the successful approaches and the less successful or outdated approaches in HLFC research. Furthermore, the technology status shall try to produce first estimations regarding the mass, power consumption and performance of HLFC systems as well as estimations regarding maintenance requirements and possible subsystem definitions.

  9. Adaptive traffic control systems for urban networks

    Directory of Open Access Journals (Sweden)

    Radivojević Danilo

    2017-01-01

    Full Text Available Adaptive traffic control systems represent complex, but powerful tool for improvement of traffic flow conditions in locations or zones where applied. Many traffic agencies, especially those that have a large number of signalized intersections with high variability of the traffic demand, choose to apply some of the adaptive traffic control systems. However, those systems are manufactured and offered by multiple vendors (companies that are competing for the market share. Due to that fact, besides the information available from the vendors themselves, or the information from different studies conducted on different continents, very limited amount of information is available about the details how those systems are operating. The reason for that is the protecting of the intellectual property from plagiarism. The primary goal of this paper is to make a brief analysis of the functionalities, characteristics, abilities and results of the most recognized, but also less known adaptive traffic control systems to the professional public and other persons with interest in this subject.

  10. Backstepping fuzzy-neural-network control design for hybrid maglev transportation system.

    Science.gov (United States)

    Wai, Rong-Jong; Yao, Jing-Xiang; Lee, Jeng-Dao

    2015-02-01

    This paper focuses on the design of a backstepping fuzzy-neural-network control (BFNNC) for the online levitated balancing and propulsive positioning of a hybrid magnetic levitation (maglev) transportation system. The dynamic model of the hybrid maglev transportation system including levitated hybrid electromagnets to reduce the suspension power loss and the friction force during linear movement and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics is first constructed. The ultimate goal is to design an online fuzzy neural network (FNN) control methodology to cope with the problem of the complicated control transformation and the chattering control effort in backstepping control (BSC) design, and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. In the proposed BFNNC scheme, an FNN control is utilized to be the major control role by imitating the BSC strategy, and adaptation laws for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. The effectiveness of the proposed control strategy for the hybrid maglev transportation system is verified by experimental results, and the superiority of the BFNNC scheme is indicated in comparison with the BSC strategy and the backstepping particle-swarm-optimization control system in previous research.

  11. An Adaptive and Hybrid Approach for Revisiting the Visibility Pipeline

    Directory of Open Access Journals (Sweden)

    Ícaro Lins Leitão da Cunha

    2016-04-01

    Full Text Available We revisit the visibility problem, which is traditionally known in Computer Graphics and Vision fields as the process of computing a (potentially visible set of primitives in the computational model of a scene. We propose a hybrid solution that uses a dry structure (in the sense of data reduction, a triangulation of the type J1a, to accelerate the task of searching for visible primitives. We came up with a solution that is useful for real-time, on-line, interactive applications as 3D visualization. In such applications the main goal is to load the minimum amount of primitives from the scene during the rendering stage, as possible. For this purpose, our algorithm executes the culling by using a hybrid paradigm based on viewing-frustum, back-face culling and occlusion models. Results have shown substantial improvement over these traditional approaches if applied separately. This novel approach can be used in devices with no dedicated processors or with low processing power, as cell phones or embedded displays, or to visualize data through the Internet, as in virtual museums applications.

  12. Context-Aware Adaptive Hybrid Semantic Relatedness in Biomedical Science

    Science.gov (United States)

    Emadzadeh, Ehsan

    Text mining of biomedical literature and clinical notes is a very active field of research in biomedical science. Semantic analysis is one of the core modules for different Natural Language Processing (NLP) solutions. Methods for calculating semantic relatedness of two concepts can be very useful in solutions solving different problems such as relationship extraction, ontology creation and question / answering [1--6]. Several techniques exist in calculating semantic relatedness of two concepts. These techniques utilize different knowledge sources and corpora. So far, researchers attempted to find the best hybrid method for each domain by combining semantic relatedness techniques and data sources manually. In this work, attempts were made to eliminate the needs for manually combining semantic relatedness methods targeting any new contexts or resources through proposing an automated method, which attempted to find the best combination of semantic relatedness techniques and resources to achieve the best semantic relatedness score in every context. This may help the research community find the best hybrid method for each context considering the available algorithms and resources.

  13. A hybrid Force Position Control for a Upper Limb Rehabilitation Robot of Series Mechanism

    OpenAIRE

    Liu Yali; Ji Linhong

    2016-01-01

    Interactive rehabilitation robot which has better interaction is one main method to improve the patients’ motion performance. The rehabilitation robot developed by Tsinghua University UECM for patients having weakness with shoulder and elbow should be improved by increasing interactive parts to adapt to patients’ state. This paper described one control strategy to increase the interaction between robot and patients. The hybrid force position control for the upper limb rehabilitation robot UEC...

  14. Rail Vehicle Vibrations Control Using Parameters Adaptive PID Controller

    Directory of Open Access Journals (Sweden)

    Muzaffer Metin

    2014-01-01

    Full Text Available In this study, vertical rail vehicle vibrations are controlled by the use of conventional PID and parameters which are adaptive to PID controllers. A parameters adaptive PID controller is designed to improve the passenger comfort by intuitional usage of this method that renews the parameters online and sensitively under variable track inputs. Sinusoidal vertical rail misalignment and measured real rail irregularity are considered as two different disruptive effects of the system. Active vibration control is applied to the system through the secondary suspension. The active suspension application of rail vehicle is examined by using 5-DOF quarter-rail vehicle model by using Manchester benchmark dynamic parameters. The new parameters of adaptive controller are optimized by means of genetic algorithm toolbox of MATLAB. Simulations are performed at maximum urban transportation speed (90 km/h of the rail vehicle with ±5% load changes of rail vehicle body to test the robustness of controllers. As a result, superior performance of parameters of adaptive controller is determined in time and frequency domain.

  15. Durham adaptive optics real-time controller.

    Science.gov (United States)

    Basden, Alastair; Geng, Deli; Myers, Richard; Younger, Eddy

    2010-11-10

    The Durham adaptive optics (AO) real-time controller was initially a proof of concept design for a generic AO control system. It has since been developed into a modern and powerful central-processing-unit-based real-time control system, capable of using hardware acceleration (including field programmable gate arrays and graphical processing units), based primarily around commercial off-the-shelf hardware. It is powerful enough to be used as the real-time controller for all currently planned 8 m class telescope AO systems. Here we give details of this controller and the concepts behind it, and report on performance, including latency and jitter, which is less than 10 μs for small AO systems.

  16. A hybrid adaptive large neighborhood search algorithm applied to a lot-sizing problem

    DEFF Research Database (Denmark)

    Muller, Laurent Flindt; Spoorendonk, Simon

    This paper presents a hybrid of a general heuristic framework that has been successfully applied to vehicle routing problems and a general purpose MIP solver. The framework uses local search and an adaptive procedure which choses between a set of large neighborhoods to be searched. A mixed integer...

  17. Simulation modeling of functional adaptive interference nulling for multibeam hybrid reflector antenna systems

    Science.gov (United States)

    Kartsan, I. N.; Tyapkin, V. N.; Dmitriev, D. D.; Goncharov, A. E.; Zelenkov, P. V.; Kovalev, I. V.

    2016-11-01

    This paper considers the simulation of adaptive nulling mechanism patterns in hybrid reflector antenna systems with a 19-element feed element, in which the radiation pattern is formed as a cluster. Incidents of broadband and narrowband interference are studied in the article.

  18. Hybrid Dislocated Control and General Hybrid Projective Dislocated Synchronization for Memristor Chaotic Oscillator System

    Directory of Open Access Journals (Sweden)

    Junwei Sun

    2014-01-01

    Full Text Available Some important dynamical properties of the memristor chaotic oscillator system have been studied in the paper. A novel hybrid dislocated control method and a general hybrid projective dislocated synchronization scheme have been realized for memristor chaotic oscillator system. The paper firstly presents hybrid dislocated control method for stabilizing chaos to the unstable equilibrium point. Based on the Lyapunov stability theorem, general hybrid projective dislocated synchronization has been studied for the drive memristor chaotic oscillator system and the same response memristor chaotic oscillator system. For the different dimensions, the memristor chaotic oscillator system and the other chaotic system have realized general hybrid projective dislocated synchronization. Numerical simulations are given to show the effectiveness of these methods.

  19. Application of Adaptive Fuzzy PID Leveling Controller

    Directory of Open Access Journals (Sweden)

    Ke Zhang

    2013-05-01

    Full Text Available Aiming at the levelling precision, speed and stability of suspended access platform, this paper put forward a new adaptive fuzzy PID control levelling algorithm by fuzzy theory. The method is aided design by using the SIMULINK toolbox of MATLAB, and setting the membership function and the fuzzy-PID control rule. The levelling algorithm can real-time adjust the three parameters of PID according to the fuzzy rules due to the current state. It is experimented, which is verified the algorithm have better stability and dynamic performance.

  20. Adaptive Fuzzy Knowledge Based Controller for Autonomous Robot Motion Control

    Directory of Open Access Journals (Sweden)

    Mbaitiga Zacharie

    2010-01-01

    Full Text Available Problem statement: Research into robot motion control offers research opportunities that will change scientists and engineers for year to come. Autonomous robots are increasingly evident in many aspects of industry and everyday life and a robust robot motion control can be used for homeland security and many consumer applications. This study discussed the adaptive fuzzy knowledge based controller for robot motion control in indoor and outdoor environment. Approach: The proposed method consisted of two components: the process monitor that detects changes in the process characteristics and the adaptation mechanism that used information passed to it by the process monitor to update the controller parameters. Results: Experimental evaluation had been done in both indoor and outdoor environment where the robot communicates with the base station through its Wireless fidelity antenna and the performance monitor used a set of five performance criteria to access the fuzzy knowledge based controller. Conclusion: The proposed method had been found to be robust.

  1. When is a Parameterized Controller Suitable for Adaptive Control?

    OpenAIRE

    2014-01-01

    In this paper we investigate when a parameterized controller, designed for a plant depending on unknown parameters, admits a realization which is independent of the parameters. It is argued that adaptation is unnecessary for this class of parameterized controllers. We prove that standard model reference controllers (state and output--feedback) for linear time invariant systems with a filter at the plant input admit a parameter independent realization. Although the addition of such a filter is...

  2. Control system for a hybrid powertrain system

    Energy Technology Data Exchange (ETDEWEB)

    Naqvi, Ali K.; Demirovic, Besim; Gupta, Pinaki; Kaminsky, Lawrence A.

    2014-09-09

    A vehicle includes a powertrain with an engine, first and second torque machines, and a hybrid transmission. A method for operating the vehicle includes operating the engine in an unfueled state, releasing an off-going clutch which when engaged effects operation of the hybrid transmission in a first continuously variable mode, and applying a friction braking torque to a wheel of the vehicle to compensate for an increase in an output torque of the hybrid transmission resulting from releasing the off-going clutch. Subsequent to releasing the off-going clutch, an oncoming clutch which when engaged effects operation of the hybrid transmission in a second continuously variable mode is synchronized. Subsequent to synchronization of the oncoming clutch, the oncoming clutch is engaged.

  3. Free chattering hybrid sliding mode control for a class of non-linear systems

    DEFF Research Database (Denmark)

    Khooban, Mohammad-Hassan; Niknam, Taher; Blaabjerg, Frede

    2016-01-01

    In current study, in order to find the control of general uncertain nonlinear systems, a new optimal hybrid control approach called Optimal General Type II Fuzzy Sliding Mode (OGT2FSM) is presented. In order to estimate unknown nonlinear activities in monitoring dynamic uncertainties, the benefits...... on the same topic, which are an Adaptive Interval Type-2 Fuzzy Logic Controller (AGT2FLC) and Conventional Sliding Mode Controller (CSMC), to assess the efficiency of the suggested controller. The suggested control scheme is finally used to the Electric Vehicles type as a case study. Results of simulation...

  4. Dopamine-induced silica-polydopamine hybrids with controllable morphology.

    Science.gov (United States)

    Ho, Chia-Che; Ding, Shinn-Jyh

    2014-04-01

    Novel silica-polydopamine hybrids, with controllable morphology, are facilely fabricated in an emulsion system consisting of tetraethyl orthosilicate, dopamine, water, and NaOH under weakly basic conditions (pH 8.5-10). An increase in initial pH favors the formation of nano-structured spherical silica-PDA hybrids from a flocculated structure.

  5. Investigating Transgenic Corn Hybrids as a Method for Mycotoxin Control

    Science.gov (United States)

    Transgenic Bt corn hybrids have been available for more than 10 years and are known to control specific insects. More recently, so-called “stacked-gene” hybrids, have been released with multiple insect resistance genes and genes for herbicide resistance, resulting in up to 6 traits per plant. Beca...

  6. Supermarket Refrigeration System - Benchmark for Hybrid System Control

    DEFF Research Database (Denmark)

    Sloth, Lars Finn; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal

    2007-01-01

    This paper presents a supermarket refrigeration system as a benchmark for development of new ideas and a comparison of methods for hybrid systems' modeling and control. The benchmark features switch dynamics and discrete valued input making it a hybrid system, furthermore the outputs are subjected...

  7. Hybrid viscous damper with filtered integral force feedback control

    DEFF Research Database (Denmark)

    Høgsberg, Jan; Brodersen, Mark L.

    2016-01-01

    In hybrid damper systems active control devices are usually introduced to enhance the performance of otherwise passive dampers. In the present paper a hybrid damper concept is comprised of a passive viscous damper placed in series with an active actuator and a force sensor. The actuator motion...

  8. Neural Control Adaptation to Motor Noise Manipulation

    Directory of Open Access Journals (Sweden)

    Christopher J Hasson

    2016-03-01

    Full Text Available Antagonistic muscular co-activation can compensate for movement variability induced by motor noise at the expense of increased energetic costs. Greater antagonistic co-activation is commonly observed in older adults, which could be an adaptation to increased motor noise. The present study tested this hypothesis by manipulating motor noise in twelve young subjects while they practiced a goal-directed task using a myoelectric virtual arm, which was controlled by their biceps and triceps muscle activity. Motor noise was increased by increasing the coefficient of variation of the myoelectric signals. As hypothesized, subjects adapted by increasing antagonistic co-activation, and this was associated with reduced noise-induced performance decrements. A second hypothesis was that a virtual decrease in motor noise, achieved by smoothing the myoelectric signals, would have the opposite effect: co-activation would decrease and motor performance would improve. However, the results showed that a decrease in noise made performance worse instead of better, with no change in co-activation. Overall, these findings suggest that the nervous system adapts to virtual increases in motor noise by increasing antagonistic co-activation, and this preserves motor performance. Reducing noise may have failed to benefit performance due to characteristics of the filtering process itself, e.g. delays are introduced and muscle activity bursts are attenuated. The observed adaptations to increased noise may explain in part why older adults and many patient populations have greater antagonistic co-activation, which could represent an adaptation to increased motor noise, along with a desire for increased joint stability.

  9. Hybrid Testing of Composite Structures with Single-Axis Control

    DEFF Research Database (Denmark)

    Waldbjørn, Jacob Paamand; Høgh, Jacob Herold; Stang, Henrik

    2013-01-01

    a hybrid testing platform is introduced for single-component hybrid testing. In this case, the boundary between the numerical model and experimental setup is defined by multiple Degrees-Of-Freedoms (DOFs) which highly complicate the transferring of response between the two substructures. Digital Image......Hybrid testing is a substructuring technique where a structure is emulated by modelling a part of it in a numerical model while testing the remainder experimentally. Previous research in hybrid testing has been performed on multi-component structures e.g. damping fixtures, however in this paper...... Correlation (DIC) is therefore implemented for displacement control of the experimental setup. The hybrid testing setup was verified on a multicomponent structure consisting of a beam loaded in three point bending and a numerical structure of a frame. Furthermore, the stability of the hybrid testing loop...

  10. Hybrid Force Motion Synchronization Control of Robot Manipulators

    OpenAIRE

    Fikkan, Kristoffer

    2010-01-01

    The main objective of this thesis was to combine the theory on synchronization of robot manipulators with the concept of hybrid force/motion control; resulting in a controller capable of following both the trajectory of another robot and a desired force trajectory at the same time. This report includes a short introduction to synchronization theory for robot manipulators, and a more thorough summary of existing hybrid control schemes. An intuitive method for describing constraints caused...

  11. Extinction controlled adaptive phase-mask coronagraph

    CERN Document Server

    Bourget, P; Mawet, D; Haguenauer, P

    2012-01-01

    Context. Phase-mask coronagraphy is advantageous in terms of inner working angle and discovery space. It is however still plagued by drawbacks such as sensitivity to tip-tilt errors and chromatism. A nulling stellar coronagraph based on the adaptive phase-mask concept using polarization interferometry is presented in this paper. Aims. Our concept aims at dynamically and achromatically optimizing the nulling efficiency of the coronagraph, making it more immune to fast low-order aberrations (tip-tilt errors, focus, ...). Methods. We performed numerical simulations to demonstrate the value of the proposed method. The active control system will correct for the detrimental effects of image instabilities on the destructive interference. The mask adaptability both in size, phase and amplitude also compensates for manufacturing errors of the mask itself, and potentially for chromatic effects. Liquid-crystal properties are used to provide variable transmission of an annulus around the phase mask, but also to achieve t...

  12. MODELLING AND TORQUE TRACKING CONTROL OF PERMANENT MAGNET SYNCHRONOUS MOTOR FOR HYBRID ELECTRIC VEHICLES

    Directory of Open Access Journals (Sweden)

    Mohd Sabirin Rahmat

    2013-06-01

    Full Text Available This paper presents a detailed derivation of a permanent magnet synchronous motor, which may be used as the electric power train for the simulation of a hybrid electric vehicle. A torque tracking control of the permanent magnet synchronous motor is developed by using an adaptive proportional-integral-derivative controller. Several tests such as step function, saw tooth function, sine wave function and square wave function were used in order to examine the performance of the proposed control structure. The effectiveness of the proposed controller was verified and compared with the same system under a PID controller and the desired control. The result of the observations shows that the proposed control structure proves to be effective in tracking the desired torque with a good response. The findings of this study will be considered in the design, optimisation and experimentation of series hybrid electric vehicle.

  13. Adaptive control of force microscope cantilever dynamics

    Science.gov (United States)

    Jensen, S. E.; Dougherty, W. M.; Garbini, J. L.; Sidles, J. A.

    2007-09-01

    Magnetic resonance force microscopy (MRFM) and other emerging scanning probe microscopies entail the detection of attonewton-scale forces. Requisite force sensitivities are achieved through the use of soft force microscope cantilevers as high resonant-Q micromechanical oscillators. In practice, the dynamics of these oscillators are greatly improved by the application of force feedback control computed in real time by a digital signal processor (DSP). Improvements include increased sensitive bandwidth, reduced oscillator ring up/down time, and reduced cantilever thermal vibration amplitude. However, when the cantilever tip and the sample are in close proximity, electrostatic and Casimir tip-sample force gradients can significantly alter the cantilever resonance frequency, foiling fixed-gain narrow-band control schemes. We report an improved, adaptive control algorithm that uses a Hilbert transform technique to continuously measure the vibration frequency of the thermally-excited cantilever and seamlessly adjust the DSP program coefficients. The closed-loop vibration amplitude is typically 0.05 nm. This adaptive algorithm enables narrow-band formally-optimal control over a wide range of resonance frequencies, and preserves the thermally-limited signal to noise ratio (SNR).

  14. Temperature uniformity control in RTP using multivariable adaptive control

    Energy Technology Data Exchange (ETDEWEB)

    Morales, S.; Dahhou, B.; Dilhac, J.M. [Centre National de la Recherche Scientifique (CNRS), 31 - Toulouse (France); Morales, S.

    1995-12-31

    In Rapid Thermal Processing (RTP) control of the wafer temperature during all processing to get good trajectory following, together with spatial temperature uniformity, is essential. It is well know as RTP process is nonlinear, classical control laws are not very efficient. In this work, the authors aim at studying the applicability of MIMO (Multiple Inputs Multiple Outputs) adaptive techniques to solve the temperature control problems in RTP. A multivariable linear discrete time CARIMA (Controlled Auto Regressive Integrating Moving Average) model of the highly non-linear process is identified on-line using a robust identification technique. The identified model is used to compute an infinite time LQ (Linear Quadratic) based control law, with a partial state reference model. This reference model smooths the original setpoint sequence, and at the same time gives a tracking capability to the LQ control law. After an experimental open-loop investigation, the results of the application of the adaptive control law are presented. Finally, some comments on the future difficulties and developments of the application of adaptive control in RTP are given. (author) 13 refs.

  15. High Precision Motion Control of Hybrid Five-Bar Mechanism with an Intelligent Control

    Institute of Scientific and Technical Information of China (English)

    ZHANG Ke; WANG Sheng-ze

    2009-01-01

    Hybrid mechanism is a new type of planar controllable mechanism. Position control accuracy of system determines the output acctracy of the mechanism In order to achieve the desired high accuracy, nonlinear factors as friction must be accurately compensated in the real-time servo control algarithm. In this paper, the model of a hybrid flve-bar mechanism is introduced In terms of the characteristics of the hybrid mechanism, a hybrid intelligent control algorithm based on proportional-integral-derivative(PID) control and cerebellar model articulation control techniques was presented and used to perform control of hybrid five-bar mechanism for the first time. The simulation results show that the hybrid control method can improve the control effect remarkably, compared with the traditional PID control strategy.

  16. Evolutionary design of discrete controllers for hybrid mechatronic systems

    DEFF Research Database (Denmark)

    Dupuis, Jean-Francois; Fan, Zhun; Goodman, Erik

    2015-01-01

    This paper investigates the issue of evolutionary design of controllers for hybrid mechatronic systems. Finite State Automaton (FSA) is selected as the representation for a discrete controller due to its interpretability, fast execution speed and natural extension to a statechart, which is very...... popular in industrial applications. A case study of a two-tank system is used to demonstrate that the proposed evolutionary approach can lead to a successful design of an FSA controller for the hybrid mechatronic system, represented by a hybrid bond graph. Generalisation of the evolved FSA controller...... of the evolutionary design of controllers for hybrid mechatronic systems. Finally, some important future research directions are pointed out, leading to the major work of the succeeding part of the research....

  17. Research on Adaptive Dual-Mode Switch Control Strategy for Vehicle Maglev Flywheel Battery

    Directory of Open Access Journals (Sweden)

    Hui Gao

    2015-01-01

    Full Text Available Because of the jamming signal is real-time changeable and control algorithm cannot timely tracking control flywheel rotor, this paper takes vehicle maglev flywheel battery as the research object. One kind of dual-model control strategy is developed based on the analysis of the vibration response impact of the flywheel battery control system. In view of the complex foundation vibration problems of electric vehicles, the nonlinear dynamic simulation model of vehicle maglev flywheel battery is solved. Through analyzing the nonlinear vibration response characteristics, one kind of dual-mode adaptive hybrid control strategy based on H∞ control and unbalance displacement feed-forward compensation control is presented and a real-time switch controller is designed. The reliable hybrid control is implemented, and the stability in the process of real-time switch is solved. The results of this project can provide important basic theory support for the research of vehicle maglev flywheel battery control system.

  18. A Methodology for Investigating Adaptive Postural Control

    Science.gov (United States)

    McDonald, P. V.; Riccio, G. E.

    1999-01-01

    Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of

  19. A Methodology for Investigating Adaptive Postural Control

    Science.gov (United States)

    McDonald, P. V.; Riccio, G. E.

    1999-01-01

    Our research on postural control and human-environment interactions provides an appropriate scientific foundation for understanding the skill of mass handling by astronauts in weightless conditions (e.g., extravehicular activity or EVA). We conducted an investigation of such skills in NASA's principal mass-handling simulator, the Precision Air-Bearing Floor, at the Johnson Space Center. We have studied skilled movement-body within a multidisciplinary context that draws on concepts and methods from biological and behavioral sciences (e.g., psychology, kinesiology and neurophysiology) as well as bioengineering. Our multidisciplinary research has led to the development of measures, for manual interactions between individuals and the substantial environment, that plausibly are observable by human sensory systems. We consider these methods to be the most important general contribution of our EVA investigation. We describe our perspective as control theoretic because it draws more on fundamental concepts about control systems in engineering than it does on working constructs from the subdisciplines of biomechanics and motor control in the bio-behavioral sciences. At the same time, we have attempted to identify the theoretical underpinnings of control-systems engineering that are most relevant to control by human beings. We believe that these underpinnings are implicit in the assumptions that cut across diverse methods in control-systems engineering, especially the various methods associated with "nonlinear control", "fuzzy control," and "adaptive control" in engineering. Our methods are based on these theoretical foundations rather than on the mathematical formalisms that are associated with particular methods in control-systems engineering. The most important aspects of the human-environment interaction in our investigation of mass handling are the functional consequences that body configuration and stability have for the pick up of information or the achievement of

  20. Design of Magnetic Flux Feedback Controller in Hybrid Suspension System

    Directory of Open Access Journals (Sweden)

    Wenqing Zhang

    2013-01-01

    Full Text Available Hybrid suspension system with permanent magnet and electromagnet consumes little power consumption and can realize larger suspension gap. But realizing stable suspension of hybrid magnet is a tricky problem in the suspension control sphere. Considering from this point, we take magnetic flux signal as a state variable and put this signal back to suspension control system. So we can get the hybrid suspension mathematical model based on magnetic flux signal feedback. By application of MIMO feedback linearization theory, we can further realize linearization of the hybrid suspension system. And then proportion, integral, differentiation, magnetic flux density B (PIDB controller is designed. Some hybrid suspension experiments have been done on CMS04 magnetic suspension bogie of National University of Defense Technology (NUDT in China. The experiments denote that the new hybrid suspension control algorithm based on magnetic flux signal feedback designed in this paper has more advantages than traditional position-current double cascade control algorithm. Obviously, the robustness and stability of hybrid suspension system have been enhanced.

  1. Optimal Design and Hybrid Control for the Electro-Hydraulic Dual-Shaking Table System

    Directory of Open Access Journals (Sweden)

    Lianpeng Zhang

    2016-08-01

    Full Text Available This paper is to develop an optimal electro-hydraulic dual-shaking table system with high waveform replication precision. The parameters of hydraulic cylinders, servo valves, hydraulic supply power and gravity balance system are designed and optimized in detail. To improve synchronization and tracking control precision, a hybrid control strategy is proposed. The cross-coupled control using a novel based on sliding mode control based on adaptive reaching law (ASMC, which can adaptively tune the parameters of sliding mode control (SMC, is proposed to reduce the synchronization error. To improve the tracking performance, the observer-based inverse control scheme combining the feed-forward inverse model controller and disturbance observer is proposed. The system model is identified applying the recursive least squares (RLS algorithm and then the feed-forward inverse controller is designed based on zero phase error tracking controller (ZPETC technique. To compensate disturbance and model errors, disturbance observer is used cooperating with the designed inverse controller. The combination of the novel ASMC cross-coupled controller and proposed observer-based inverse controller can improve the control precision noticeably. The dual-shaking table experiment system is built and various experiments are performed. The experimental results indicate that the developed system with the proposed hybrid control strategy is feasible and efficient and can reduce the tracking errors to 25% and synchronization error to 16% compared with traditional control schemes.

  2. Control approach for comfortable power shifting in hybrid transmissions - ML 450 hybrid

    Energy Technology Data Exchange (ETDEWEB)

    Saenger Zetina, Siegfried; Neiss, Konstantin [Daimler AG, Hybrid Development Center, Troy, MI (United States)

    2008-07-01

    The comfortable shifting control in a luxury class vehicle is extremely important, due to competitive automatic transmissions with torque converters; clutch automated manual transmissions and dual clutch transmissions. Hybrid transmissions play a key role in comfort and performance enhancement while at the same time being fuel efficient with the aid of electric machines and battery packs. Here, the alternative to conventional add-on hybrid power head transmissions: the power split hybrid transmission is studied. As a practical example, the Two Mode of the Hybrid Development Center is used within the ML450 Hybrid. For achieving a smooth shifting, there are model based algorithms needed. As objective measure to evaluate the shifting the VDV (Vibration Dose Value) is used. (orig.)

  3. Blowdown wind tunnel control using an adaptive fuzzy PI controller

    Directory of Open Access Journals (Sweden)

    Corneliu Andrei NAE

    2013-09-01

    Full Text Available The paper presents an approach towards the control of a supersonic blowdown wind tunnel plant (as evidenced by experimental data collected from “INCAS Supersonic Blowdown Wind Tunnel” using a PI type controller. The key to maintain the imposed experimental conditions is the control of the air flow using the control valve of the plant. A proposed mathematical model based on the control valve will be analyzed using the PI controller. This control scheme will be validated using experimental data collected from real test cases. In order to improve the control performances an adaptive fuzzy PI controller will be implemented in SIMULINK in the present paper. The major objective is to reduce the transient regimes and the global reduction of the start-up loads on the models during this phase.

  4. Adaptive Control and Synchronization of the Shallow Water Model

    Directory of Open Access Journals (Sweden)

    P. Sangapate

    2012-01-01

    Full Text Available The shallow water model is one of the important models in dynamical systems. This paper investigates the adaptive chaos control and synchronization of the shallow water model. First, adaptive control laws are designed to stabilize the shallow water model. Then adaptive control laws are derived to chaos synchronization of the shallow water model. The sufficient conditions for the adaptive control and synchronization have been analyzed theoretically, and the results are proved using a Barbalat's Lemma.

  5. Nonlinear Adaptive PID Control for Greenhouse Environment Based on RBF Network

    Directory of Open Access Journals (Sweden)

    Guanghui Li

    2012-04-01

    Full Text Available This paper presents a hybrid control strategy, combining Radial Basis Function (RBF network with conventional proportional, integral, and derivative (PID controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production.

  6. Nonlinear adaptive PID control for greenhouse environment based on RBF network.

    Science.gov (United States)

    Zeng, Songwei; Hu, Haigen; Xu, Lihong; Li, Guanghui

    2012-01-01

    This paper presents a hybrid control strategy, combining Radial Basis Function (RBF) network with conventional proportional, integral, and derivative (PID) controllers, for the greenhouse climate control. A model of nonlinear conservation laws of enthalpy and matter between numerous system variables affecting the greenhouse climate is formulated. RBF network is used to tune and identify all PID gain parameters online and adaptively. The presented Neuro-PID control scheme is validated through simulations of set-point tracking and disturbance rejection. We compare the proposed adaptive online tuning method with the offline tuning scheme that employs Genetic Algorithm (GA) to search the optimal gain parameters. The results show that the proposed strategy has good adaptability, strong robustness and real-time performance while achieving satisfactory control performance for the complex and nonlinear greenhouse climate control system, and it may provide a valuable reference to formulate environmental control strategies for actual application in greenhouse production.

  7. Adaptive, Active and Multifunctional Composite and Hybrid Materials Program: Composite and Hybrid Materials ERA

    Science.gov (United States)

    2014-04-01

    16 4.2.4.3 Fabrication and Modeling of Rubber Muscle Actuators ..........17 4.2.4.4 Modeling of Power Response of SMP/SMA...Processing of BMI/Preceramic Polymer Blends .................................28 4.9 Task 9.0 Hybrid Material Processing and Fabrication...electrical stimulus, similar in action to the natural response of the conformation of a bird wing during flight vs. takeoff or landing, a muscle pair

  8. HYBRID FUZZY CONTROL FOR ELECTRO-HYDRAULIC ACTIVE DAMPING SUSPENSION

    Institute of Scientific and Technical Information of China (English)

    2002-01-01

    A new control scheme, the hybrid fuzzy control method, for active damping suspension system is presented. The scheme is the result of effective combination of the statistical optimal control method based on the statistical property of suspension system, with the bang-bang control method based on the real-time characteristics of suspension system. Computer simulations are performed to compare the effectiveness of hybrid fuzzy control scheme with that of optimal damping control, bang-bang control, and passive suspension. It takes the effects of time-variant factors into full account. The superiority of the proposed hybrid fuzzy control scheme for active damping suspension to the passive suspension is verified in the experiment study.

  9. Stochastic Optimal Control for Series Hybrid Electric Vehicles

    Energy Technology Data Exchange (ETDEWEB)

    Malikopoulos, Andreas [ORNL

    2013-01-01

    Increasing demand for improving fuel economy and reducing emissions has stimulated significant research and investment in hybrid propulsion systems. In this paper, we address the problem of optimizing online the supervisory control in a series hybrid configuration by modeling its operation as a controlled Markov chain using the average cost criterion. We treat the stochastic optimal control problem as a dual constrained optimization problem. We show that the control policy that yields higher probability distribution to the states with low cost and lower probability distribution to the states with high cost is an optimal control policy, defined as an equilibrium control policy. We demonstrate the effectiveness of the efficiency of the proposed controller in a series hybrid configuration and compare it with a thermostat-type controller.

  10. Hybrid stabilizing control on a real mobile robot

    NARCIS (Netherlands)

    Oelen, Wilco; Berghuis, Harry; Nijmeijer, Henk; Canudas de Wit, Carlos

    1995-01-01

    To establish empirical verification of a stabilizing controller for nonholonomic systems, the authors implement a hybrid control concept on a 2-DOF mobile robot. Practical issues of velocity control are also addressed through a velocity controller which transforms the mobile robot to a new system wi

  11. Vegetative and adaptive traits predict different outcomes for restoration using hybrids

    Directory of Open Access Journals (Sweden)

    Philip Crystal

    2016-11-01

    Full Text Available Abstract – Hybridization has been implicated as a driver of speciation, extinction, and invasiveness, but can also provide resistant breeding stock following epidemics. However, evaluating the appropriateness of hybrids for use in restoration programs is difficult. Past the F1 generation, the proportion of a progenitor’s genome can vary widely, as can the combinations of parental genomes. Detailed genetic analysis can reveal this information, but cannot expose phenotypic alterations due to heterosis, transgressive traits, or changes in metabolism or development. In addition, because evolution is often driven by extreme individuals, decisions based on phenotypic averages of hybrid classes may have unintended results. We demonstrate a strategy to evaluate hybrids for use in restoration by visualizing hybrid phenotypes across selected groups of traits relative to both progenitor species. Specifically, we used discriminant analysis to differentiate among butternut (Juglans cinerea L., black walnut (J. nigra L., and Japanese walnut (J. ailantifolia Carr. var. cordiformis using vegetative characters and then with functional adaptive traits associated with seedling performance. When projected onto the progenitor trait space, naturally occurring hybrids (J. ×bixbyi Rehd. between butternut and Japanese walnut showed introgression towards Japanese walnut at vegetative characters but exhibited a hybrid swarm at functional traits. Both results indicate that hybrids have morphological and ecological phenotypes that distinguish them from butternut, demonstrating a lack of ecological equivalency that should not be carried into restoration breeding efforts. Despite these discrepancies, some hybrids were projected into the space occupied by butternut seedlings’ 95% confidence ellipse, signifying that some hybrids were similar at the measured traits. Determining how to consistently identify these individuals is imperative for future breeding and species

  12. Control of DNA hybridization by photoswitchable molecular glue.

    Science.gov (United States)

    Dohno, Chikara; Nakatani, Kazuhiko

    2011-12-01

    Hybridization of DNA is one of the most intriguing events in molecular recognition and is essential for living matter to inherit life beyond generations. In addition to the function of DNA as genetic material, DNA hybridization is a key to control the function of DNA-based materials in nanoscience. Since the hybridization of two single stranded DNAs is a thermodynamically favorable process, dissociation of the once formed DNA duplex is normally unattainable under isothermal conditions. As the progress of DNA-based nanoscience, methodology to control the DNA hybridization process has become increasingly important. Besides many reports using the chemically modified DNA for the regulation of hybridization, we focused our attention on the use of a small ligand as the molecular glue for the DNA. In 2001, we reported the first designed molecule that strongly and specifically bound to the mismatched base pairs in double stranded DNA. Further studies on the mismatch binding molecules provided us a key discovery of a novel mode of the binding of a mismatch binding ligand that induced the base flipping. With these findings we proposed the concept of molecular glue for DNA for the unidirectional control of DNA hybridization and, eventually photoswitchable molecular glue for DNA, which enabled the bidirectional control of hybridization under photoirradiation. In this tutorial review, we describe in detail how we integrated the mismatch binding ligand into photoswitchable molecular glue for DNA, and the application and perspective in DNA-based nanoscience.

  13. Adaptive Control Using Residual Mode Filters Applied to Wind Turbines

    Science.gov (United States)

    Frost, Susan A.; Balas, Mark J.

    2011-01-01

    Many dynamic systems containing a large number of modes can benefit from adaptive control techniques, which are well suited to applications that have unknown parameters and poorly known operating conditions. In this paper, we focus on a model reference direct adaptive control approach that has been extended to handle adaptive rejection of persistent disturbances. We extend this adaptive control theory to accommodate problematic modal subsystems of a plant that inhibit the adaptive controller by causing the open-loop plant to be non-minimum phase. We will augment the adaptive controller using a Residual Mode Filter (RMF) to compensate for problematic modal subsystems, thereby allowing the system to satisfy the requirements for the adaptive controller to have guaranteed convergence and bounded gains. We apply these theoretical results to design an adaptive collective pitch controller for a high-fidelity simulation of a utility-scale, variable-speed wind turbine that has minimum phase zeros.

  14. Longitudinal Control Strategy for Vehicle Adaptive Cruise Control Systems

    Institute of Scientific and Technical Information of China (English)

    WU Li-jun; LIU Zhao-du; MA Yue-feng

    2007-01-01

    A new longitudinal control strategy for vehicle adaptive cruise control (ACC) systems is presented.The running relationship between the ACC vehicle and the detected target vehicle is described by the relative velocity and the deviation between the actual headway distance and the prescribed safety distance.Based on this,two state space models are built and the linear quadratic optimal control theory is used to yield desired velocity for the ACC-equipped vehicle when with the target vehicle detected.By switching among four control modes,the desired velocity profile is designed to deal with different running situations.A velocity controller,which includes a PID controller for throttle openness and a neural network controller for brake application,is developed to achieve the desired velocity profile.The proposed control strategy is applied to a non-linear vehicle model in a simulation environment and is shown to provide the ACC vehicle comfortable ride and satisfying safety.

  15. Hybrid multiscale simulation of a mixing-controlled reaction

    Energy Technology Data Exchange (ETDEWEB)

    Scheibe, Timothy D.; Schuchardt, Karen L.; Agarwal, Khushbu; Chase, Jared M.; Yang, Xiaofan; Palmer, Bruce J.; Tartakovsky, Alexandre M.; Elsethagen, Todd O.; Redden, George D.

    2015-09-01

    Continuum-scale models have been used to study subsurface flow, transport, and reactions for many years but lack the capability to resolve fine-grained processes. Recently, pore-scale models, which operate at scales of individual soil grains, have been developed to more accurately model and study pore-scale phenomena, such as mineral precipitation and dissolution reactions, microbially-mediated surface reactions, and other complex processes. However, these highly-resolved models are prohibitively expensive for modeling domains of sizes relevant to practical problems. To broaden the utility of pore-scale models for larger domains, we developed a hybrid multiscale model that initially simulates the full domain at the continuum scale and applies a pore-scale model only to areas of high reactivity. Since the location and number of pore-scale model regions in the model varies as the reactions proceed, an adaptive script defines the number and location of pore regions within each continuum iteration and initializes pore-scale simulations from macroscale information. Another script communicates information from the pore-scale simulation results back to the continuum scale. These components provide loose coupling between the pore- and continuum-scale codes into a single hybrid multiscale model implemented within the SWIFT workflow environment. In this paper, we consider an irreversible homogenous bimolecular reaction (two solutes reacting to form a third solute) in a 2D test problem. This paper is focused on the approach used for multiscale coupling between pore- and continuum-scale models, application to a realistic test problem, and implications of the results for predictive simulation of mixing-controlled reactions in porous media. Our results and analysis demonstrate that loose coupling provides a feasible, efficient and scalable approach for multiscale subsurface simulations.

  16. Predictive cruise control in hybrid electric vehicles

    NARCIS (Netherlands)

    Keulen, T. van; Naus, M.J.G.; Jager, B. de; Molengraft, G.J.L. van de; Steinbuch, M.; Aneke, N.P.I.

    2009-01-01

    Deceleration rates have considerable influence on the fuel economy of hybrid electric vehicles. Given the vehicle characteristics and actual/measured operating conditions, as well as upcoming route information, optimal velocity trajectories can be constructed that maximize energy recovery. To suppor

  17. A hybrid method for optimization of the adaptive Goldstein filter

    Science.gov (United States)

    Jiang, Mi; Ding, Xiaoli; Tian, Xin; Malhotra, Rakesh; Kong, Weixue

    2014-12-01

    The Goldstein filter is a well-known filter for interferometric filtering in the frequency domain. The main parameter of this filter, alpha, is set as a power of the filtering function. Depending on it, considered areas are strongly or weakly filtered. Several variants have been developed to adaptively determine alpha using different indicators such as the coherence, and phase standard deviation. The common objective of these methods is to prevent areas with low noise from being over filtered while simultaneously allowing stronger filtering over areas with high noise. However, the estimators of these indicators are biased in the real world and the optimal model to accurately determine the functional relationship between the indicators and alpha is also not clear. As a result, the filter always under- or over-filters and is rarely correct. The study presented in this paper aims to achieve accurate alpha estimation by correcting the biased estimator using homogeneous pixel selection and bootstrapping algorithms, and by developing an optimal nonlinear model to determine alpha. In addition, an iteration is also merged into the filtering procedure to suppress the high noise over incoherent areas. The experimental results from synthetic and real data show that the new filter works well under a variety of conditions and offers better and more reliable performance when compared to existing approaches.

  18. Yield stability and adaptability of maize hybrids based on GGE biplot analysis characteristics

    Directory of Open Access Journals (Sweden)

    Marcio Balestre

    2009-01-01

    Full Text Available The objective of this study was to evaluate stability and adaptability of the grain yield of commercial intervarietalmaize hybrids by the GGE (Genotype and Genotype by Environment Interaction biplot and AMMI (Additive Main Effects andMultiplicative Interaction analyses. Two intervarietal hybrids (BIO 2 and BIO4 were evaluated together with single, doubleand three-way cross hybrids. The performance of the intervarietal hybrid BIO 4 was superior to all double and three-waycross hybrids and outmatched the single-cross hybrids by 43%. In terms of stability, BIO 2 was more stable than BIO4, whichis desirable, but biological stability, which is not necessarily desirable, was also observed, since the yield was below theenvironmental mean. The graphical GGE biplot analysis was superior to the AMMI1 since a greater portion of the sum ofsquares of GE and G+GE was captured and the predictive accuracy was higher. On the other hand, the AMMI2 graphoutperformed the GGE biplot in predictive accuracy and explanation of G + GE and GE, although the difference in accuracywas smaller than between GGE2 and AMMI1.

  19. Adaptive quality control for multimedia communications

    Directory of Open Access Journals (Sweden)

    Santichai Chuaywong

    2008-01-01

    Full Text Available Multimedia communications are communications with several types of media, such as audio, video and data. The current Internet has some levels of capability to support multimedia communications, unfortunately, the QoS (Quality of Service is still challenging. A large number of QoS mechanisms has been proposed; however, the main concern is for low levels, e.g. layer 2 (Data Link or 3 (Transport. In this paper, mechanisms for control the quality of audio and video are proposed. G.723.1 and MPEG-4 are used as the audio and video codec respectively. The proposed algorithm for adaptive quality control of audio communication is based on forward error correction (FEC. In the case of video communication, the proposed algorithm adapts the value of key frame interval, which is an encoding parameter of MPEG-4. We evaluated our proposed algorithms by computer simulation. We have shown that, in most cases, the proposed scheme gained a higher throughput compared to other schemes.

  20. Control adaptable utilizando Redes Neuronales Artificiales Polinomiales

    Directory of Open Access Journals (Sweden)

    E. Gómez

    2000-01-01

    Full Text Available Existen en la literatura de Control Adaptable, diferentes procedimientos en los que es posible identificar un sistema lineal. El problema fundamental es que una cantidad importante de fenómenos de la vida real son de tipo no lineal y no es tan sencillo el modelar este tipo de dinámicas. En este trabajo se presenta una forma de identificar sistemas no lineales utilizando las propiedades de las Redes Neuronales Artificiales y las técnicas de Algoritmo Genético en la optimización de su arquitectura. Adicionalmente se presenta una técnica novedosa de control adaptable para cancelar la dinámica no lineal del sistema y colocar los polos en el punto de operación deseado. Se presenta el comportamiento del algoritmo para el caso lineal yno lineal y finalmente se analiza la importancia teórica y operacional de estas técnicas.

  1. Adaptive collaborative control of highly redundant robots

    Science.gov (United States)

    Handelman, David A.

    2008-04-01

    The agility and adaptability of biological systems are worthwhile goals for next-generation unmanned ground vehicles. Management of the requisite number of degrees of freedom, however, remains a challenge, as does the ability of an operator to transfer behavioral intent from human to robot. This paper reviews American Android research funded by NASA, DARPA, and the U.S. Army that attempts to address these issues. Limb coordination technology, an iterative form of inverse kinematics, provides a fundamental ability to control balance and posture independently in highly redundant systems. Goal positions and orientations of distal points of the robot skeleton, such as the hands and feet of a humanoid robot, become variable constraints, as does center-of-gravity position. Behaviors utilize these goals to synthesize full-body motion. Biped walking, crawling and grasping are illustrated, and behavior parameterization, layering and portability are discussed. Robotic skill acquisition enables a show-and-tell approach to behavior modification. Declarative rules built verbally by an operator in the field define nominal task plans, and neural networks trained with verbal, manual and visual signals provide additional behavior shaping. Anticipated benefits of the resultant adaptive collaborative controller for unmanned ground vehicles include increased robot autonomy, reduced operator workload and reduced operator training and skill requirements.

  2. Adaptive sliding mode control and its application in chaos control

    Directory of Open Access Journals (Sweden)

    Liqun Shen

    2014-12-01

    Full Text Available The sliding motion of sliding mode control system is studied in this paper. Using the measure concept, two new quantities about the sliding motion are introduced, and a new relationship about the sliding motion is derived with the new quantities. According to this relationship, an adaptive law of the magnitude of the controller’s switching part is proposed, which can minimize the chattering phenomenon according to the predefined robust margin. To verify the effectiveness of the proposed control scheme, it is applied to Rössler system with uncertain disturbances. Simulation results show that the proposed control method can stabilize Rössler system with the magnitude of the controller’s switching part adjusted adaptively with the disturbances.

  3. Wavefront Control for Extreme Adaptive Optics

    Energy Technology Data Exchange (ETDEWEB)

    Poyneer, L A

    2003-07-16

    Current plans for Extreme Adaptive Optics systems place challenging requirements on wave-front control. This paper focuses on control system dynamics, wave-front sensing and wave-front correction device characteristics. It may be necessary to run an ExAO system after a slower, low-order AO system. Running two independent systems can result in very good temporal performance, provided specific design constraints are followed. The spatially-filtered wave-front sensor, which prevents aliasing and improves PSF sensitivity, is summarized. Different models of continuous and segmented deformable mirrors are studied. In a noise-free case, a piston-tip-tilt segmented MEMS device can achieve nearly equivalent performance to a continuous-sheet DM in compensating for a static phase aberration with use of spatial filtering.

  4. Adaptive hybrid optimization strategy for calibration and parameter estimation of physical models

    CERN Document Server

    Vesselinov, Velimir V

    2011-01-01

    A new adaptive hybrid optimization strategy, entitled squads, is proposed for complex inverse analysis of computationally intensive physical models. The new strategy is designed to be computationally efficient and robust in identification of the global optimum (e.g. maximum or minimum value of an objective function). It integrates a global Adaptive Particle Swarm Optimization (APSO) strategy with a local Levenberg-Marquardt (LM) optimization strategy using adaptive rules based on runtime performance. The global strategy optimizes the location of a set of solutions (particles) in the parameter space. The LM strategy is applied only to a subset of the particles at different stages of the optimization based on the adaptive rules. After the LM adjustment of the subset of particle positions, the updated particles are returned to the APSO strategy. The advantages of coupling APSO and LM in the manner implemented in squads is demonstrated by comparisons of squads performance against Levenberg-Marquardt (LM), Particl...

  5. Fitting method for hybrid temperature control in smart home environment

    OpenAIRE

    CHENG, Zhuo; TAN, Yasuo; Lim, Azman Osman

    2014-01-01

    The design of control system is crucial for improving the comfort level of home environment. Cyber-Physical Systems (CPSs) can offer numerous opportunities to design high efficient control systems. In this paper, we focus on the design of temperature control systems. By using the idea of CPS, a hybrid temperature control (HTC) system is proposed. It combines supervisory and proportional-integral-derivative (PID) controllers. Through an energy efficient temperature control (EETC) algorithm, HT...

  6. Military Hybrid Vehicle Optimization and Control

    Science.gov (United States)

    2012-08-14

    and energy security, as well as reduce overall energy u ’C the concept of a microgrid has been introduced [7 ]. A microgricl is defined as an...vehicle-to-grid (V2G) technology has been show to have the ability to upport the microgrid ru a source, but also a storage device for excess energy [9...understood. The scope of this proposal includes introducing the concept of regarding a military hybrid vehicle as a microgrid and utilizing battery state

  7. Empirical Estimation of Hybrid Model: A Controlled Case Study

    Directory of Open Access Journals (Sweden)

    Sadaf Un Nisa

    2012-07-01

    Full Text Available Scrum and Extreme Programming (XP are frequently used models among all agile models whereas Rational Unified Process (RUP is one of the widely used conventional plan driven software development models. The agile and plan driven approaches both have their own strengths and weaknesses. Although RUP model has certain drawbacks, such as tendency to be over budgeted, slow in adaptation to rapidly changing requirements and reputation of being impractical for small and fast paced projects. XP model has certain drawbacks such as weak documentation and poor performance for medium and large development projects. XP has a concrete set of engineering practices that emphasizes on team work where managers, customers and developers are all equal partners in collaborative teams. Scrum is more concerned with the project management. It has seven practices namely Scrum Master, Scrum teams, Product Backlog, Sprint, Sprint Planning Meeting, Daily Scrum Meeting and Sprint Review. Keeping above mentioned context in view, this paper intends to propose a hybrid model naming SPRUP model by combining strengths of Scrum, XP and RUP by eliminating their weaknesses to produce high quality software. The proposed SPRUP model is validated through a controlled case study.

  8. Decentralized adaptive fuzzy control of robot manipulators.

    Science.gov (United States)

    Jin, Y

    1998-01-01

    This paper develops a decentralized adaptive fuzzy control scheme for robot manipulators via a combination of genetic algorithm and gradient method. The controller for each link consists of a feedforward fuzzy torque-computing system and a feedback fuzzy PD system. The feedforward fuzzy system is trained and optimized off-line by an improved genetic algorithm, that is to say, not only the parameters but also the structure of the fuzzy system are self-organized. Because genetic algorithm can operate successfully without the system model, no exact inverse dynamics of the robot system are required. The feedback fuzzy PD system, on the other hand, is tuned on-line using gradient method. In this way, the proportional and derivative gains are adjusted properly to keep the closed-loop system stable. The proposed controller has the following merits: (1) it needs no exact dynamics of the robot systems and the computation is time-saving because of the simple structure of the fuzzy systems; and (2) the controller is insensitive to various dynamics and payload uncertainties in robot systems. These are demonstrated by analyses of the computational complexity and various computer simulations.

  9. A new multi-tier adaptive military MANET security protocol using hybrid cryptography and signcryption

    OpenAIRE

    YAVUZ, Attila A.; ALAGÖZ, Fatih; Anarim, Emin

    2014-01-01

    Mobile Ad-hoc NETworks (MANETs) are expected to play an important role in tactical military networks by providing infrastructureless communication. However, maintaining secure and instant information sharing is a difficult task especially for highly dynamic military MANETs. To address this requirement, we propose a new multi-tier adaptive military MANET security protocol using hybrid cryptography and signcryption. In our protocol, we bring novelties to secure military MANET communic...

  10. Optimal setting of FACTS devices for voltage stability improvement using PSO adaptive GSA hybrid algorithm

    Directory of Open Access Journals (Sweden)

    Sai Ram Inkollu

    2016-09-01

    Full Text Available This paper presents a novel technique for optimizing the FACTS devices, so as to maintain the voltage stability in the power transmission systems. Here, the particle swarm optimization algorithm (PSO and the adaptive gravitational search algorithm (GSA technique are proposed for improving the voltage stability of the power transmission systems. In the proposed approach, the PSO algorithm is used for optimizing the gravitational constant and to improve the searching performance of the GSA. Using the proposed technique, the optimal settings of the FACTS devices are determined. The proposed algorithm is an effective method for finding out the optimal location and the sizing of the FACTS controllers. The optimal locations and the power ratings of the FACTS devices are determined based on the voltage collapse rating as well as the power loss of the system. Here, two FACTS devices are used to evaluate the performance of the proposed algorithm, namely, the unified power flow controller (UPFC and the interline power flow controller (IPFC. The Newton–Raphson load flow study is used for analyzing the power flow in the transmission system. From the power flow analysis, bus voltages, active power, reactive power, and power loss of the transmission systems are determined. Then, the voltage stability is enhanced while satisfying a given set of operating and physical constraints. The proposed technique is implemented in the MATLAB platform and consequently, its performance is evaluated and compared with the existing GA based GSA hybrid technique. The performance of the proposed technique is tested with the benchmark system of IEEE 30 bus using two FACTS devices such as, the UPFC and the IPFC.

  11. Robust adaptive control of MEMS triaxial gyroscope using fuzzy compensator.

    Science.gov (United States)

    Fei, Juntao; Zhou, Jian

    2012-12-01

    In this paper, a robust adaptive control strategy using a fuzzy compensator for MEMS triaxial gyroscope, which has system nonlinearities, including model uncertainties and external disturbances, is proposed. A fuzzy logic controller that could compensate for the model uncertainties and external disturbances is incorporated into the adaptive control scheme in the Lyapunov framework. The proposed adaptive fuzzy controller can guarantee the convergence and asymptotical stability of the closed-loop system. The proposed adaptive fuzzy control strategy does not depend on accurate mathematical models, which simplifies the design procedure. The innovative development of intelligent control methods incorporated with conventional control for the MEMS gyroscope is derived with the strict theoretical proof of the Lyapunov stability. Numerical simulations are investigated to verify the effectiveness of the proposed adaptive fuzzy control scheme and demonstrate the satisfactory tracking performance and robustness against model uncertainties and external disturbances compared with conventional adaptive control method.

  12. Data Analytics Based Dual-Optimized Adaptive Model Predictive Control for the Power Plant Boiler

    Directory of Open Access Journals (Sweden)

    Zhenhao Tang

    2017-01-01

    Full Text Available To control the furnace temperature of a power plant boiler precisely, a dual-optimized adaptive model predictive control (DoAMPC method is designed based on the data analytics. In the proposed DoAMPC, an accurate predictive model is constructed adaptively by the hybrid algorithm of the least squares support vector machine and differential evolution method. Then, an optimization problem is constructed based on the predictive model and many constraint conditions. To control the boiler furnace temperature, the differential evolution method is utilized to decide the control variables by solving the optimization problem. The proposed method can adapt to the time-varying situation by updating the sample data. The experimental results based on practical data illustrate that the DoAMPC can control the boiler furnace temperature with errors of less than 1.5% which can meet the requirements of the real production process.

  13. Robust spacecraft attitude tracking control using hybrid actuators with uncertainties

    Science.gov (United States)

    Cao, Xibin; Wu, Baolin

    2017-07-01

    The problem of spacecraft attitude tracking using hybrid actuators with uncertainties is addressed in this paper. A hybrid actuators configuration that combines reaction wheels for fine pointing and single gimbal control moment gyros for rapid maneuvering is employed for agile spacecraft. A robust control algorithm for the spacecraft attitude tracking problem when the torque axis direction and/or input scaling of the actuators are uncertain is developed. Furthermore, a torque allocation method is proposed for the hybrid actuator configuration to allow a smooth switch between single gimbal control moment gyros and reaction wheels. With this method, single gimbal control moment gyros are used for the phase of rapid maneuvering, while reaction wheels are used for the phase of fine pointing. Simulation results demonstrate the effectiveness of the proposed control scheme.

  14. Filtering and control of stochastic jump hybrid systems

    CERN Document Server

    Yao, Xiuming; Zheng, Wei Xing

    2016-01-01

    This book presents recent research work on stochastic jump hybrid systems. Specifically, the considered stochastic jump hybrid systems include Markovian jump Ito stochastic systems, Markovian jump linear-parameter-varying (LPV) systems, Markovian jump singular systems, Markovian jump two-dimensional (2-D) systems, and Markovian jump repeated scalar nonlinear systems. Some sufficient conditions are first established respectively for the stability and performances of those kinds of stochastic jump hybrid systems in terms of solution of linear matrix inequalities (LMIs). Based on the derived analysis conditions, the filtering and control problems are addressed. The book presents up-to-date research developments and novel methodologies on stochastic jump hybrid systems. The contents can be divided into two parts: the first part is focused on robust filter design problem, while the second part is put the emphasis on robust control problem. These methodologies provide a framework for stability and performance analy...

  15. Biofeedback systems and adaptive control hemodialysis treatment

    Directory of Open Access Journals (Sweden)

    Azar Ahmad

    2008-01-01

    Full Text Available On-line monitoring devices to control functions such as volume, body temperature, and ultrafiltration, were considered more toys than real tools for routine clinical application. However, bio-feedback blood volume controlled hemodialysis (HD is now possible in routine dialysis, allowing the delivery of a more physiologically acceptable treatment. This system has proved to reduce the incidence of intra-HD hypotension episodes significantly. Ionic dialysance and the patient′s plasma conductivity can be calculated easily from on-line measurements at two different steps of dialysate conductivity. A bio-feedback system has been devised to calculate the patient′s plasma conductivity and modulate the conductivity of the dialysate continuously in order to achieve a desired end-dialysis patient plasma conductivity corresponding to a desired end-dialysis plasma sodium concentration. Another bio-feedback system can control the body tempe-rature by measuring it at the arterial and venous lines of the extra-corporeal circuit, and then modulating the dialysate temperature in order to stabilize the patients′ temperature at constant values that result in improved intra-HD cardiovascular stability. The module can also be used to quantify vascular access recirculation. Finally, the simultaneous computer control of ultrafiltration has proven the most effective means for automatic blood pressure stabilization during hemo-dialysis treatment. The application of fuzzy logic in the blood-pressure-guided biofeedback con-trol of ultrafiltration during hemodialysis is able to minimize HD-induced hypotension. In con-clusion, online monitoring and adaptive control of the patient during the dialysis session using the bio-feedback systems is expected to render the process of renal replacement therapy more physiological and less eventful.

  16. Control of tunneling by adapted signals

    CERN Document Server

    Ivlev, B I

    2000-01-01

    Process of quantum tunneling of particles in various physical systems can be effectively controlled even by a weak and slow varying in time electromagnetic signal if to adapt specially its shape to a particular system. During an under-barrier motion of a particle such signal provides a "coherent" assistance of tunneling by the multi-quanta absorption resulting in a strong enhancement of the tunneling probability. The semiclassical approach based on trajectories in the complex time is developed for tunneling in a non-stationary field. Enhancement of tunneling occurs when a singularity of the signal coincides in position at the complex time plane with a singularity of the classical Newtonian trajectory of the particle. The developed theory is also applicable to the over-barrier reflection of particles and to reflection of classical waves (electromagnetic, hydrodynamic, etc.) from a spatially-smooth medium.

  17. Adaptive Dynamic Surface Control for Generator Excitation Control System

    Directory of Open Access Journals (Sweden)

    Zhang Xiu-yu

    2014-01-01

    Full Text Available For the generator excitation control system which is equipped with static var compensator (SVC and unknown parameters, a novel adaptive dynamic surface control scheme is proposed based on neural network and tracking error transformed function with the following features: (1 the transformation of the excitation generator model to the linear systems is omitted; (2 the prespecified performance of the tracking error can be guaranteed by combining with the tracking error transformed function; (3 the computational burden is greatly reduced by estimating the norm of the weighted vector of neural network instead of the weighted vector itself; therefore, it is more suitable for the real time control; and (4 the explosion of complicity problem inherent in the backstepping control can be eliminated. It is proved that the new scheme can make the system semiglobally uniformly ultimately bounded. Simulation results show the effectiveness of this control scheme.

  18. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory trackin....... The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments....

  19. Application of Adaptive Techniques to Problems in Control and Communication.

    Science.gov (United States)

    1982-01-01

    IEEE Transactions on Automatic Control in 1982. (2...signals in the adaptive system. These results will appear in the IEEE Transactions on Automatic Control . A brief comparison of the two schemes described...Model Reference Adaptive Control in the Presence of Bounded Disturbances" S&IS Report No. 8103, March 1981 (to appear in IEEE Transactions on Automatic Control )

  20. Viability of Hybrid Systems A Controllability Operator Approach

    CERN Document Server

    Labinaz, G

    2012-01-01

    The problem of viability of hybrid systems is considered in this work. A model for a hybrid system is developed including a means of including three forms of uncertainty: transition dynamics, structural uncertainty, and parametric uncertainty. A computational basis for viability of hybrid systems is developed and applied to three control law classes. An approach is developed for robust viability based on two extensions of the controllability operator. The three-tank example is examined for both the viability problem and robust viability problem. The theory is applied through simulation to an active magnetic bearing system and to a batch polymerization process showing that viability can be satisfied in practice. The problem of viable attainability is examined based on the controllability operator approach introduced by Nerode and colleagues. Lastly, properties of the controllability operator are presented.

  1. Viewing hybrid systems as products of control systems and automata

    Science.gov (United States)

    Grossman, R. L.; Larson, R. G.

    1992-01-01

    The purpose of this note is to show how hybrid systems may be modeled as products of nonlinear control systems and finite state automata. By a hybrid system, we mean a network of consisting of continuous, nonlinear control system connected to discrete, finite state automata. Our point of view is that the automata switches between the control systems, and that this switching is a function of the discrete input symbols or letters that it receives. We show how a nonlinear control system may be viewed as a pair consisting of a bialgebra of operators coding the dynamics, and an algebra of observations coding the state space. We also show that a finite automata has a similar representation. A hybrid system is then modeled by taking suitable products of the bialgebras coding the dynamics and the observation algebras coding the state spaces.

  2. Energy-Efficient Building HVAC Control Using Hybrid System LBMPC

    CERN Document Server

    Aswani, Anil; Taneja, Jay; Krioukov, Andrew; Culler, David; Tomlin, Claire

    2012-01-01

    Improving the energy-efficiency of heating, ventilation, and air-conditioning (HVAC) systems has the potential to realize large economic and societal benefits. This paper concerns the system identification of a hybrid system model of a building-wide HVAC system and its subsequent control using a hybrid system formulation of learning-based model predictive control (LBMPC). Here, the learning refers to model updates to the hybrid system model that incorporate the heating effects due to occupancy, solar effects, outside air temperature (OAT), and equipment, in addition to integrator dynamics inherently present in low-level control. Though we make significant modeling simplifications, our corresponding controller that uses this model is able to experimentally achieve a large reduction in energy usage without any degradations in occupant comfort. It is in this way that we justify the modeling simplifications that we have made. We conclude by presenting results from experiments on our building HVAC testbed, which s...

  3. Adaptation in the fuzzy self-organising controller

    DEFF Research Database (Denmark)

    Jantzen, Jan; Poulsen, Niels Kjølstad

    2003-01-01

    This simulation study provides an analysis of the adaptation mechanism in the self-organising fuzzy controller, SOC. The approach is to apply a traditional adaptive control viewpoint. A simplified performance measure in the SOC controller is used in a loss function, and thus the MIT rule implies...... an update mechanism similar to the SOC update mechanism. Two simulations of proportionally controlled systems show the behaviour of the proportional gain as it adapts to a specified behaviour....

  4. Adaptation in the fuzzy self-organising controller

    DEFF Research Database (Denmark)

    Jantzen, Jan; Poulsen, Niels Kjølstad

    2003-01-01

    This simulation study provides an analysis of the adaptation mechanism in the self-organising fuzzy controller, SOC. The approach is to apply a traditional adaptive control viewpoint. A simplified performance measure in the SOC controller is used in a loss function, and thus the MIT rule implies...... an update mechanism similar to the SOC update mechanism. Two simulations of proportionally controlled systems show the behaviour of the proportional gain as it adapts to a specified behaviour....

  5. Adaptive output feedback control of aircraft flexible modes

    OpenAIRE

    Ponnusamy, Sangeeth Saagar; Bordeneuve-Guibé, Joël

    2012-01-01

    The application of adaptive output feedback augmentative control to the flexible aircraft problem is presented. Experimental validation of control scheme was carried out using a three disk torsional pendulum. In the reference model adaptive control scheme, the rigid aircraft reference model and neural network adaptation is used to control structural flexible modes and compensate for the effects unmodeled dynamics and parametric variations of a classical high order large passenger aircraft. Th...

  6. Adaptive Control of Robot Manipulators With Uncertain Kinematics and Dynamics

    OpenAIRE

    Wang, Hanlei

    2014-01-01

    In this paper, we investigate the adaptive control problem for robot manipulators with both the uncertain kinematics and dynamics. We propose two adaptive control schemes to realize the objective of task-space trajectory tracking irrespective of the uncertain kinematics and dynamics. The proposed controllers have the desirable separation property, and we also show that the first adaptive controller with appropriate modifications can yield improved performance, without the expense of conservat...

  7. NASA Workshop on Hybrid (Mixed-Actuator) Spacecraft Attitude Control

    Science.gov (United States)

    Dennehy, Cornelius J.; Kunz, Nans

    2014-01-01

    At the request of the Science Mission Directorate Chief Engineer, the NASA Technical Fellow for Guidance, Navigation & Control assembled and facilitated a workshop on Spacecraft Hybrid Attitude Control. This multi-Center, academic, and industry workshop, sponsored by the NASA Engineering and Safety Center (NESC), was held in April 2013 to unite nationwide experts to present and discuss the various innovative solutions, techniques, and lessons learned regarding the development and implementation of the various hybrid attitude control system solutions investigated or implemented. This report attempts to document these key lessons learned with the 16 findings and 9 NESC recommendations.

  8. Hybrid Control Design for a Wheeled Mobile Robot

    DEFF Research Database (Denmark)

    Bak, Thomas; Bendtsen, Jan Dimon; Ravn, Anders Peter

    2003-01-01

    We present a hybrid systems solution to the problem of trajectory tracking for a four-wheel steered four-wheel driven mobile robot. The robot is modelled as a non-holonomic dynamic system subject to pure rolling, no-slip constraints. Under normal driving conditions, a nonlinear trajectory tracking...... feedback control law based on dynamic feedback linearization is sufficient to stabilize the system and ensure asymptotically stable tracking. Transitions to other modes are derived systematically from this model, whenever the configuration space of the controlled system has some fundamental singular points....... The stability of the hybrid control scheme is finally analyzed using Lyapunov-like arguments....

  9. G/SPLINES: A hybrid of Friedman's Multivariate Adaptive Regression Splines (MARS) algorithm with Holland's genetic algorithm

    Science.gov (United States)

    Rogers, David

    1991-01-01

    G/SPLINES are a hybrid of Friedman's Multivariable Adaptive Regression Splines (MARS) algorithm with Holland's Genetic Algorithm. In this hybrid, the incremental search is replaced by a genetic search. The G/SPLINE algorithm exhibits performance comparable to that of the MARS algorithm, requires fewer least squares computations, and allows significantly larger problems to be considered.

  10. Hybrid-impulsive second order sliding mode control: Lyapunov approach

    NARCIS (Netherlands)

    Shtessel, Y.; Glumineau, A.; Plestan, F.; Weiss, M.

    2013-01-01

    A perturbed nonlinear system of relative degree two controlled by discontinuous-impulsive feedbacks is studied. The hybrid-impulsive terms serve to drive instantaneously the system trajectories to the origin or to its small vicinity. In particular, impulsive-twisting control exhibits an uniform exac

  11. Spontaneous emission control in a tunable hybrid photonic system

    NARCIS (Netherlands)

    Frimmer, M.; Koenderink, A.F.

    2013-01-01

    We experimentally demonstrate control of the rate of spontaneous emission in a tunable hybrid photonic system that consists of two canonical building blocks for spontaneous emission control, an optical antenna and a mirror, each providing a modification of the local density of optical states (LDOS).

  12. Study of optimal control problems for hybrid dynamical systems

    Institute of Scientific and Technical Information of China (English)

    Gao Rui; Wang Lei; Wang Yuzhen

    2006-01-01

    From the viewpoint of continuous systems, optimal control problem is proposed for a class of controlled Hybrid dynamical systems. Then a mathematical method- HDS minimum principle is put forward, which can solve the above problem. The HDS minimum principle is proved by means of Ekeland's variational principle.

  13. Hybrid-impulsive second order sliding mode control: Lyapunov approach

    NARCIS (Netherlands)

    Shtessel, Y.; Glumineau, A.; Plestan, F.; Weiss, M.

    2013-01-01

    A perturbed nonlinear system of relative degree two controlled by discontinuous-impulsive feedbacks is studied. The hybrid-impulsive terms serve to drive instantaneously the system trajectories to the origin or to its small vicinity. In particular, impulsive-twisting control exhibits an uniform

  14. Route-Based Control of Hybrid Electric Vehicles: Preprint

    Energy Technology Data Exchange (ETDEWEB)

    Gonder, J. D.

    2008-01-01

    Today's hybrid electric vehicle controls cannot always provide maximum fuel savings over all drive cycles. Route-based controls could improve HEV fuel efficiency by 2%-4% and help save nearly 6.5 million gallons of fuel annually.

  15. Hybrid Self-Adaptive Algorithm for Community Detection in Complex Networks

    Directory of Open Access Journals (Sweden)

    Bin Xu

    2015-01-01

    Full Text Available The study of community detection algorithms in complex networks has been very active in the past several years. In this paper, a Hybrid Self-adaptive Community Detection Algorithm (HSCDA based on modularity is put forward first. In HSCDA, three different crossover and two different mutation operators for community detection are designed and then combined to form a strategy pool, in which the strategies will be selected probabilistically based on statistical self-adaptive learning framework. Then, by adopting the best evolving strategy in HSCDA, a Multiobjective Community Detection Algorithm (MCDA based on kernel k-means (KKM and ratio cut (RC objective functions is proposed which efficiently make use of recommendation of strategy by statistical self-adaptive learning framework, thus assisting the process of community detection. Experimental results on artificial and real networks show that the proposed algorithms achieve a better performance compared with similar state-of-the-art approaches.

  16. Is Hybridization a Source of Adaptive Venom Variation in Rattlesnakes? A Test, Using a Crotalus scutulatus × viridis Hybrid Zone in Southwestern New Mexico.

    Science.gov (United States)

    Zancolli, Giulia; Baker, Timothy G; Barlow, Axel; Bradley, Rebecca K; Calvete, Juan J; Carter, Kimberley C; de Jager, Kaylah; Owens, John Benjamin; Price, Jenny Forrester; Sanz, Libia; Scholes-Higham, Amy; Shier, Liam; Wood, Liam; Wüster, Catharine E; Wüster, Wolfgang

    2016-06-16

    Venomous snakes often display extensive variation in venom composition both between and within species. However, the mechanisms underlying the distribution of different toxins and venom types among populations and taxa remain insufficiently known. Rattlesnakes (Crotalus, Sistrurus) display extreme inter- and intraspecific variation in venom composition, centered particularly on the presence or absence of presynaptically neurotoxic phospholipases A₂ such as Mojave toxin (MTX). Interspecific hybridization has been invoked as a mechanism to explain the distribution of these toxins across rattlesnakes, with the implicit assumption that they are adaptively advantageous. Here, we test the potential of adaptive hybridization as a mechanism for venom evolution by assessing the distribution of genes encoding the acidic and basic subunits of Mojave toxin across a hybrid zone between MTX-positive Crotalus scutulatus and MTX-negative C. viridis in southwestern New Mexico, USA. Analyses of morphology, mitochondrial and single copy-nuclear genes document extensive admixture within a narrow hybrid zone. The genes encoding the two MTX subunits are strictly linked, and found in most hybrids and backcrossed individuals, but not in C. viridis away from the hybrid zone. Presence of the genes is invariably associated with presence of the corresponding toxin in the venom. We conclude that introgression of highly lethal neurotoxins through hybridization is not necessarily favored by natural selection in rattlesnakes, and that even extensive hybridization may not lead to introgression of these genes into another species.

  17. Is Hybridization a Source of Adaptive Venom Variation in Rattlesnakes? A Test, Using a Crotalus scutulatus × viridis Hybrid Zone in Southwestern New Mexico

    Directory of Open Access Journals (Sweden)

    Giulia Zancolli

    2016-06-01

    Full Text Available Venomous snakes often display extensive variation in venom composition both between and within species. However, the mechanisms underlying the distribution of different toxins and venom types among populations and taxa remain insufficiently known. Rattlesnakes (Crotalus, Sistrurus display extreme inter- and intraspecific variation in venom composition, centered particularly on the presence or absence of presynaptically neurotoxic phospholipases A2 such as Mojave toxin (MTX. Interspecific hybridization has been invoked as a mechanism to explain the distribution of these toxins across rattlesnakes, with the implicit assumption that they are adaptively advantageous. Here, we test the potential of adaptive hybridization as a mechanism for venom evolution by assessing the distribution of genes encoding the acidic and basic subunits of Mojave toxin across a hybrid zone between MTX-positive Crotalus scutulatus and MTX-negative C. viridis in southwestern New Mexico, USA. Analyses of morphology, mitochondrial and single copy-nuclear genes document extensive admixture within a narrow hybrid zone. The genes encoding the two MTX subunits are strictly linked, and found in most hybrids and backcrossed individuals, but not in C. viridis away from the hybrid zone. Presence of the genes is invariably associated with presence of the corresponding toxin in the venom. We conclude that introgression of highly lethal neurotoxins through hybridization is not necessarily favored by natural selection in rattlesnakes, and that even extensive hybridization may not lead to introgression of these genes into another species.

  18. System Dynamics and Adaptive Control for MEMS Gyroscope Sensor

    Directory of Open Access Journals (Sweden)

    Juntao Fei

    2011-01-01

    Full Text Available This paper presents an adaptive control approach for Micro-Electro-Mechanical Systems (MEMS z-axis gyroscope sensor. The dynamical model of MEMS gyroscope sensor is derived and adaptive state tracking control for MEMS gyroscope is developed. The proposed adaptive control approaches can estimate the angular velocity and the damping and stiffness coefficients including the coupling terms due to the fabrication imperfection. The stability of the closed-loop systems is established with the proposed adaptive control strategy. Numerical simulation is investigated to verify the effectiveness of the proposed control scheme.

  19. The Durham adaptive optics real-time controller

    CERN Document Server

    Basden, Alastair; Myers, Richard; Younger, Eddy

    2010-01-01

    The Durham adaptive optics real-time controller was initially a proof of concept design for a generic adaptive optics control system. It has since been developed into a modern and powerful CPU based real-time control system, capable of using hardware acceleration (including FPGAs and GPUs), based primarily around commercial off the shelf hardware. It is powerful enough to be used as the real-time controller for all currently planned 8~m class telescope adaptive optics systems. Here we give details of this controller and the concepts behind it, and report on performance including latency and jitter, which is less than 10~$\\mu$s for small adaptive optics systems.

  20. Adaptive Fuzzy and Robust H∞ Compensation Control for Uncertain Robot

    Directory of Open Access Journals (Sweden)

    Yuan Chen

    2013-06-01

    Full Text Available In this paper, two types of robust adaptive compensation control schemes for the trajectory tracking control of robot manipulator with uncertain dynamics are proposed. The proposed controllers incorporate the computed-torque control scheme as a nominal portion of the controller; an adaptive fuzzy control algorithm to approximate the structured uncertainties; and a nonlinear H∞ tracking control model as a feedback portion to eliminate the effects of the unstructured uncertainties and approximation errors. The validity of the robust adaptive compensation control schemes is investigated by numerical simulations of a two-link rotary robot manipulator

  1. Cascade adaptive control of uncertain unified chaotic systems

    Institute of Scientific and Technical Information of China (English)

    Wei Wei; Li Dong-Hai; Wang Jing

    2011-01-01

    The chaos control of uncertain unified chaotic systems is considered. Cascade adaptive control approach with only one control input is presented to stabilize states of the uncertain unified chaotic system at the zero equilibrium point.Since an adaptive controller based on dynamic compensation mechanism is employed, the exact model of the unified chaotic system is not necessarily required.By choosing appropriate controller parameters, chaotic phenomenon can be suppressed and the response speed is tunable. Sufficient condition for the asymptotic stability of the approach is derived. Numerical simulation results confirm that the cascade adaptive control approach with only one control signal is valid in chaos control of uncertain unified chaotic systems.

  2. Simulation and Rapid Prototyping of Adaptive Control Systems using the Adaptive Blockset for Simulink

    DEFF Research Database (Denmark)

    Ravn, Ole

    1998-01-01

    The paper describes the design considerations and implementational aspects of the Adaptive Blockset for Simulink which has been developed in a prototype implementation. The concept behind the Adaptive Blockset for Simulink is to bridge the gap between simulation and prototype controller...... implementation. This is done using the code generation capabilities of Real Time Workshop in combination with C s-function blocks for adaptive control in Simulink. In the paper the design of each group of blocks normally found in adaptive controllers is outlined. The block types are, identification, controller...

  3. Real Time Energy Management Control Strategies for Hybrid Powertrains

    Science.gov (United States)

    Zaher, Mohamed Hegazi Mohamed

    In order to improve fuel efficiency and reduce emissions of mobile vehicles, various hybrid power-train concepts have been developed over the years. This thesis focuses on embedded control of hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real time energy management strategy for continuous operations. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, or the motion is driven by gravitational force, or load driven. There are three main concepts for regernerative energy storing devices in hybrid vehicles: electric, hydraulic, and flywheel. The real time control challenge is to balance the system power demand from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle, while making optimal use of the energy saving opportunities in a given operational, often repetitive cycle. In the worst case scenario, only engine is used and hybrid system completely disabled. A rule based control is developed and tuned for different work cycles and linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the machine and its position via GPS, and maps them to the gains.

  4. THEORETICAL AND EXPERIMENTAL STUDY ON THE PRESSURE AND VACUUM CONTINUOUS CONTROL SYSTEM BASED ON HYBRID PUMP

    Institute of Scientific and Technical Information of China (English)

    2007-01-01

    A novel pressure and vacuum continuous control system, which adopts a hybrid pump as pressure and vacuum source, is presented. The mathematical model of the system is developed. The theoretical simulation and analysis on the system are implemented in order to study the relationships among the characteristics, parameters and working points of the system. The experimental investigations on the system characteristics are presented with the adoption of a fuzzy-PID controller. The simulation and experimental results indicate that the pressure and vacuum continuous control system based on hybrid pump has good dynamic and static performance, strong robustness and satisfactory adaptability to various system parameters. According to the results, system can successfully gain high accuracy and fast response signal. Also, the mathematical model of system is also testified by the experimental results.

  5. Switching Control System Based on Robust Model Reference Adaptive Control

    Institute of Scientific and Technical Information of China (English)

    HU Qiong; FEI Qing; MA Hongbin; WU Qinghe; GENG Qingbo

    2016-01-01

    For conventional adaptive control,time-varying parametric uncertainty and unmodeled dynamics are ticklish problems,which will lead to undesirable performance or even instability and nonrobust behavior,respectively.In this study,a class of discrete-time switched systems with unmodeled dynamics is taken into consideration.Moreover,nonlinear systems are here supposed to be approximated with the class of switched systems considered in this paper,and thereby switching control design is investigated for both switched systems and nonlinear systems to assure stability and performance.For robustness against unmodeled dynamics and uncertainty,robust model reference aclaptive control (RMRAC) law is developed as the basis of controller design for each individual subsystem in the switched systems or nonlinear systems.Meanwhile,two different switching laws are presented for switched systems and nonlinear systems,respectively.Thereby,the authors incorporate the corresponding switching law into the RMRAC law to construct two schemes of switching control respectively for the two kinds of controlled systems.Both closed-loop analyses and simulation examples are provided to illustrate the validity of the two proposed switching control schemes.Furthermore,as to the proposed scheme for nonlinear systems,its potential for practical application is demonstrated through simulations of longitudinal control for F-16 aircraft.

  6. Novel hybrid method: pulse CO2 laser-TIG hybrid welding by coordinated control

    Institute of Scientific and Technical Information of China (English)

    Chen Yanbin; Lei Zhenglong; Li Liqun; Wu Lin; Xie Cheng

    2006-01-01

    In continuous wave CO2 laser-TIG hybrid welding process, the laser energy is not fully utilized because of the absorption and defocusing by plasma in the arc space. Therefore, the optimal welding result can only be achieved in a limited energy range. In order to improve the welding performance further, a novel hybrid welding method-pulse CO2 laser-TIG arc hybrid welding by coordinated control is proposed and investigated. The experimental results indicate that, compared with continuous wave CO2 laser-TIG hybrid welding, the absorption and defocusing of laser energy by plasma are decreased further, and at the same time, the availability ratio of laser and arc energy can be increased when a coordinated frequency is controlled. As a result, the weld appearance is also improved as well as the weld depth is deepened. Furthermore, the effect of frequency and phase of pulse laser and TIG arc on the arc images and welding characteristics is also studied. However, the novel hybrid method has great potentials in the application of industrials from views of techniques and economy.

  7. Active vibration control of Flexible Joint Manipulator using Input Shaping and Adaptive Parameter Auto Disturbance Rejection Controller

    Science.gov (United States)

    Li, W. P.; Luo, B.; Huang, H.

    2016-02-01

    This paper presents a vibration control strategy for a two-link Flexible Joint Manipulator (FJM) with a Hexapod Active Manipulator (HAM). A dynamic model of the multi-body, rigid-flexible system composed of an FJM, a HAM and a spacecraft was built. A hybrid controller was proposed by combining the Input Shaping (IS) technique with an Adaptive-Parameter Auto Disturbance Rejection Controller (APADRC). The controller was used to suppress the vibration caused by external disturbances and input motions. Parameters of the APADRC were adaptively adjusted to ensure the characteristic of the closed loop system to be a given reference system, even if the configuration of the manipulator significantly changes during motion. Because precise parameters of the flexible manipulator are not required in the IS system, the operation of the controller was sufficiently robust to accommodate uncertainties in system parameters. Simulations results verified the effectiveness of the HAM scheme and controller in the vibration suppression of FJM during operation.

  8. System Dynamics and Adaptive Control for MEMS Gyroscope Sensor

    OpenAIRE

    Juntao Fei; Hongfei Ding

    2010-01-01

    This paper presents an adaptive control approach for Micro-Electro-Mechanical Systems (MEMS) z-axis gyroscope sensor. The dynamical model of MEMS gyroscope sensor is derived and adaptive state tracking control for MEMS gyroscope is developed. The proposed adaptive control approaches can estimate the angular velocity and the damping and stiffness coefficients including the coupling terms due to the fabrication imperfection. The stability of the closed-loop systems is established with the propo...

  9. System Dynamics and Adaptive Control for MEMS Gyroscope Sensor

    OpenAIRE

    Juntao Fei; Hongfei Ding

    2011-01-01

    This paper presents an adaptive control approach for Micro-Electro-Mechanical Systems (MEMS) z-axis gyroscope sensor. The dynamical model of MEMS gyroscope sensor is derived and adaptive state tracking control for MEMS gyroscope is developed. The proposed adaptive control approaches can estimate the angular velocity and the damping and stiffness coefficients including the coupling terms due to the fabrication imperfection. The stability of the closed-loop systems is established with the propo...

  10. Convergent adaptation to a marginal habitat by homoploid hybrids and polyploid ecads in the seaweed genus Fucus

    Science.gov (United States)

    Coyer, James A; Hoarau, Galice; Pearson, Gareth A; Serrão, Ester A; Stam, Wytze T; Olsen, Jeanine L

    2006-01-01

    Hybridization and polyploidy are two major sources of genetic variability that can lead to adaptation in new habitats. Most species of the brown algal genus Fucus are found along wave-swept rocky shores of the Northern Hemisphere, but some species have adapted to brackish and salt marsh habitats. Using five microsatellite loci and mtDNA RFLP, we characterize two populations of morphologically similar, muscoides-like Fucus inhabiting salt marshes in Iceland and Ireland. The Icelandic genotypes were consistent with Fucus vesiculosus×Fucus spiralis F1 hybrids with asymmetrical hybridization, whereas the Irish ones consisted primarily of polyploid F. vesiculosus. PMID:17148415

  11. Multiple-Model Adaptive Switching Control for Uncertain Multivariable Systems

    NARCIS (Netherlands)

    Baldi, Simone; Battistelli, Giorgio; Mari, Daniele; Mosca, Edoardo; Tesi, Pietro

    2011-01-01

    This paper addresses the problem of controlling an uncertain multi-input multi-output (MIMO) system by means of adaptive switching control schemes. In particular, the paper aims at extending the approach of multiple-model unfalsified adaptive switched control, so far restricted to single-input singl

  12. Adaptive Linear Parameter Varying Control for Aeroservoelastic Suppression Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Adaptive control offers an opportunity to fulfill present and future aircraft safety objectives though automated vehicle recovery while maintaining performance and...

  13. Adaptive robust controller based on integral sliding mode concept

    Science.gov (United States)

    Taleb, M.; Plestan, F.

    2016-09-01

    This paper proposes, for a class of uncertain nonlinear systems, an adaptive controller based on adaptive second-order sliding mode control and integral sliding mode control concepts. The adaptation strategy solves the problem of gain tuning and has the advantage of chattering reduction. Moreover, limited information about perturbation and uncertainties has to be known. The control is composed of two parts: an adaptive one whose objective is to reject the perturbation and system uncertainties, whereas the second one is chosen such as the nominal part of the system is stabilised in zero. To illustrate the effectiveness of the proposed approach, an application on an academic example is shown with simulation results.

  14. Nonlinear Direct Robust Adaptive Control Using Lyapunov Method

    Directory of Open Access Journals (Sweden)

    Chunbo Xiu

    2013-07-01

    Full Text Available    The problem of robust adaptive stabilization of a class of multi-input nonlinear systems with arbitrary unknown parameters and unknown structure of bounded variation have been considered. By employing the direct adaptive and control Lyapunov function method, a robust adaptive controller is designed to complete the globally adaptive stability of the system states. By employing our result, a kind of nonlinear system is analyzed, the concrete form of the control law is given and the meaningful quadratic control Lyapunov function for the system is constructed. Simulation of parallel manipulator is provided to illustrate the effectiveness of the proposed method.

  15. Adaptive Clutch Engaging Process Control for Automatic Mechanical Transmission

    Institute of Scientific and Technical Information of China (English)

    LIU Hai-ou; CHEN Hui-yan; DING Hua-rong; HE Zhong-bo

    2005-01-01

    Based on detail analysis of clutch engaging process control targets and adaptive demands, a control strategy which is based on speed signal, different from that of based on main clutch displacement signal, is put forward. It considers both jerk and slipping work which are the most commonly used quality evaluating indexes of vehicle starting phase. The adaptive control system and its reference model are discussed profoundly.Taking the adaptability to different starting gears and different road conditions as examples, some proving field test records are shown to illustrate the main clutch adaptive control strategy at starting phase. Proving field test gives acceptable results.

  16. Adaptive Linear Parameter Varying Control for Aeroservoelastic Suppression Project

    Data.gov (United States)

    National Aeronautics and Space Administration — Adaptive control offers an opportunity to fulfill aircraft safety objectives though automated vehicle recovery while maintaining performance and stability...

  17. Outage Analysis of Practical FSO/RF Hybrid System With Adaptive Combining

    KAUST Repository

    Rakia, Tamer

    2015-08-01

    Hybrid free-space optical (FSO)/radio-frequency (RF) systems have emerged as a promising solution for high-data-rate wireless transmission. We present and analyze a transmission scheme for the hybrid FSO/RF communication system based on adaptive combining. Specifically, only FSO link is active as long as the instantaneous signal-to-noise ratio (SNR) at the FSO receiver is above a certain threshold level. When it falls below this threshold level, the RF link is activated along with the FSO link and the signals from the two links are combined at the receiver using a dual-branch maximal ratio combiner. Novel analytical expression for the cumulative distribution function (CDF) of the received SNR for the proposed hybrid system is obtained. This CDF expression is used to study the system outage performance. Numerical examples are presented to compare the outage performance of the proposed hybrid FSO/RF system with that of the FSO-only and RF-only systems. © 1997-2012 IEEE.

  18. Channel adaptive rate control for energy optimization

    Institute of Scientific and Technical Information of China (English)

    BLANCH Carolina; POLLIN Sofie; LAFRUIT Gauthier; EBERLE Wolfgang

    2006-01-01

    Low energy consumption is one of the main challenges for wireless video transmission on battery limited devices. The energy invested at the lower layers of the protocol stack involved in data communication, such as link and physical layer, represent an important part of the total energy consumption. This communication energy highly depends on the channel conditions and on the transmission data rate. Traditionally, video coding is unaware of varying channel conditions. In this paper, we propose a cross-layer approach in which the rate control mechanism of the video codec becomes channel-aware and steers the instantaneous output rate according to the channel conditions to reduce the communication energy. Our results show that energy savings of up to30% can be obtained with a reduction of barely 0.1 dB on the average video quality. The impact of feedback delays is shown to be small. In addition, this adaptive mechanism has low complexity, which makes it suitable for real-time applications.

  19. Neural Control of Chronic Stress Adaptation

    Directory of Open Access Journals (Sweden)

    James eHerman

    2013-08-01

    Full Text Available Stress initiates adaptive processes that allow the organism to physiologically cope with prolonged or intermittent exposure to real or perceived threats. A major component of this response is repeated activation of glucocorticoid secretion by the hypothalamo-pituitary-adrenocortical (HPA axis, which promotes redistribution of energy in a wide range of organ systems, including the brain. Prolonged or cumulative increases in glucocorticoid secretion can reduce benefits afforded by enhanced stress reactivity and eventually become maladaptive. The long-term impact of stress is kept in check by the process of habituation, which reduces HPA axis responses upon repeated exposure to homotypic stressors and likely limits deleterious actions of prolonged glucocorticoid secretion. Habituation is regulated by limbic stress-regulatory sites, and is at least in part glucocorticoid feedback-dependent. Chronic stress also sensitizes reactivity to new stimuli. While sensitization may be important in maintaining response flexibility in response to new threats, it may also add to the cumulative impact of glucocorticoids on the brain and body. Finally, unpredictable or severe stress exposure may cause long-term and lasting dysregulation of the HPA axis, likely due to altered limbic control of stress effector pathways. Stress-related disorders, such as depression and PTSD, are accompanied by glucocorticoid imbalances and structural/ functional alterations in limbic circuits that resemble those seen following chronic stress, suggesting that inappropriate processing of stressful information may be part of the pathological process.

  20. ProjectiveSynchronization of Complex Dynamical Networks with Time-Varying Coupling Strength via Hybrid Feedback Control

    Institute of Scientific and Technical Information of China (English)

    郭晓永; 李俊民

    2011-01-01

    We introduce a hybrid feedback control scheme to design a controller for the projective synchronization of complex dynamical networks with unknown periodically time-varying parameters.A differential-difference mixed parametric learning law and an adaptive learning control law are constructed to ensure the asymptotic convergence of the error in the sense of square error norm.Moreover,numerical simulation results are used to verify the effectiveness of the proposed method.%We introduce a hybrid feedback control scheme to design a controller for the projective synchronization of complex dynamical networks with unknown periodically time-varying parameters. A differential-difference mixed parametric learning law and an adaptive learning control law are constructed to ensure the asymptotic convergence of the error in the sense of square error norm. Moreover, numerical simulation results are used to verify the effectiveness of the proposed method.

  1. Hybrid dislocated control and general hybrid projective dislocated synchronization for the modified Lue chaotic system

    Energy Technology Data Exchange (ETDEWEB)

    Xu Yuhua [College of Information Science and Technology, Donghua University, Shanghai 201620 (China) and Department of Maths, Yunyang Teacher' s College, Hubei 442000 (China)], E-mail: yuhuaxu2004@163.com; Zhou Wuneng [College of Information Science and Technology, Donghua University, Shanghai 201620 (China)], E-mail: wnzhou@163.com; Fang Jianan [College of Information Science and Technology, Donghua University, Shanghai 201620 (China)

    2009-11-15

    This paper introduces a modified Lue chaotic system, and some basic dynamical properties are studied. Based on these properties, we present hybrid dislocated control method for stabilizing chaos to unstable equilibrium and limit cycle. In addition, based on the Lyapunov stability theorem, general hybrid projective dislocated synchronization (GHPDS) is proposed, which includes complete dislocated synchronization, dislocated anti-synchronization and projective dislocated synchronization as its special item. The drive and response systems discussed in this paper can be strictly different dynamical systems (including different dimensional systems). As examples, the modified Lue chaotic system, Chen chaotic system and hyperchaotic Chen system are discussed. Numerical simulations are given to show the effectiveness of these methods.

  2. Dynamics and Control of Adaptive Shells with Curvature Transformations

    Directory of Open Access Journals (Sweden)

    H.S. Tzou

    1995-01-01

    Full Text Available Adaptive structures with controllable geometries and shapes are rather useful in many engineering applications, such as adaptive wings, variable focus mirrors, adaptive machines, micro-electromechanical systems, etc. Dynamics and feedback control effectiveness of adaptive shells whose curvatures are actively controlled and continuously changed are evaluated. An adaptive piezoelectric laminated cylindrical shell composite with continuous curvature changes is studied, and its natural frequencies and controlled damping ratios are evaluated. The curvature change of the adaptive shell starts from an open shallow shell (30° and ends with a deep cylindrical shell (360°. Dynamic characteristics and control effectiveness (via the proportional velocity feedback of this series of shells are investigated and compared at every 30° curvature change. Analytical solutions suggest that the lower modes are sensitive to curvature changes and the higher modes are relatively insensitive.

  3. A hybrid Jacobian control for uncalibrated robot visual servoing

    Institute of Scientific and Technical Information of China (English)

    ZHANG Qizhi; GE Xinsheng; TEO Chee-Leong; LIM Siak-Piang

    2005-01-01

    This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive leastsquares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.

  4. Simulation and Rapid Prototyping of Adaptive Control Systems using the Adaptive Blockset for Simulink

    DEFF Research Database (Denmark)

    Ravn, Ole

    1998-01-01

    The paper describes the design considerations and implementational aspects of the Adaptive Blockset for Simulink which has been developed in a prototype implementation. The concept behind the Adaptive Blockset for Simulink is to bridge the gap between simulation and prototype controller...... implementation. This is done using the code generation capabilities of Real Time Workshop in combination with C s-function blocks for adaptive control in Simulink. In the paper the design of each group of blocks normally found in adaptive controllers is outlined. The block types are, identification, controller...... design, controller and state variable filter.The use of the Adaptive Blockset is demonstrated using a simple laboratory setup. Both the use of the blockset for simulation and for rapid prototyping of a real-time controller are shown....

  5. Parameter estimation for chaotic systems using a hybrid adaptive cuckoo search with simulated annealing algorithm

    Energy Technology Data Exchange (ETDEWEB)

    Sheng, Zheng, E-mail: 19994035@sina.com [College of Meteorology and Oceanography, PLA University of Science and Technology, Nanjing 211101 (China); Wang, Jun; Zhou, Bihua [National Defense Key Laboratory on Lightning Protection and Electromagnetic Camouflage, PLA University of Science and Technology, Nanjing 210007 (China); Zhou, Shudao [College of Meteorology and Oceanography, PLA University of Science and Technology, Nanjing 211101 (China); Collaborative Innovation Center on Forecast and Evaluation of Meteorological Disasters, Nanjing University of Information Science and Technology, Nanjing 210044 (China)

    2014-03-15

    This paper introduces a novel hybrid optimization algorithm to establish the parameters of chaotic systems. In order to deal with the weaknesses of the traditional cuckoo search algorithm, the proposed adaptive cuckoo search with simulated annealing algorithm is presented, which incorporates the adaptive parameters adjusting operation and the simulated annealing operation in the cuckoo search algorithm. Normally, the parameters of the cuckoo search algorithm are kept constant that may result in decreasing the efficiency of the algorithm. For the purpose of balancing and enhancing the accuracy and convergence rate of the cuckoo search algorithm, the adaptive operation is presented to tune the parameters properly. Besides, the local search capability of cuckoo search algorithm is relatively weak that may decrease the quality of optimization. So the simulated annealing operation is merged into the cuckoo search algorithm to enhance the local search ability and improve the accuracy and reliability of the results. The functionality of the proposed hybrid algorithm is investigated through the Lorenz chaotic system under the noiseless and noise condition, respectively. The numerical results demonstrate that the method can estimate parameters efficiently and accurately in the noiseless and noise condition. Finally, the results are compared with the traditional cuckoo search algorithm, genetic algorithm, and particle swarm optimization algorithm. Simulation results demonstrate the effectiveness and superior performance of the proposed algorithm.

  6. Parameter estimation for chaotic systems using a hybrid adaptive cuckoo search with simulated annealing algorithm

    Science.gov (United States)

    Sheng, Zheng; Wang, Jun; Zhou, Shudao; Zhou, Bihua

    2014-03-01

    This paper introduces a novel hybrid optimization algorithm to establish the parameters of chaotic systems. In order to deal with the weaknesses of the traditional cuckoo search algorithm, the proposed adaptive cuckoo search with simulated annealing algorithm is presented, which incorporates the adaptive parameters adjusting operation and the simulated annealing operation in the cuckoo search algorithm. Normally, the parameters of the cuckoo search algorithm are kept constant that may result in decreasing the efficiency of the algorithm. For the purpose of balancing and enhancing the accuracy and convergence rate of the cuckoo search algorithm, the adaptive operation is presented to tune the parameters properly. Besides, the local search capability of cuckoo search algorithm is relatively weak that may decrease the quality of optimization. So the simulated annealing operation is merged into the cuckoo search algorithm to enhance the local search ability and improve the accuracy and reliability of the results. The functionality of the proposed hybrid algorithm is investigated through the Lorenz chaotic system under the noiseless and noise condition, respectively. The numerical results demonstrate that the method can estimate parameters efficiently and accurately in the noiseless and noise condition. Finally, the results are compared with the traditional cuckoo search algorithm, genetic algorithm, and particle swarm optimization algorithm. Simulation results demonstrate the effectiveness and superior performance of the proposed algorithm.

  7. A Motion-Adaptive Deinterlacer via Hybrid Motion Detection and Edge-Pattern Recognition

    Directory of Open Access Journals (Sweden)

    Li Hsin-Te

    2008-01-01

    Full Text Available Abstract A novel motion-adaptive deinterlacing algorithm with edge-pattern recognition and hybrid motion detection is introduced. The great variety of video contents makes the processing of assorted motion, edges, textures, and the combination of them very difficult with a single algorithm. The edge-pattern recognition algorithm introduced in this paper exhibits the flexibility in processing both textures and edges which need to be separately accomplished by line average and edge-based line average before. Moreover, predicting the neighboring pixels for pattern analysis and interpolation further enhances the adaptability of the edge-pattern recognition unit when motion detection is incorporated. Our hybrid motion detection features accurate detection of fast and slow motion in interlaced video and also the motion with edges. Using only three fields for detection also renders higher temporal correlation for interpolation. The better performance of our deinterlacing algorithm with higher content-adaptability and less memory cost than the state-of-the-art 4-field motion detection algorithms can be seen from the subjective and objective experimental results of the CIF and PAL video sequences.

  8. A Motion-Adaptive Deinterlacer via Hybrid Motion Detection and Edge-Pattern Recognition

    Directory of Open Access Journals (Sweden)

    He-Yuan Lin

    2008-03-01

    Full Text Available A novel motion-adaptive deinterlacing algorithm with edge-pattern recognition and hybrid motion detection is introduced. The great variety of video contents makes the processing of assorted motion, edges, textures, and the combination of them very difficult with a single algorithm. The edge-pattern recognition algorithm introduced in this paper exhibits the flexibility in processing both textures and edges which need to be separately accomplished by line average and edge-based line average before. Moreover, predicting the neighboring pixels for pattern analysis and interpolation further enhances the adaptability of the edge-pattern recognition unit when motion detection is incorporated. Our hybrid motion detection features accurate detection of fast and slow motion in interlaced video and also the motion with edges. Using only three fields for detection also renders higher temporal correlation for interpolation. The better performance of our deinterlacing algorithm with higher content-adaptability and less memory cost than the state-of-the-art 4-field motion detection algorithms can be seen from the subjective and objective experimental results of the CIF and PAL video sequences.

  9. Convergent adaptation to a marginal habitat by homoploid hybrids and polyploid ecads in the seaweed genus Fucus

    NARCIS (Netherlands)

    Coyer, James A.; Hoarau, Galice; Pearson, Gareth A.; Serrao, Ester A.; Stam, Wytze T.; Olsen, Jeanine L.

    2006-01-01

    Hybridization and polyploidy are two major sources of genetic variability that can lead to adaptation in new habitats. Most species of the brown algal genus Fucus are found along wave-swept rocky shores of the Northern Hemisphere, but some species have adapted to brackish and salt marsh habitats. Us

  10. Convergent adaptation to a marginal habitat by homoploid hybrids and polyploid ecads in the seaweed genus Fucus

    NARCIS (Netherlands)

    Coyer, James A.; Hoarau, Galice; Pearson, Gareth A.; Serrao, Ester A.; Stam, Wytze T.; Olsen, Jeanine L.

    2006-01-01

    Hybridization and polyploidy are two major sources of genetic variability that can lead to adaptation in new habitats. Most species of the brown algal genus Fucus are found along wave-swept rocky shores of the Northern Hemisphere, but some species have adapted to brackish and salt marsh habitats.

  11. Fast Algorithms for Hybrid Control System Design

    Science.gov (United States)

    2007-11-02

    Controls for Petri Nets with Unobservable Transitions", Proceedings of the 1997 American Control Conference, pp. 2354- 2358, Albuquerque, New Mexico , June...Automation Conference, April 20-25, 1997, 1997, Albuquerque New Mexico . - Invited Speaker at special session on "Intelligent Control Systems" at the 3rd...0 (11) Moreover, if either (hence, both) of these statements hold, then one controller that renders iVa (Ji(P, K)) < 7 is ffiven by A + B2J- aYaC2

  12. Hybrid Multilevel Sparse Reconstruction for a Whole Domain Bioluminescence Tomography Using Adaptive Finite Element

    Directory of Open Access Journals (Sweden)

    Jingjing Yu

    2013-01-01

    Full Text Available Quantitative reconstruction of bioluminescent sources from boundary measurements is a challenging ill-posed inverse problem owing to the high degree of absorption and scattering of light through tissue. We present a hybrid multilevel reconstruction scheme by combining the ability of sparse regularization with the advantage of adaptive finite element method. In view of the characteristics of different discretization levels, two different inversion algorithms are employed on the initial coarse mesh and the succeeding ones to strike a balance between stability and efficiency. Numerical experiment results with a digital mouse model demonstrate that the proposed scheme can accurately localize and quantify source distribution while maintaining reconstruction stability and computational economy. The effectiveness of this hybrid reconstruction scheme is further confirmed with in vivo experiments.

  13. A general hybrid radiation transport scheme for star formation simulations on an adaptive grid

    CERN Document Server

    Klassen, Mikhail; Pudritz, Ralph E; Peters, Thomas; Banerjee, Robi; Buntemeyer, Lars

    2014-01-01

    Radiation feedback plays a crucial role in the process of star formation. In order to simulate the thermodynamic evolution of disks, filaments, and the molecular gas surrounding clusters of young stars, we require an efficient and accurate method for solving the radiation transfer problem. We describe the implementation of a hybrid radiation transport scheme in the adaptive grid-based FLASH general magnetohydrodynamics code. The hybrid scheme splits the radiative transport problem into a raytracing step and a diffusion step. The raytracer captures the first absorption event, as stars irradiate their environments, while the evolution of the diffuse component of the radiation field is handled by a flux-limited diffusion (FLD) solver. We demonstrate the accuracy of our method through a variety of benchmark tests including the irradiation of a static disk, subcritical and supercritical radiative shocks, and thermal energy equilibration. We also demonstrate the capability of our method for casting shadows and calc...

  14. Specialized hybrid learners resolve Rogers' paradox about the adaptive value of social learning.

    Science.gov (United States)

    Kharratzadeh, Milad; Montrey, Marcel; Metz, Alex; Shultz, Thomas R

    2017-02-07

    Culture is considered an evolutionary adaptation that enhances reproductive fitness. A common explanation is that social learning, the learning mechanism underlying cultural transmission, enhances mean fitness by avoiding the costs of individual learning. This explanation was famously contradicted by Rogers (1988), who used a simple mathematical model to show that cheap social learning can invade a population without raising its mean fitness. He concluded that some crucial factor remained unaccounted for, which would reverse this surprising result. Here we extend this model to include a more complex environment and limited resources, where individuals cannot reliably learn everything about the environment on their own. Under such conditions, cheap social learning evolves and enhances mean fitness, via hybrid learners capable of specializing their individual learning. We then show that while spatial or social constraints hinder the evolution of hybrid learners, a novel social learning strategy, complementary copying, can mitigate these effects.

  15. Model Based Adaptive Piecewise Linear Controller for Complicated Control Systems

    Directory of Open Access Journals (Sweden)

    Tain-Sou Tsay

    2014-01-01

    Full Text Available A model based adaptive piecewise linear control scheme for industry processes with specifications on peak overshoots and rise times is proposed. It is a gain stabilized control technique. Large gain is used for large tracking error to get fast response. Small gain is used between large and small tracking error for good performance. Large gain is used again for small tracking error to cope with large disturbance. Parameters of the three-segment piecewise linear controller are found by an automatic regulating time series which is function of output characteristics of the plant and reference model. The time series will be converged to steady values after the time response of the considered system matching that of the reference model. The proposed control scheme is applied to four numerical examples which have been compensated by PID controllers. Parameters of PID controllers are found by optimization method. It gives an almost command independent response and gives significant improvements for response time and performance.

  16. Hybrid active vibration control of rotorbearing systems using piezoelectric actuators

    Science.gov (United States)

    Palazzolo, A. B.; Jagannathan, S.; Kascak, A. F.; Montague, G. T.; Kiraly, L. J.

    1993-01-01

    The vibrations of a flexible rotor are controlled using piezoelectric actuators. The controller includes active analog components and a hybrid interface with a digital computer. The computer utilizes a grid search algorithm to select feedback gains that minimize a vibration norm at a specific operating speed. These gains are then downloaded as active stillnesses and dampings with a linear fit throughout the operating speed range to obtain a very effective vibration control.

  17. Collaborative-Hybrid Multi-Layer Network Control for Emerging Cyber-Infrastructures

    Energy Technology Data Exchange (ETDEWEB)

    Lehman, Tom [USC; Ghani, Nasir [UNM; Boyd, Eric [UCAID

    2010-08-31

    At a high level, there were four basic task areas identified for the Hybrid-MLN project. They are: o Multi-Layer, Multi-Domain, Control Plane Architecture and Implementation, including OSCARS layer2 and InterDomain Adaptation, Integration of LambdaStation and Terapaths with Layer2 dynamic provisioning, Control plane software release, Scheduling, AAA, security architecture, Network Virtualization architecture, Multi-Layer Network Architecture Framework Definition; o Heterogeneous DataPlane Testing; o Simulation; o Project Publications, Reports, and Presentations.

  18. A hybrid approach to space power control

    Science.gov (United States)

    Gholdston, E. W.; Janik, D. F.; Newton, K. A.

    1990-01-01

    Conventional control systems have traditionally been utilized for space-based power designs. However, the use of expert systems is becoming important for NASA applications. Rocketdyne has been pursuing the development of expert systems to aid and enhance control designs of space-based power systems. The need for integrated expert systems is vital for the development of autonomous power systems.

  19. Adaptive slope compensation for high bandwidth digital current mode controller

    DEFF Research Database (Denmark)

    Taeed, Fazel; Nymand, Morten

    2015-01-01

    An adaptive slope compensation method for digital current mode control of dc-dc converters is proposed in this paper. The compensation slope is used for stabilizing the inner current loop in peak current mode control. In this method, the compensation slope is adapted with the variations...... in converter duty cycle. The adaptive slope compensation provides optimum controller operation in term of bandwidth over wide range of operating points. In this paper operation principle of the controller is discussed. The proposed controller is implemented in an FPGA to control a 100 W buck converter...

  20. Pulse front control with adaptive optics

    Science.gov (United States)

    Sun, B.; Salter, P. S.; Booth, M. J.

    2016-03-01

    The focusing of ultrashort laser pulses is extremely important for processes including microscopy, laser fabrication and fundamental science. Adaptive optic elements, such as liquid crystal spatial light modulators or membrane deformable mirrors, are routinely used for the correction of aberrations in these systems, leading to improved resolution and efficiency. Here, we demonstrate that adaptive elements used with ultrashort pulses should not be considered simply in terms of wavefront modification, but that changes to the incident pulse front can also occur. We experimentally show how adaptive elements may be used to engineer pulse fronts with spatial resolution.

  1. Control Systems for a Dynamic Multi-Physics Model of a Nuclear Hybrid Energy System

    Energy Technology Data Exchange (ETDEWEB)

    Greenwood, Michael Scott [ORNL; Fugate, David W [ORNL; Cetiner, Sacit M [ORNL

    2017-01-01

    A Nuclear Hybrid Energy System (NHES) uses a nuclear reactor as the basic power generation unit, and the power generated is used by multiple customers as either thermal power, electrical power, or both. The definition and architecture of a particular NHES can be adapted based on the needs and opportunities of different local markets. For example, locations in need of potable water may be best served by coupling a desalination plant to the NHES. Similarly, a location near oil refineries may have a need for emission-free hydrogen production. Using the flexible, multi-domain capabilities of Modelica, Argonne National Laboratory, Idaho National Laboratory, and Oak Ridge National Laboratory are investigating the dynamics (e.g., thermal hydraulics and electrical generation/consumption) and cost of a hybrid system. This paper examines the NHES work underway, emphasizing the control system developed for individual subsystems and the overall supervisory control system.

  2. Improved performance of hybrid error control techniques for real-time digital communications over noisy channels

    Science.gov (United States)

    Yang, Charlie Qing

    1993-06-01

    Delay-related performance characteristics are investigated for asynchronous time division multiplexing links. Two methods based on an imbedded Markov chain model are developed and applied to the system with a noisy feedback channel yielding analytical expressions for the buffer occupancy and the block delay. A recursive expression for packet loss probability for systems with a finite transmitter buffer is obtained. The concept of delay limited error control coding is introduced for real-time communications. Performance improvement by truncation of a type-2 hybrid automatic repeat-request (ARQ) protocol with one retransmission is examined showing that the truncated protocol has a bounded delay and bounded queue length under typical conditions. The error performance of the truncated protocol is further analyzed for various mobile fading channels. Matched rate hybrid error control coding for both adaptive and non-adaptive cases is also studied. A new adaptive error control protocol using Reed-Solomon codes is proposed using novel feedback transmissions to achieve faster estimation of channel states. Numerical optimization is carried out by introducing overall and modified throughput as efficiency criteria. Based on channel bit error rate measurement, optimum overall throughput is obtained with minimum implementation complexity.

  3. [Mitochondrial DNA polymorphisms shared between modern humans and neanderthals: adaptive convergence or evidence for interspecific hybridization?].

    Science.gov (United States)

    Maliarchuk, B A

    2013-09-01

    An analysis of the variability of the nucleotide sequences in the mitochondrial genome of modern humans, neanderthals, Denisovans, and other primates has shown that there are shared polymorphisms at positions 2758 and 7146 between modern Homo sapiens (in phylogenetic cluster L2'3'4'5'6) and Homo neanderthalensis (in the group of European neanderthals younger than 48000 years). It is suggested that the convergence may be due to adaptive changes in the mitochondrial genomes of modern humans and neanderthals or interspecific hybridization associated with mtDNA recombination.

  4. A hybrid adaptive large neighborhood search heuristic for lot-sizing with setup times

    DEFF Research Database (Denmark)

    Muller, Laurent Flindt; Spoorendonk, Simon; Pisinger, David

    2012-01-01

    This paper presents a hybrid of a general heuristic framework and a general purpose mixed-integer programming (MIP) solver. The framework is based on local search and an adaptive procedure which chooses between a set of large neighborhoods to be searched. A mixed integer programming solver and its......, and the upper bounds found by the commercial MIP solver ILOG CPLEX using state-of-the-art MIP formulations. Furthermore, we improve the best known solutions on 60 out of 100 and improve the lower bound on all 100 instances from the literature...

  5. Adaptive hybrid subband image coding with DWT, DCT, and modified DPCM

    Science.gov (United States)

    Kim, Tae W.; Choe, Howard C.; Griswold, Norman C.

    1997-04-01

    Image coding based on subband decomposition with DPCM and PCM has received much attention in the areas of image compression research and industry. In this paper we present a new adaptive image subband coding with discrete wavelet transform, discrete cosine transform, and a modified DPCM. The main contribution of this work is the development of a simple, yet effective image compression and transmission algorithm. An important feature of this algorithm is the hybrid modified DPCM coding scheme which produces both simple, but significant, image compression and transmission coding.

  6. Adaptive Controller Design for Faulty UAVs via Quantum Information Technology

    Directory of Open Access Journals (Sweden)

    Fuyang Chen

    2012-12-01

    Full Text Available In this paper, an adaptive controller is designed for a UAV flight control system against faults and parametric uncertainties based on quantum information technology and the Popov hyperstability theory. First, considering the bounded control input, the state feedback controller is designed to make the system stable. The model of adaptive control is introduced to eliminate the impact by the uncertainties of system parameters via quantum information technology. Then, according to the model reference adaptive principle, an adaptive control law based on the Popov hyperstability theory is designed. This law enable better robustness of the flight control system and tracking control performances. The closed-loop system's stability is guaranteed by the Popov hyperstability theory. The simulation results demonstrate that a better dynamic performance of the UAV flight control system with faults and parametric uncertainties can be maintained with the proposed method.

  7. Adaptive Controller Design for Faulty UAVs via Quantum Information Technology

    Directory of Open Access Journals (Sweden)

    Fuyang Chen

    2012-12-01

    Full Text Available In this paper, an adaptive controller is designed for a UAV flight control system against faults and parametric uncertainties based on quantum information technology and the Popov hyperstability theory. First, considering the bounded control input, the state feedback controller is designed to make the system stable. The model of adaptive control is introduced to eliminate the impact by the uncertainties of system parameters via quantum information technology. Then, according to the model reference adaptive principle, an adaptive control law based on the Popov hyperstability theory is designed. This law enable better robustness of the flight control system and tracking control performances. The closed‐loop system’s stability is guaranteed by the Popov hyperstability theory. The simulation results demonstrate that a better dynamic performance of the UAV flight control system with faults and parametric uncertainties can be maintained with the proposed method.

  8. Hybrid systems: a real-time interface to control engineering

    DEFF Research Database (Denmark)

    Eriksen, Thomas Juul; Heilmann, Søren; Holdgaard, Michael

    1996-01-01

    are usually investigated by control engineers that base their work on the theory of dynamic systems. The mathematical tool for this work is thus mathematical analysis, in particular the theory of differential equations. The paper gives an introduction to a general hybrid systems model for definition of system...

  9. Real-Time Energy Management Control for Hybrid Electric Powertrains

    Directory of Open Access Journals (Sweden)

    Mohamed Zaher

    2013-01-01

    Full Text Available This paper focuses on embedded control of a hybrid powertrain concepts for mobile vehicle applications. Optimal robust control approach is used to develop a real-time energy management strategy. The main idea is to store the normally wasted mechanical regenerative energy in energy storage devices for later usage. The regenerative energy recovery opportunity exists in any condition where the speed of motion is in the opposite direction to the applied force or torque. This is the case when the vehicle is braking, decelerating, the motion is driven by gravitational force, or load driven. There are three main concepts for energy storing devices in hybrid vehicles: electric, hydraulic, and mechanical (flywheel. The real-time control challenge is to balance the system power demands from the engine and the hybrid storage device, without depleting the energy storage device or stalling the engine in any work cycle. In the worst-case scenario, only the engine is used and the hybrid system is completely disabled. A rule-based control algorithm is developed and is tuned for different work cycles and could be linked to a gain scheduling algorithm. A gain scheduling algorithm identifies the cycle being performed by the work machine and its position via GPS and maps both of them to the gains.

  10. 7 CFR 201.78 - Pollen control for hybrids.

    Science.gov (United States)

    2010-01-01

    ... 7 Agriculture 3 2010-01-01 2010-01-01 false Pollen control for hybrids. 201.78 Section 201.78... REGULATIONS Additional Requirements for the Certification of Plant Materials of Certain Crops § 201.78 Pollen... branches, or any combination thereof, shedding pollen. (c) Sorghum. Shedders in the seed parent, at any...

  11. Adaptive Intelligent Ventilation Noise Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To address the NASA need for quiet on-orbit crew quarters (CQ), Physical Optics Corporation (POC) proposes to develop a new Adaptive Intelligent Ventilation Noise...

  12. Adaptive Intelligent Ventilation Noise Control Project

    Data.gov (United States)

    National Aeronautics and Space Administration — To address NASA needs for quiet crew volumes in a space habitat, Physical Optics Corporation (POC) proposes to develop a new Adaptive Intelligent Ventilation Noise...

  13. A Hybrid Adaptive Routing Algorithm for Event-Driven Wireless Sensor Networks

    Directory of Open Access Journals (Sweden)

    Antonio A. F. Loureiro

    2009-09-01

    Full Text Available Routing is a basic function in wireless sensor networks (WSNs. For these networks, routing algorithms depend on the characteristics of the applications and, consequently, there is no self-contained algorithm suitable for every case. In some scenarios, the network behavior (traffic load may vary a lot, such as an event-driven application, favoring different algorithms at different instants. This work presents a hybrid and adaptive algorithm for routing in WSNs, called Multi-MAF, that adapts its behavior autonomously in response to the variation of network conditions. In particular, the proposed algorithm applies both reactive and proactive strategies for routing infrastructure creation, and uses an event-detection estimation model to change between the strategies and save energy. To show the advantages of the proposed approach, it is evaluated through simulations. Comparisons with independent reactive and proactive algorithms show improvements on energy consumption.

  14. A hybrid adaptive routing algorithm for event-driven wireless sensor networks.

    Science.gov (United States)

    Figueiredo, Carlos M S; Nakamura, Eduardo F; Loureiro, Antonio A F

    2009-01-01

    Routing is a basic function in wireless sensor networks (WSNs). For these networks, routing algorithms depend on the characteristics of the applications and, consequently, there is no self-contained algorithm suitable for every case. In some scenarios, the network behavior (traffic load) may vary a lot, such as an event-driven application, favoring different algorithms at different instants. This work presents a hybrid and adaptive algorithm for routing in WSNs, called Multi-MAF, that adapts its behavior autonomously in response to the variation of network conditions. In particular, the proposed algorithm applies both reactive and proactive strategies for routing infrastructure creation, and uses an event-detection estimation model to change between the strategies and save energy. To show the advantages of the proposed approach, it is evaluated through simulations. Comparisons with independent reactive and proactive algorithms show improvements on energy consumption.

  15. Research on the adaptive hybrid search tree anti-collision algorithm in RFID system

    Institute of Scientific and Technical Information of China (English)

    靳晓芳

    2016-01-01

    Due to more tag-collisions result in failed transmissions, tag anti-collision is a very vital issue in the radio frequency identification ( RFID) system.However, so far decreases in communication time and increases in throughput are very limited.In order to solve these problems, this paper presents a novel tag anti-collision scheme, namely adaptive hybrid search tree ( AHST) , by combining two al-gorithms of the adaptive binary-tree disassembly ( ABD) and the combination query tree ( CQT) , in which ABD has superior tag identification velocity and CQT has optimum performance in system throughput and search timeslots.From the theoretical analysis and numerical simulations, the pro-posed algorithm can colligate the advantages of above algorithms, improve the system throughput and reduce the searching timeslots dramatically.

  16. Impulsive and hybrid dynamical systems stability, dissipativity, and control

    CERN Document Server

    Haddad, Wassim M; Nersesov, Sergey G

    2014-01-01

    This book develops a general analysis and synthesis framework for impulsive and hybrid dynamical systems. Such a framework is imperative for modern complex engineering systems that involve interacting continuous-time and discrete-time dynamics with multiple modes of operation that place stringent demands on controller design and require implementation of increasing complexity--whether advanced high-performance tactical fighter aircraft and space vehicles, variable-cycle gas turbine engines, or air and ground transportation systems. Impulsive and Hybrid Dynamical Systems goes beyond similar

  17. Adaptive Backstepping Flight Control for Modern Fighter Aircraft

    NARCIS (Netherlands)

    Sonneveldt, L.

    2010-01-01

    The main goal of this thesis is to investigate the potential of the nonlinear adaptive backstepping control technique in combination with online model identification for the design of a reconfigurable flight control system for a modern fighter aircraft. Adaptive backstepping is a recursive,

  18. Sense of Control and Career Adaptability among Undergraduate Students

    Science.gov (United States)

    Duffy, Ryan D.

    2010-01-01

    The current study examined the direct relation of sense of control to career adaptability, as well as its ability to function as a mediator for other established predictors, with a sample of 1,991 undergraduate students. Students endorsing a greater sense of personal control were more likely to view themselves as adaptable to the world of work.…

  19. Feedback control of current drive by using hybrid wave in tokamaks; Asservissement de la generation de courant par l`onde hybride dans un plasma de tokamak

    Energy Technology Data Exchange (ETDEWEB)

    Wijnands, T.J. [Association Euratom-CEA, Centre d`Etudes Nucleaires de Cadarache, 13 - Saint-Paul-lez-Durance (France). Dept. de Recherches sur la Fusion Controlee]|[CEA Centre d`Etudes de Cadarache, 13 - Saint-Paul-lez-Durance (France). Direction des Sciences de la Matiere

    1997-03-01

    This work is focussed on an important and recent development in present day Controlled Nuclear Fusion Research and Tokamaks. The aim is to optimise the energy confinement for a certain magnetic configuration by adapting the radial distribution of the current. Of particular interest are feedback control scenarios with stationary modifications of the current profile using current, driven by Lower Hybrid waves. A new feedback control system has been developed for Tore Supra and has made a large number of new operation scenarios possible. In one of the experiments described here, there is no energy exchange between the poloidal field system and the plasma, the current is controlled by the power of the Lower Hybrid waves while the launched wave spectrum is used to optimise the current profile shape and the energy confinement. (author) 151 refs.

  20. SOFC temperature evaluation based on an adaptive fuzzy controller

    Institute of Scientific and Technical Information of China (English)

    Xiao-juan WU; Xin-jian ZHU; Guang-yi CAO; Heng-yong TU

    2008-01-01

    The operating temperature of a solid oxide fuel cell (SOFC) stack is a very important parameter to be controlled, which impacts the performance of the SOFC due to thermal cycling. In this paper, an adaptive fuzzy control method based on an affine nonlinear temperature model is developed to control the temperature of the SOFC within a specified range. Fuzzy logic systems are used to approximate nonlinear functions in the SOFC system and an adaptive technique is employed to construct the controller. Compared with the traditional fuzzy and proportion-integral-derivative (PID) control, the simulation results show that the designed adaptive fuzzy control method performed much better. So it is feasible to build an adaptive fuzzy controller for temperature control of the SOFC.

  1. Controllable proximity effect in superconducting hybrid devices

    NARCIS (Netherlands)

    Bakurskiy, Sergey

    2015-01-01

    This thesis is devoted to the study of controllable proximity effects in superconductors, both in terms of fundamental aspects and applications. As a part of this thesis theoretical description was suggested for a number of structures with superconducting electrodes and multiple interlayers. These s

  2. Engagement and Floor Control in Hybrid Meetings

    NARCIS (Netherlands)

    op den Akker, Hendrikus J.A.; Devanthéry, V.; Zwiers, Jakob; Hondorp, G.H.W.; van Dijk, Elisabeth M.A.G.; Kulyk, Olga Anatoliyivna; Hofs, D.H.W.; Nijholt, Antinus; Reidsma, Dennis

    2010-01-01

    The Human Media Interaction group of the University of Twente has developed a User Engagment and Floor Control Demonstrator, a system that uses modules for online speech recognition, real-time visual focus of attention as well as a module that signals who is being addressed by the speaker. A

  3. Does EMG control lead to distinct motor adaptation?

    Directory of Open Access Journals (Sweden)

    Reva E Johnson

    2014-09-01

    Full Text Available Powered prostheses are controlled using electromyographic (EMG signals, which may introduce high levels of uncertainty even for simple tasks. According to Bayesian theories, higher uncertainty should influence how the brain adapts motor commands in response to perceived errors. Such adaptation may critically influence how patients interact with their prosthetic devices; however, we do not yet understand adaptation behavior with EMG control. Models of adaptation can offer insights on movement planning and feedback correction, but we first need to establish their validity for EMG control interfaces. Here we created a simplified comparison of prosthesis and able-bodied control by studying adaptation with three control interfaces: joint angle, joint torque, and EMG. Subjects used each of the control interfaces to perform a target-directed task with random visual perturbations. We investigated how control interface and visual uncertainty affected trial-by-trial adaptation. As predicted by Bayesian models, increased errors and decreased visual uncertainty led to faster adaptation. The control interface had no significant effect beyond influencing error sizes. This result suggests that Bayesian models are useful for describing prosthesis control and could facilitate further investigation to characterize the uncertainty faced by prosthesis users. A better understanding of factors affecting movement uncertainty will guide sensory feedback strategies for powered prostheses and clarify what feedback information best improves control.

  4. Adaptive sliding mode control for a class of chaotic systems

    Energy Technology Data Exchange (ETDEWEB)

    Farid, R.; Ibrahim, A.; Zalam, B., E-mail: ramy5475@yahoo.com [Menofia University, Faculty of Electronic Engineering, Department of Industrial Electronics and Control, Menuf, Menofia (Egypt)

    2015-03-30

    Chaos control here means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, an Adaptive Sliding Mode Controller (ASMC) is presented based on Lyapunov stability theory. The well known Chua's circuit is chosen to be our case study in this paper. The study shows the effectiveness of the proposed adaptive sliding mode controller.

  5. Adaptive sliding mode control for a class of chaotic systems

    Science.gov (United States)

    Farid, R.; Ibrahim, A.; Zalam, B.

    2015-03-01

    Chaos control here means to design a controller that is able to mitigating or eliminating the chaos behavior of nonlinear systems that experiencing such phenomenon. In this paper, an Adaptive Sliding Mode Controller (ASMC) is presented based on Lyapunov stability theory. The well known Chua's circuit is chosen to be our case study in this paper. The study shows the effectiveness of the proposed adaptive sliding mode controller.

  6. Directional hearing aid using hybrid adaptive beamformer (HAB) and binaural ITE array

    Science.gov (United States)

    Shaw, Scott T.; Larow, Andy J.; Gibian, Gary L.; Sherlock, Laguinn P.; Schulein, Robert

    2002-05-01

    A directional hearing aid algorithm called the Hybrid Adaptive Beamformer (HAB), developed for NIH/NIA, can be applied to many different microphone array configurations. In this project the HAB algorithm was applied to a new array employing in-the-ear microphones at each ear (HAB-ITE), to see if previous HAB performance could be achieved with a more cosmetically acceptable package. With diotic output, the average benefit in threshold SNR was 10.9 dB for three HoH and 11.7 dB for five normal-hearing subjects. These results are slightly better than previous results of equivalent tests with a 3-in. array. With an innovative binaural fitting, a small benefit beyond that provided by diotic adaptive beamforming was observed: 12.5 dB for HoH and 13.3 dB for normal-hearing subjects, a 1.6 dB improvement over the diotic presentation. Subjectively, the binaural fitting preserved binaural hearing abilities, giving the user a sense of space, and providing left-right localization. Thus the goal of creating an adaptive beamformer that simultaneously provides excellent noise reduction and binaural hearing was achieved. Further work remains before the HAB-ITE can be incorporated into a real product, optimizing binaural adaptive beamforming, and integrating the concept with other technologies to produce a viable product prototype. [Work supported by NIH/NIDCD.

  7. Hybrid control of the distributed refrigeration system

    DEFF Research Database (Denmark)

    Chen, L.; Wisniewski, R.

    2010-01-01

    The supermarket refrigeration system typically has a distributed control structure, which neglects interactions between its subsystems. These interactions from time to time lead to a synchronization operation of the display-cases which causes an inferior control performance and increased energy...... or a chaotic behavior, the system is considered away from the synchronization. Therefore, the paper proposes a concept that the system may be de-synchronized by making it chaotic. A de-synchronization scheme is developed. It includes a synchronization-early-monitoring detector by calculating the maximum...... consumption. The paper focuses on synchronization dynamics of the refrigeration system modeled as a piecewise-affine switched system. System behaviors are analyzed using chaos theory. The synchronization phenomenon is interpreted as a stable low-period orbit; if the system has a high-order periodic orbit...

  8. Feedback controlled hybrid fast ferrite tuners

    Energy Technology Data Exchange (ETDEWEB)

    Remsen, D.B.; Phelps, D.A.; deGrassie, J.S.; Cary, W.P.; Pinsker, R.I.; Moeller, C.P. [General Atomics, San Diego, CA (United States); Arnold, W.; Martin, S.; Pivit, E. [ANT-Bosch, Backnang (Germany)

    1993-09-01

    A low power ANT-Bosch fast ferrite tuner (FFT) was successfully tested into (1) the lumped circuit equivalent of an antenna strap with dynamic plasma loading, and (2) a plasma loaded antenna strap in DIII-D. When the FFT accessible mismatch range was phase-shifted to encompass the plasma-induced variation in reflection coefficient, the 50 {Omega} source was matched (to within the desired 1.4 : 1 voltage standing wave ratio). The time required to achieve this match (i.e., the response time) was typically a few hundred milliseconds, mostly due to a relatively slow network analyzer-computer system. The response time for the active components of the FFT was 10 to 20 msec, or much faster than the present state-of-the-art for dynamic stub tuners. Future FFT tests are planned, that will utilize the DIII-D computer (capable of submillisecond feedback control), as well as several upgrades to the active control circuit, to produce a FFT feedback control system with a response time approaching 1 msec.

  9. Systems and Methods for Derivative-Free Adaptive Control

    Science.gov (United States)

    Yucelen, Tansel (Inventor); Kim, Kilsoo (Inventor); Calise, Anthony J. (Inventor)

    2015-01-01

    An adaptive control system is disclosed. The control system can control uncertain dynamic systems. The control system can employ one or more derivative-free adaptive control architectures. The control system can further employ one or more derivative-free weight update laws. The derivative-free weight update laws can comprise a time-varying estimate of an ideal vector of weights. The control system of the present invention can therefore quickly stabilize systems that undergo sudden changes in dynamics, caused by, for example, sudden changes in weight. Embodiments of the present invention can also provide a less complex control system than existing adaptive control systems. The control system can control aircraft and other dynamic systems, such as, for example, those with non-minimum phase dynamics.

  10. Adaptive Controller Design for Continuous Stirred Tank Reactor

    Directory of Open Access Journals (Sweden)

    K. Prabhu

    2014-09-01

    Full Text Available Continues Stirred Tank Reactor (CSTR is an important issue in chemical process and a wide range of research in the area of chemical engineering. Temperature Control of CSTR has been an issue in the chemical control engineering since it has highly non-linear complex equations. This study presents problem of temperature control of CSTR with the adaptive Controller. The Simulation is done in MATLAB and result shows that adaptive controller is an efficient controller for temperature control of CSTR than PID controller.

  11. Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

    Directory of Open Access Journals (Sweden)

    Miaolei Zhou

    Full Text Available As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

  12. Feedforward-feedback hybrid control for magnetic shape memory alloy actuators based on the Krasnosel'skii-Pokrovskii model.

    Science.gov (United States)

    Zhou, Miaolei; Zhang, Qi; Wang, Jingyuan

    2014-01-01

    As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel'skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.

  13. An Adaptive Hybrid Multi-level Intelligent Intrusion Detection System for Network Security

    Directory of Open Access Journals (Sweden)

    P. Ananthi

    2014-04-01

    Full Text Available Intrusion Detection System (IDS plays a vital factor in providing security to the networks through detecting malicious activities. Due to the extensive advancements in the computer networking, IDS has become an active area of research to determine various types of attacks in the networks. A large number of intrusion detection approaches are available in the literature using several traditional statistical and data mining approaches. Data mining techniques in IDS observed to provide significant results. Data mining approaches for misuse and anomaly-based intrusion detection generally include supervised, unsupervised and outlier approaches. It is important that the efficiency and potential of IDS be updated based on the criteria of new attacks. This study proposes a novel Adaptive Hybrid Multi-level Intelligent IDS (AHMIIDS system which is the combined version of anomaly and misuse detection techniques. The anomaly detection is based on Bayesian Networks and then the misuse detection is performed using Adaptive Neuro Fuzzy Inference System (ANFIS. The outputs of both anomaly detection and misuse detection modules are applied to Decision Table Majority (DTM to perform the final decision making. A rule-base approach is used in this system. It is observed from the results that the proposed AHMIIDS performs better than other conventional hybrid IDS.

  14. Adaptation of Hybrid FSO/RF Communication System Using Puncturing Technique

    Directory of Open Access Journals (Sweden)

    M. N. Khan

    2016-12-01

    Full Text Available Spectrum of radio frequency (RF communications is limited and expensive to install new applications. Free space optical (FSO communication is a viable technology which offers enormous bandwidth, license free installation, inexpensive deployment and error prone links. The FSO links degrade significantly due to the varying atmospheric and weather conditions (fog, cloud, snow, haze and combination of these. We propose a hybrid FSO/RF communication system which adapts the varying nature of atmosphere and weather. For the adaption of varying atmosphere and weather scenarios, we develop a novel optimization algorithm. The proposed algorithm is based on the well-known puncturing technique. We provide an extrinsic information transfer (EXIT chart for the binary and quaternary mapping scheme for the proposed communication system. We simulate the proposed algorithm for the hybrid communication system and analyze the system performance. The proposed algorithm is computationally less expensive and provide better performance gains over varying atmosphere and weather conditions. The algorithm is suitable for fast speed applications.

  15. A hybrid strategy of offline adaptive planning and online image guidance for prostate cancer radiotherapy

    Science.gov (United States)

    Lei, Yu; Wu, Qiuwen

    2010-04-01

    Offline adaptive radiotherapy (ART) has been used to effectively correct and compensate for prostate motion and reduce the required margin. The efficacy depends on the characteristics of the patient setup error and interfraction motion through the whole treatment; specifically, systematic errors are corrected and random errors are compensated for through the margins. In online image-guided radiation therapy (IGRT) of prostate cancer, the translational setup error and inter-fractional prostate motion are corrected through pre-treatment imaging and couch correction at each fraction. However, the rotation and deformation of the target are not corrected and only accounted for with margins in treatment planning. The purpose of this study was to investigate whether the offline ART strategy is necessary for an online IGRT protocol and to evaluate the benefit of the hybrid strategy. First, to investigate the rationale of the hybrid strategy, 592 cone-beam-computed tomography (CBCT) images taken before and after each fraction for an online IGRT protocol from 16 patients were analyzed. Specifically, the characteristics of prostate rotation were analyzed. It was found that there exist systematic inter-fractional prostate rotations, and they are patient specific. These rotations, if not corrected, are persistent through the treatment fraction, and rotations detected in early fractions are representative of those in later fractions. These findings suggest that the offline adaptive replanning strategy is beneficial to the online IGRT protocol with further margin reductions. Second, to quantitatively evaluate the benefit of the hybrid strategy, 412 repeated helical CT scans from 25 patients during the course of treatment were included in the replanning study. Both low-risk patients (LRP, clinical target volume, CTV = prostate) and intermediate-risk patients (IRP, CTV = prostate + seminal vesicles) were included in the simulation. The contours of prostate and seminal vesicles were

  16. A hybrid strategy of offline adaptive planning and online image guidance for prostate cancer radiotherapy

    Energy Technology Data Exchange (ETDEWEB)

    Lei Yu [Department of Radiation Oncology, Wayne State University, 4100 John R, Detroit, MI 48201 (United States); Wu Qiuwen [Department of Radiation Oncology, William Beaumont Hospital, 3601 West 13 Mile Rd, Royal Oak, MI 48073 (United States)], E-mail: Qiuwen.Wu@Duke.edu

    2010-04-21

    Offline adaptive radiotherapy (ART) has been used to effectively correct and compensate for prostate motion and reduce the required margin. The efficacy depends on the characteristics of the patient setup error and interfraction motion through the whole treatment; specifically, systematic errors are corrected and random errors are compensated for through the margins. In online image-guided radiation therapy (IGRT) of prostate cancer, the translational setup error and inter-fractional prostate motion are corrected through pre-treatment imaging and couch correction at each fraction. However, the rotation and deformation of the target are not corrected and only accounted for with margins in treatment planning. The purpose of this study was to investigate whether the offline ART strategy is necessary for an online IGRT protocol and to evaluate the benefit of the hybrid strategy. First, to investigate the rationale of the hybrid strategy, 592 cone-beam-computed tomography (CBCT) images taken before and after each fraction for an online IGRT protocol from 16 patients were analyzed. Specifically, the characteristics of prostate rotation were analyzed. It was found that there exist systematic inter-fractional prostate rotations, and they are patient specific. These rotations, if not corrected, are persistent through the treatment fraction, and rotations detected in early fractions are representative of those in later fractions. These findings suggest that the offline adaptive replanning strategy is beneficial to the online IGRT protocol with further margin reductions. Second, to quantitatively evaluate the benefit of the hybrid strategy, 412 repeated helical CT scans from 25 patients during the course of treatment were included in the replanning study. Both low-risk patients (LRP, clinical target volume, CTV = prostate) and intermediate-risk patients (IRP, CTV = prostate + seminal vesicles) were included in the simulation. The contours of prostate and seminal vesicles were

  17. Controlling Chaos of Hybrid Systems by Variable Threshold Values

    Science.gov (United States)

    Ito, Daisuke; Ueta, Tetsushi; Kousaka, Takuji; Imura, Jun'ichi; Aihara, Kazuyuki

    We try to stabilize unstable periodic orbits embedded in a given chaotic hybrid dynamical system by a perturbation of a threshold value. In conventional chaos control methods, a control input is designed by state-feedback, which is proportional to the difference between the target orbit and the current state, and it is applied to a specific system parameter or the state as a small perturbation. During a transition state, the control system consumes a certain control energy given by the integration of such perturbations. In our method, we change the threshold value dynamically to control the chaotic orbit. Unlike the OGY method and the delayed feedback control, no actual control input is added into the system. The state-feedback is utilized only to determine the dynamic threshold value, thus the orbit starting from the current threshold value reaches the next controlled threshold value without any control energy. We obtain the variation of the threshold value from the composite Poincaré map, and the controller is designed by the linear feedback theory with this variation. We demonstrate this method in simple hybrid chaotic systems and show its control performances by evaluating basins of attraction.

  18. Adaptive fuzzy sliding mode control of Lorenz chaotic system

    Institute of Scientific and Technical Information of China (English)

    WU Ligang; WANG Changhong

    2007-01-01

    By using the exponential reaching law technology,a sliding mode controller was designed for Lorenz chaotic system subject to an unknown external disturbance.On this basis,considering the unknown disturbance,an adaptive law was introduced to adaptively estimate the parameters of the disturbance bounds.Furthermore,to eliminate the chattering resulting from the discontinuous switch controller and to guarantee system transient performance,a new adaptive fuzzy sliding mode controller was designed.The results of the simulation show the effectiveness of the proposed control scheme.

  19. Chaotic attractor transforming control of hybrid Lorenz-Chen system

    Institute of Scientific and Technical Information of China (English)

    Qi Dong-Lian; Wang Qiao; Gu Hong

    2008-01-01

    Based on passive theory, this paper studies a hybrid chaotic dynamical system from the mathematics perspective to implement the control of system stabilization.According to the Jacobian matrix of the nonlinear system, the stabilization control region is gotten.The controller is designed to stabilize fast the minimum phase Lorenz-Chen chaotic system after equivalently transforming from chaotic system to passive system. The simulation results show that the system not only can be controlled at the different equilibria, but also can be transformed between the different chaotic attractors.

  20. Backstepping and sliding mode control hybridized for a prosthetic hand.

    Science.gov (United States)

    Engeberg, Erik D; Meek, Sanford G

    2009-02-01

    Open loop and force controllers are compared experimentally with three robust parallel force-velocity controllers that are developed for a prosthetic hand. Robust sliding mode, backstepping, and hybrid sliding mode-backstepping (HSMBS) parallel force-velocity controllers are tested by ten able-bodied subjects. Results obtained with a myoelectrically controlled prosthesis indicate that all three robust controllers offer a statistically significant improvement over linear hand prosthesis control schemes. The robust controllers enable the human operators to more easily manipulate a delicate object. Bench top experiments combined with quantitative and qualitative evaluations from ten test subjects reveal the HSMBS controller to be the best choice to improve control of powered prosthetic hands.

  1. A Unified Approach to High-Gain Adaptive Controllers

    Directory of Open Access Journals (Sweden)

    Ian A. Gravagne

    2009-01-01

    Full Text Available It has been known for some time that proportional output feedback will stabilize MIMO, minimum-phase, linear time-invariant systems if the feedback gain is sufficiently large. High-gain adaptive controllers achieve stability by automatically driving up the feedback gain monotonically. More recently, it was demonstrated that sample-and-hold implementations of the high-gain adaptive controller also require adaptation of the sampling rate. In this paper, we use recent advances in the mathematical field of dynamic equations on time scales to unify and generalize the discrete and continuous versions of the high-gain adaptive controller. We prove the stability of high-gain adaptive controllers on a wide class of time scales.

  2. Frequency Adaptive Selective Harmonic Control for Grid-Connected Inverters

    DEFF Research Database (Denmark)

    Yang, Yongheng; Zhou, Keliang; Wang, Huai

    2015-01-01

    SHC scheme consists of multiple parallel recursive (nk±m)-order (k = 0, 1, 2, . . ., and m ≤ n/2) harmonic control modules with independent control gains, which can be optimally weighted in accordance with the harmonic distribution. The hybrid SHC thus offers an optimal trade-off among cost...

  3. Photoresponsive lipid-polymer hybrid nanoparticles for controlled doxorubicin release

    Science.gov (United States)

    Yao, Cuiping; Wu, Ming; Zhang, Cecheng; Lin, Xinyi; Wei, Zuwu; Zheng, Youshi; Zhang, Da; Zhang, Zhenxi; Liu, Xiaolong

    2017-06-01

    Currently, photoresponsive nanomaterials are particularly attractive due to their spatial and temporal controlled drug release abilities. In this work, we report a photoresponsive lipid-polymer hybrid nanoparticle for remote controlled delivery of anticancer drugs. This hybrid nanoparticle comprises three distinct functional components: (i) a poly(D,L-lactide-co-glycolide) (PLGA) core to encapsulate doxorubicin; (ii) a soybean lecithin monolayer at the interface of the core and shell to act as a molecular fence to prevent drug leakage; (iii) a photoresponsive polymeric shell with anti-biofouling properties to enhance nanoparticle stability, which could be detached from the nanoparticle to trigger the drug release via a decrease in the nanoparticle’s stability under light irradiation. In vitro results revealed that this core-shell nanoparticle had excellent light-controlled drug release behavior (76% release with light irradiation versus 10% release without light irradiation). The confocal microscopy and flow cytometry results also further demonstrated the light-controlled drug release behavior inside the cancer cells. Furthermore, a CCK8 assay demonstrated that light irradiation could significantly improve the efficiency of killing cancer cells. Meanwhile, whole-animal fluorescence imaging of a tumor-bearing mouse also confirmed that light irradiation could trigger drug release in vivo. Taken together, our data suggested that a hybrid nanoparticle could be a novel light controlled drug delivery system for cancer therapy.

  4. Hormesis and adaptive cellular control systems

    Science.gov (United States)

    Hormetic dose response occurs for many endpoints associated with exposures of biological organisms to environmental stressors. Cell-based U- or inverted U-shaped responses may derive from common processes involved in activation of adaptive responses required to protect cells from...

  5. Hormesis and adaptive cellular control systems

    Science.gov (United States)

    Hormetic dose response occurs for many endpoints associated with exposures of biological organisms to environmental stressors. Cell-based U- or inverted U-shaped responses may derive from common processes involved in activation of adaptive responses required to protect cells from...

  6. Neuro-Adaptive Control of Robot Manipulator Using RBFN

    Energy Technology Data Exchange (ETDEWEB)

    Kim, J. D. [Cowell SysNet, Seoul (Korea); Lee, M. J.; Choi, Y. K.; Kim, S. S. [Pusan National University, Pusan (Korea)

    2001-01-01

    This paper investigates the direct adaptive control of nonlinear systems using RBFN(radial basis function networks). The structure of the controller consists of a fixed PD controller and a RBFN controller in parallel. An adaptation law for the parameters of RBFN is developed based on the Lyapunov stability theory to guarantee the stability of the overall control system. The filtered tracking error between the system output and the desired output is shown to be UUB(uniformly ultimately bounded). To evaluate the performance of the controller, the proposed method is applied to the trajectory control of the two-link manipulator. (author). 18 refs., 14 figs., 2 tabs.

  7. A Novel Torque Coordination Control Strategy of a Single-Shaft Parallel Hybrid Electric Vehicle Based on Model Predictive Control

    Directory of Open Access Journals (Sweden)

    Jing Sun

    2015-01-01

    Full Text Available The torque coordination control during mode transition is a very important task for hybrid electric vehicle (HEV with a clutch serving as the key enabling actuator element. Poor coordination will deteriorate the drivability of the driver and lead to excessive wearing to the clutch friction plates. In this paper, a novel torque coordination control strategy for a single-shaft parallel hybrid electric vehicle is presented to coordinate the motor torque, engine torque, and clutch torque so that the seamless mode switching can be achieved. Different to the existing model predictive control (MPC methods, only one model predictive controller is needed and the clutch torque is taken as an optimized variable rather than a known parameter. Furthermore, the successful idea of model reference control (MRC is also used for reference to generate the set-point signal required by MPC. The parameter sensitivity is studied for better performance of the proposed model predictive controller. The simulation results validate that the proposed novel torque coordination control strategy has less vehicle jerk, less torque interruption, and smaller clutch frictional losses, compared with the baseline method. In addition, the sensitivity and adaptiveness of the proposed novel torque coordination control strategy are evaluated.

  8. Hybrid sliding mode control of semi-active suspension systems

    Science.gov (United States)

    Assadsangabi, Babak; Eghtesad, Mohammad; Daneshmand, Farhang; Vahdati, Nader

    2009-12-01

    In order to design a controller which can take both ride comfort and road holding into consideration, a hybrid model reference sliding mode controller (HMRSMC) is proposed. The controller includes two separate model reference sliding mode controllers (MRSMC). One of the controllers is designed so as to force the plant to follow the ideal Sky-hook model and the other is to force the plant to follow the ideal Ground-hook model; then the outputs of these two controllers are linearly combined and applied to the plant as the input. Also, since the designed controller requires a knowledge of the terrain input, this input is approximated by the unsprung mass displacement. Finally, in the simulation section of this study, the effect of the relative ratio between the two MRSMCs and the knowledge of the terrain on the performance of the controller is numerically investigated for both steady-state and transient cases.

  9. Adaptive Mixed Finite Element Methods for Parabolic Optimal Control Problems

    OpenAIRE

    Zuliang Lu

    2011-01-01

    We will investigate the adaptive mixed finite element methods for parabolic optimal control problems. The state and the costate are approximated by the lowest-order Raviart-Thomas mixed finite element spaces, and the control is approximated by piecewise constant elements. We derive a posteriori error estimates of the mixed finite element solutions for optimal control problems. Such a posteriori error estimates can be used to construct more efficient and reliable adaptive mixed finite element ...

  10. Revisionist integral deferred correction with adaptive step-size control

    KAUST Repository

    Christlieb, Andrew

    2015-03-27

    © 2015 Mathematical Sciences Publishers. Adaptive step-size control is a critical feature for the robust and efficient numerical solution of initial-value problems in ordinary differential equations. In this paper, we show that adaptive step-size control can be incorporated within a family of parallel time integrators known as revisionist integral deferred correction (RIDC) methods. The RIDC framework allows for various strategies to implement stepsize control, and we report results from exploring a few of them.

  11. Event-triggered hybrid control based on multi-Agent systems for Microgrids

    DEFF Research Database (Denmark)

    Dou, Chun-xia; Liu, Bin; Guerrero, Josep M.

    2014-01-01

    of distributed energy resources, thus it is typical hybrid dynamic network. Considering the complex hybrid behaviors, a hierarchical decentralized coordinated control scheme is firstly constructed based on multi-agent sys-tem, then, the hybrid model of the microgrid is built by using differential hybrid Petri...

  12. Hybrid state-space self-tuning control of uncertain linear systems

    Science.gov (United States)

    Shieh, L. S.; Wang, Y. J.; Sunkel, J. W.

    1993-01-01

    The paper presents a hybrid state-space self-tuner using a new dual-rate sampling scheme for digital adaptive control of continuous-time uncertain linear systems. A state-space-based recursive least-squares algorithm, together with a variable forgetting factor, is used for direct estimations of both the equivalent discrete-time uncertain linear system parameters and the associated discrete-time state of a continuous-time uncertain linear system from the sampled input and output data. An analogue optimal regional pole-placement design method is used for designing an optimal observer-based analogue controller. A suboptimal observer-based digital controller is then designed from the designed analogue controller using digital redesign technique. To enhance the robustness of parameter identification and state estimation algorithms, a dynamic bound for a class of uncertain bilinear parameters and a fast-rate digital controller are developed at each fast-sampling period. Also, to accommodate computation loads and computation delay for developing the advanced hybrid self-tuner, the designed analogue controller and observer gains are both updated at each slow-sampling period. This control technique has been successfully applied to benchmark control problems.

  13. Multi-objective decoupling algorithm for active distance control of intelligent hybrid electric vehicle

    Science.gov (United States)

    Luo, Yugong; Chen, Tao; Li, Keqiang

    2015-12-01

    The paper presents a novel active distance control strategy for intelligent hybrid electric vehicles (IHEV) with the purpose of guaranteeing an optimal performance in view of the driving functions, optimum safety, fuel economy and ride comfort. Considering the complexity of driving situations, the objects of safety and ride comfort are decoupled from that of fuel economy, and a hierarchical control architecture is adopted to improve the real-time performance and the adaptability. The hierarchical control structure consists of four layers: active distance control object determination, comprehensive driving and braking torque calculation, comprehensive torque distribution and torque coordination. The safety distance control and the emergency stop algorithms are designed to achieve the safety and ride comfort goals. The optimal rule-based energy management algorithm of the hybrid electric system is developed to improve the fuel economy. The torque coordination control strategy is proposed to regulate engine torque, motor torque and hydraulic braking torque to improve the ride comfort. This strategy is verified by simulation and experiment using a forward simulation platform and a prototype vehicle. The results show that the novel control strategy can achieve the integrated and coordinated control of its multiple subsystems, which guarantees top performance of the driving functions and optimum safety, fuel economy and ride comfort.

  14. FBFN-based adaptive repetitive control of nonlinearly parameterized systems

    Institute of Scientific and Technical Information of China (English)

    Wenli Sun; Hong Cai; Fu Zhao

    2013-01-01

    An adaptive repetitive control scheme is presented for a class of nonlinearly parameterized systems based on the fuzzy ba-sis function network (FBFN). The parameters of the fuzzy rules are tuned with adaptive schemes. To attenuate chattering effectively, the discontinuous control term is approximated by an adaptive PI control structure. The bound of the discontinuous control term is assumed to be unknown and estimated by an adaptive mecha-nism. Based on the Lyapunov stability theory, an adaptive repeti-tive control law is proposed to guarantee the closed-loop stability and the tracking performance. By means of FBFNs, which avoid the nonlinear parameterization from entering into the adaptive repetitive control, the control er singularity problem is solved. The proposed approach does not require an exact structure of the sys-tem dynamics, and the proposed control er is utilized to control a model of permanent-magnet linear synchronous motor subject to significant disturbances and parameter uncertainties. The simula-tion results demonstrate the effectiveness of the proposed method.

  15. Design of Low Complexity Model Reference Adaptive Controllers

    Science.gov (United States)

    Hanson, Curt; Schaefer, Jacob; Johnson, Marcus; Nguyen, Nhan

    2012-01-01

    Flight research experiments have demonstrated that adaptive flight controls can be an effective technology for improving aircraft safety in the event of failures or damage. However, the nonlinear, timevarying nature of adaptive algorithms continues to challenge traditional methods for the verification and validation testing of safety-critical flight control systems. Increasingly complex adaptive control theories and designs are emerging, but only make testing challenges more difficult. A potential first step toward the acceptance of adaptive flight controllers by aircraft manufacturers, operators, and certification authorities is a very simple design that operates as an augmentation to a non-adaptive baseline controller. Three such controllers were developed as part of a National Aeronautics and Space Administration flight research experiment to determine the appropriate level of complexity required to restore acceptable handling qualities to an aircraft that has suffered failures or damage. The controllers consist of the same basic design, but incorporate incrementally-increasing levels of complexity. Derivations of the controllers and their adaptive parameter update laws are presented along with details of the controllers implementations.

  16. Study on the Robot Robust Adaptive Control Based on Neural Networks

    Institute of Scientific and Technical Information of China (English)

    温淑焕; 王洪瑞; 吴丽艳

    2003-01-01

    Force control based on neural networks is presented. Under the framework of hybrid control, an RBF neural network is used to compensate for all the uncertainties from robot dynamics and unknown environment first. The technique will improve the adaptability to environment stiffness when the end-effector is in contact with the environment, and does not require any a priori knowledge on the upper bound of syste uncertainties. Moreover, it need not compute the inverse of inertia matrix. Learning algorithms for neural networks to minimize the force error directly are designed. Simulation results have shown a better force/position tracking when neural network is used.

  17. Adaptive Human Control Gains During Precision Grip

    Directory of Open Access Journals (Sweden)

    Erik D. Engeberg

    2013-03-01

    Full Text Available Eight human test subjects attempted to track a desired position trajectory with an instrumented manipulandum (MN. The test subjects used the MN with three different levels of stiffness. A transfer function was developed to represent the human application of a precision grip from the data when the test subjects initially displaced the MN so as to learn the position mapping from the MN onto the display. Another transfer function was formed from the data of the remainder of the experiments, after significant displacement of the MN occurred. Both of these transfer functions accurately modelled the system dynamics for a portion of the experiments, but neither was accurate for the duration of the experiments because the human grip dynamics changed while learning the position mapping. Thus, an adaptive system model was developed to describe the learning process of the human test subjects as they displaced the MN in order to gain knowledge of the position mapping. The adaptive system model was subsequently validated following comparison with the human test subject data. An examination of the average absolute error between the position predicted by the adaptive model and the actual experimental data yielded an overall average error of 0.34mm for all three levels of stiffness.

  18. Adaptive control for autonomous rendezvous of spacecraft on elliptical orbit

    Institute of Scientific and Technical Information of China (English)

    Shan Lu; Shijie Xu

    2009-01-01

    A strategy for spacecraft autonomous rendezvous on an elliptical orbit in situation of no orbit information is developed. Lawden equation is used to describe relative motion of two spacecraft. Then an adaptive gain factor is introduced, and an adaptive control law for autonomous rendezvous on the elliptical orbit is designed using Lyapunov approach. The relative motion is proved to be ultimately bounded under this control law, and the final relative position error can achieve the expected magnitude. Simulation results indicate that the adaptive control law can realize autonomous rendezvous on the elliptical orbit with relative state information only.

  19. Neural Network Inverse Adaptive Controller Based on Davidon Least Square

    Institute of Scientific and Technical Information of China (English)

    2000-01-01

    General neural network inverse adaptive controller haa two flaws: the first is the slow convergence speed; the second is the invalidation to the non-minimum phase system.These defects limit the scope in which the neural network inverse adaptive controller is used.We employ Davidon least squares in training the multi-layer feedforward neural network used in approximating the inverse model of plant to expedite the convergence,and then through constructing the pseudo-plant,a neural network inverse adaptive controller is put forward which is still effective to the nonlinear non-minimum phase system.The simulation results show the validity of this scheme.

  20. The research of controller area network on hybrid electrical vehicle

    Institute of Scientific and Technical Information of China (English)

    Wu Hongxing; Song Liwei; Kou Baoquan; Cheng Shukang

    2006-01-01

    It is of increasing importance to design and implement vehicle networks for transferring information between electrical control units on Hybrid Electrical Vehicle (HEV). This paper presents a scheme of using Controller Area Network (CAN) technology to realize communication and datasharing between the electrical units on the HEV. The principle and communication protocol of Electrical Control Units (ECU) CAN node are introduced. By considering different sensitivity of the devices to the latency of data transportation, a new design procedure is proposed for the purpose of simplifying network codes and wiring harness, reducing assembly space and weight, improving assembly efficiency, and enhancing fault-diagnose in auto networks.

  1. Robust control of a parallel hybrid drivetrain with a CVT

    Energy Technology Data Exchange (ETDEWEB)

    Mayer, T.; Schroeder, D. [Technical Univ. of Munich (Germany)

    1996-09-01

    In this paper the design of a robust control system for a parallel hybrid drivetrain is presented. The drivetrain is based on a continuously variable transmission (CVT) and is therefore a highly nonlinear multiple-input-multiple-output system (MIMO-System). Input-Output-Linearization offers the possibility of linearizing and of decoupling the system. Since for example the vehicle mass varies with the load and the efficiency of the gearbox depends strongly on the actual working point, an exact linearization of the plant will mostly fail. Therefore a robust control algorithm based on sliding mode is used to control the drivetrain.

  2. Disturbance Accommodating Adaptive Control with Application to Wind Turbines

    Science.gov (United States)

    Frost, Susan

    2012-01-01

    Adaptive control techniques are well suited to applications that have unknown modeling parameters and poorly known operating conditions. Many physical systems experience external disturbances that are persistent or continually recurring. Flexible structures and systems with compliance between components often form a class of systems that fail to meet standard requirements for adaptive control. For these classes of systems, a residual mode filter can restore the ability of the adaptive controller to perform in a stable manner. New theory will be presented that enables adaptive control with accommodation of persistent disturbances using residual mode filters. After a short introduction to some of the control challenges of large utility-scale wind turbines, this theory will be applied to a high-fidelity simulation of a wind turbine.

  3. Adaptive optimization and control using neural networks

    Energy Technology Data Exchange (ETDEWEB)

    Mead, W.C.; Brown, S.K.; Jones, R.D.; Bowling, P.S.; Barnes, C.W.

    1993-10-22

    Recent work has demonstrated the ability of neural-network-based controllers to optimize and control machines with complex, non-linear, relatively unknown control spaces. We present a brief overview of neural networks via a taxonomy illustrating some capabilities of different kinds of neural networks. We present some successful control examples, particularly the optimization and control of a small-angle negative ion source.

  4. Improvement of Transient Stability in a Hybrid Power Multi-System Using a Designed NIDC (Novel Intelligent Damping Controller

    Directory of Open Access Journals (Sweden)

    Ting-Chia Ou

    2017-04-01

    Full Text Available This paper endeavors to apply a novel intelligent damping controller (NIDC for the static synchronous compensator (STATCOM to reduce the power fluctuations, voltage support and damping in a hybrid power multi-system. In this paper, we discuss the integration of an offshore wind farm (OWF and a seashore wave power farm (SWPF via a high-voltage, alternating current (HVAC electric power transmission line that connects the STATCOM and the 12-bus hybrid power multi-system. The hybrid multi-system consists of a battery energy storage system (BESS and a micro-turbine generation (MTG. The proposed NIDC consists of a designed proportional–integral–derivative (PID linear controller, an adaptive critic network and a proposed functional link-based novel recurrent fuzzy neural network (FLNRFNN. Test results show that the proposed controller can achieve better damping characteristics and effectively stabilize the network under unstable conditions.

  5. Immersion and Invariance Based Nonlinear Adaptive Flight Control

    NARCIS (Netherlands)

    Sonneveldt, L.; Van Oort, E.R.; Chu, Q.P.; Mulder, J.A.

    2010-01-01

    In this paper a theoretical framework for nonlinear adaptive flight control is developed and applied to a simplified, over-actuated nonlinear fighter aircraft model. The framework is based on a modular adaptive backstepping scheme with a new type of nonlinear estimator. The nonlinear estimator is

  6. Adaptive control of mobile robots using a neural network.

    Science.gov (United States)

    de Sousa Júnior, C; Hermerly, E M

    2001-06-01

    A Neural Network - based control approach for mobile robot is proposed. The weight adaptation is made on-line, without previous learning. Several possible situations in robot navigation are considered, including uncertainties in the model and presence of disturbance. Weight adaptation laws are presented as well as simulation results.

  7. Immersion and Invariance Based Nonlinear Adaptive Flight Control

    NARCIS (Netherlands)

    Sonneveldt, L.; Van Oort, E.R.; Chu, Q.P.; Mulder, J.A.

    2010-01-01

    In this paper a theoretical framework for nonlinear adaptive flight control is developed and applied to a simplified, over-actuated nonlinear fighter aircraft model. The framework is based on a modular adaptive backstepping scheme with a new type of nonlinear estimator. The nonlinear estimator is co

  8. Nonlinear Adaptive Control Using Gaussian Networks with Composite Adaptation for Improved Convergence

    OpenAIRE

    Fabri, S.; Kadirkamanathan, V.

    1996-01-01

    The use of composite adaptive laws for control of the affine class of nonlinear systems having unknown dynamics is proposed. These dynamics are approximated by Gaussian radial basis function neural networks whose parameters are updated by a composite law that is driven by both tracking and estimation errors, combining techniques used in direct and indirect adaptive control. This is motivated by the need to improve the speed of convergence of the unknown parameters, hence resulting in a better...

  9. Hybrid Engine Powered City Car: Fuzzy Controlled Approach

    Science.gov (United States)

    Rahman, Ataur; Mohiuddin, AKM; Hawlader, MNA; Ihsan, Sany

    2017-03-01

    This study describes a fuzzy controlled hybrid engine powered car. The car is powered by the lithium ion battery capacity of 1000 Wh is charged by the 50 cc hybrid engine and power regenerative mode. The engine is operated with lean mixture at 3000 rpm to charge the battery. The regenerative mode that connects with the engine generates electrical power of 500-600 W for the deceleration of car from 90 km/h to 20 km/h. The regenerated electrical power has been used to power the air-conditioning system and to meet the other electrical power. The battery power only used to propel the car. The regenerative power also found charging the battery for longer operation about 40 minutes and more. The design flexibility of this vehicle starts with whole-vehicle integration based on radical light weighting, drag reduction, and accessory efficiency. The energy efficient hybrid engine cut carbon dioxide (CO2) and nitrogen oxides (N2O) emission about 70-80% as the loads on the crankshaft such as cam-follower and its associated rotating components are replaced by electromagnetic systems, and the flywheel, alternator and starter motor are replaced by a motor generator. The vehicle was tested and found that it was able to travel 70 km/litre with the power of hybrid engine.

  10. Pressure Control for a Hydraulic Cylinder Based on a Self-Tuning PID Controller Optimized by a Hybrid Optimization Algorithm

    Directory of Open Access Journals (Sweden)

    Ru Wang

    2017-01-01

    Full Text Available In order to improve the performance of the hydraulic support electro-hydraulic control system test platform, a self-tuning proportion integration differentiation (PID controller is proposed to imitate the actual pressure of the hydraulic support. To avoid the premature convergence and to improve the convergence velocity for tuning PID parameters, the PID controller is optimized with a hybrid optimization algorithm integrated with the particle swarm algorithm (PSO and genetic algorithm (GA. A selection probability and an adaptive cross probability are introduced into the PSO to enhance the diversity of particles. The proportional overflow valve is installed to control the pressure of the pillar cylinder. The data of the control voltage of the proportional relief valve amplifier and pillar pressure are collected to acquire the system transfer function. Several simulations with different methods are performed on the hydraulic cylinder pressure system. The results demonstrate that the hybrid algorithm for a PID controller has comparatively better global search ability and faster convergence velocity on the pressure control of the hydraulic cylinder. Finally, an experiment is conducted to verify the validity of the proposed method.

  11. Hybrid Porous Materials for Controlled Release and Catalysis

    OpenAIRE

    Liu, Rui

    2010-01-01

    First reported in 1992, ordered mesoporous materials exhibit unique features, such as regular pore geometry, high surface area, and large pore volume, and have shown great potential in various applications. This dissertation combines the knowledge from the field of ordered mesoporous materials and several other research areas to design advanced hybrid porous materials for controlled release and catalysis applications.The demand for better treatment of illness has led to ever-increasing effort...

  12. Controllability in hybrid kinetic equations modeling nonequilibrium multicellular systems.

    Science.gov (United States)

    Bianca, Carlo

    2013-01-01

    This paper is concerned with the derivation of hybrid kinetic partial integrodifferential equations that can be proposed for the mathematical modeling of multicellular systems subjected to external force fields and characterized by nonconservative interactions. In order to prevent an uncontrolled time evolution of the moments of the solution, a control operator is introduced which is based on the Gaussian thermostat. Specifically, the analysis shows that the moments are solution of a Riccati-type differential equation.

  13. Caged molecular beacons: controlling nucleic acid hybridization with light.

    Science.gov (United States)

    Wang, Chunming; Zhu, Zhi; Song, Yanling; Lin, Hui; Yang, Chaoyong James; Tan, Weihong

    2011-05-28

    We have constructed a novel class of light-activatable caged molecular beacons (cMBs) that are caged by locking two stems with a photo-labile biomolecular interaction or covalent bond. With the cMBs, the nucleic acid hybridization process can be easily controlled with light, which offers the possibility for a high spatiotemporal resolution study of intracellular mRNAs. © The Royal Society of Chemistry 2011

  14. Hybrid Porous Materials for Controlled Release and Catalysis

    OpenAIRE

    Liu, Rui

    2010-01-01

    First reported in 1992, ordered mesoporous materials exhibit unique features, such as regular pore geometry, high surface area, and large pore volume, and have shown great potential in various applications. This dissertation combines the knowledge from the field of ordered mesoporous materials and several other research areas to design advanced hybrid porous materials for controlled release and catalysis applications.The demand for better treatment of illness has led to ever-increasing effort...

  15. Adaptive Neuro-Predictive Position/Velocity Control of Robot Manipulators in Work Space

    Directory of Open Access Journals (Sweden)

    Mohammad Farrokhi

    2014-03-01

    Full Text Available This paper proposes an adaptive Nonlinear Model Predictive Controller (NMPC for hybrid position/velocity control of robot manipulators. Robot dynamics have generally uncertainties, including parameters variations, unknown nonlinearities of the robot, payload variations, and torque disturbances form the environment. The cost function of the NMPC is defined in such a way that by adjusting its weighting parameters, the end-effector of the robot tracks a predefined geometry path in Cartesian space with a constant velocity. Moreover, to eliminate the uncertainties, a neural network with Levenberg-Marquardt training algorithm is used to estimate adaptively the model of the robot. The closed-loop stability is demonstrated using Lyapunov theory. The validity of the proposed control method is shown by simulation results on a 3-DOF robot manipulator actuated by DC servomotors.

  16. A novel intelligent adaptive control of laser-based ground thermal test

    Directory of Open Access Journals (Sweden)

    Gan Zhengtao

    2016-08-01

    Full Text Available Laser heating technology is a type of potential and attractive space heat flux simulation technology, which is characterized by high heating rate, controlled spatial intensity distribution and rapid response. However, the controlled plant is nonlinear, time-varying and uncertainty when implementing the laser-based heat flux simulation. In this paper, a novel intelligent adaptive controller based on proportion–integration–differentiation (PID type fuzzy logic is proposed to improve the performance of laser-based ground thermal test. The temperature range of thermal cycles is more than 200 K in many instances. In order to improve the adaptability of controller, output scaling factors are real time adjusted while the thermal test is underway. The initial values of scaling factors are optimized using a stochastic hybrid particle swarm optimization (H-PSO algorithm. A validating system has been established in the laboratory. The performance of the proposed controller is evaluated through extensive experiments under different operating conditions (reference and load disturbance. The results show that the proposed adaptive controller performs remarkably better compared to the conventional PID (PID controller and the conventional PID type fuzzy (F-PID controller considering performance indicators of overshoot, settling time and steady state error for laser-based ground thermal test. It is a reliable tool for effective temperature control of laser-based ground thermal test.

  17. A novel intelligent adaptive control of laser-based ground thermal test

    Institute of Scientific and Technical Information of China (English)

    Gan Zhengtao; Yu Gang; Li Shaoxia; He Xiuli; Chen Ru; Zheng Caiyun; Ning Weijian

    2016-01-01

    Laser heating technology is a type of potential and attractive space heat flux simulation technology, which is characterized by high heating rate, controlled spatial intensity distribution and rapid response. However, the controlled plant is nonlinear, time-varying and uncertainty when implementing the laser-based heat flux simulation. In this paper, a novel intelligent adaptive controller based on proportion–integration–differentiation (PID) type fuzzy logic is proposed to improve the performance of laser-based ground thermal test. The temperature range of thermal cycles is more than 200 K in many instances. In order to improve the adaptability of controller, output scaling factors are real time adjusted while the thermal test is underway. The initial values of scaling factors are optimized using a stochastic hybrid particle swarm optimization (H-PSO) algorithm. A validating system has been established in the laboratory. The performance of the pro-posed controller is evaluated through extensive experiments under different operating conditions (reference and load disturbance). The results show that the proposed adaptive controller performs remarkably better compared to the conventional PID (PID) controller and the conventional PID type fuzzy (F-PID) controller considering performance indicators of overshoot, settling time and steady state error for laser-based ground thermal test. It is a reliable tool for effective temperature control of laser-based ground thermal test.

  18. Adaptive importance sampling for control and inference

    OpenAIRE

    Kappen, Hilbert Johan; Ruiz, Hans Christian

    2015-01-01

    Path integral (PI) control problems are a restricted class of non-linear control problems that can be solved formally as a Feyman-Kac path integral and can be estimated using Monte Carlo sampling. In this contribution we review path integral control theory in the finite horizon case. We subsequently focus on the problem how to compute and represent control solutions. Within the PI theory, the question of how to compute becomes the question of importance sampling. Efficient importance samplers...

  19. Basic Research on Adaptive Model Algorithmic Control

    Science.gov (United States)

    1985-12-01

    Control Conference. Richalet, J., A. Rault, J.L. Testud and J. Papon (1978). Model predictive heuristic control: applications to industrial...pp.977-982. Richalet, J., A. Rault, J. L. Testud and J. Papon (1978). Model predictive heuristic control: applications to industrial processes

  20. Discrete Time Optimal Adaptive Control for Linear Stochastic Systems

    Institute of Scientific and Technical Information of China (English)

    JIANG Rui; LUO Guiming

    2007-01-01

    The least-squares(LS)algorithm has been used for system modeling for a long time. Without any excitation conditions, only the convergence rate of the common LS algorithm can be obtained. This paper analyzed the weighted least-squares(WLS)algorithm and described the good properties of the WLS algorithm. The WLS algorithm was then used for daptive control of linear stochastic systems to show that the linear closed-loop system was globally stable and that the system identification was consistent. Compared to the past optimal adaptive controller,this controller does not impose restricted conditions on the coefficients of the system, such as knowing the first coefficient before the controller. Without any persistent excitation conditions, the analysis shows that, with the regulation of the adaptive control, the closed-loop system was globally stable and the adaptive controller converged to the one-step-ahead optimal controller in some sense.

  1. Robust direct adaptive fuzzy control for nonlinear MIMO systems

    Institute of Scientific and Technical Information of China (English)

    ZHANG Huaguang; ZHANG Mingjun

    2006-01-01

    For a class of nonlinear multi-input multi-output systems with uncertainty, a robust direct adaptive fuzzy control scheme was proposed. The feedback control law and adaptive law for parameters were derived based on Lyapunov design approach. The overall control scheme can guarantee that the tracking error converges in the small neighborhood of origin, and all signals of the closed-loop system are uniformly bounded. The main advantage of the proposed control scheme is that in each subsystem only one parameter vector needs to be adjusted on-line in the adaptive mechanism, and so the on-line computing burden is reduced. In addition, the proposed control scheme is a smooth control with no chattering phenomena. A simulation example was proposed to demonstrate the effectiveness of the proposed control algorithm.

  2. Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

    Science.gov (United States)

    Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

    1992-01-01

    A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

  3. Lyapunov function-based control laws for revolute robot arms - Tracking control, robustness, and adaptive control

    Science.gov (United States)

    Wen, John T.; Kreutz-Delgado, Kenneth; Bayard, David S.

    1992-01-01

    A new class of joint level control laws for all-revolute robot arms is introduced. The analysis is similar to a recently proposed energy-like Liapunov function approach, except that the closed-loop potential function is shaped in accordance with the underlying joint space topology. This approach gives way to a much simpler analysis and leads to a new class of control designs which guarantee both global asymptotic stability and local exponential stability. When Coulomb and viscous friction and parameter uncertainty are present as model perturbations, a sliding mode-like modification of the control law results in a robustness-enhancing outer loop. Adaptive control is formulated within the same framework. A linear-in-the-parameters formulation is adopted and globally asymptotically stable adaptive control laws are derived by simply replacing unknown model parameters by their estimates (i.e., certainty equivalence adaptation).

  4. Variable universe stable adaptive fuzzy control of nonlinear system

    Institute of Scientific and Technical Information of China (English)

    李洪兴; 苗志宏; 王加银

    2002-01-01

    A kind of stable adaptive fuzzy control of nonlinear system is implemented using variable universe method. First of all, the basic structure of variable universe adaptive fuzzy controllers is briefly introduced. Then the contraction-expansion factor that is a key tool of variable universe method is defined by means of integral regulation idea, and a kind of adaptive fuzzy controllers is designed by using such a contraction-expansion factor. The simulation on first order nonlinear system is done. Secondly, it is proved that the variable universe adaptive fuzzy control is asymptotically stable by use of Lyapunov theory. The simulation on the second order nonlinear system shows that its simulation effect is also quite good. Finally a useful tool, called symbolic factor, is proposed, which may be of universal significance. It can greatly reduce the settling time and enhance the robustness of the system.

  5. High Efficiency Lighting with Integrated Adaptive Control (HELIAC) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The proposed project is the continued development of the High Efficiency Lighting with Integrated Adaptive Control (HELIAC) system. Solar radiation is not a viable...

  6. Fault Adaptive Control of Overactuated Systems Using Prognostic Estimation

    Data.gov (United States)

    National Aeronautics and Space Administration — Most fault adaptive control research addresses the preservation of system stability or functionality in the presence of a specific failure (fault). This paper...

  7. High Efficiency Lighting with Integrated Adaptive Control (HELIAC) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — The innovation of the proposed project is the development of High Efficiency Lighting with Integrated Adaptive Control (HELIAC) systems to drive plant growth. Solar...

  8. Integrated Damage-Adaptive Control System (IDACS) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — SSCI proposes to further develop, implement and test the damage-adaptive control algorithms developed in Phase I within the framework of an Integrated Damage...

  9. Control and adaptation in telecommunication systems mathematical foundations

    CERN Document Server

    Popovskij, Vladimir; Titarenko, Larysa

    2011-01-01

    This book is devoted to mathematical foundations providing synthesis and analysis of control and adaptation algorithms targeting modern telecommunication systems (TCS). The most popular technologies and network management methods are discussed.

  10. Integrated Damage-Adaptive Control System (IDACS) Project

    Data.gov (United States)

    National Aeronautics and Space Administration — SSCI, in collaboration with Boeing Phantom Works, proposes to develop and test an efficient Integrated Damage Adaptive Control System (IDACS). The proposed system is...

  11. Robust adaptive tracking control of robotic systems with uncertainties

    Institute of Scientific and Technical Information of China (English)

    Yaonan WANG; Jinzhu PENG; Wei SUN; Hongshan YU; Hui ZHANG

    2008-01-01

    To deal with the uncertainty factors of robotic systems,a robust adaptive tracking controller is Droposed.The knowledge of the uncertainty factors is assumed to be unidentified;the proposed controller can guarantee robustness to parametric and dynamics uncertainties and can also reject any bounded,immeasurable disturbances entering the System.The stability of the proposed controller is proven by the Lyapunov method.The proposed controller can easily be implemented and the stability of the closed system can be ensured;the tracking error and adaptation parameter error are uniformly ultimately bounded(UUB).Finally,some simulation examples are utilized to illustrate the control performance.

  12. Variable universe adaptive fuzzy control on the quadruple inverted pendulum

    Institute of Scientific and Technical Information of China (English)

    李洪兴; 苗志宏; 王家银

    2002-01-01

    This paper focuses on the control problem of the quadruple inverted pendulum by variable universe adaptive fuzzy control.First,the mathematical model on the quadruple inverted pendulum is described and its controllability is versified.Then,an efficient controller on the quadruple inverted pendulum is designed by using variable universe adaptive fuzzy control theory.Finally the simulation of the quadruple inverted pendulum is shown in detail.Besides,the experimental results on the hardware systems,i.e.real object systems,on a single inverted pendulum,a double inverted pendulum and a triple inverted pendulum are briefly introduced.``

  13. Hybrid Adaptive Filter development for the minimisation of transient fluctuations superimposed on electrotelluric field recordings mainly by magnetic storms

    Directory of Open Access Journals (Sweden)

    A. Konstantaras

    2006-01-01

    Full Text Available The method of Hybrid Adaptive Filtering (HAF aims to recover the recorded electric field signals from anomalies of magnetotelluric origin induced mainly by magnetic storms. An adaptive filter incorporating neuro-fuzzy technology has been developed to remove any significant distortions from the equivalent magnetic field signal, as retrieved from the original electric field signal by reversing the magnetotelluric method. Testing with further unseen data verifies the reliability of the model and demonstrates the effectiveness of the HAF method.

  14. Bi-Objective Optimal Control Modification Adaptive Control for Systems with Input Uncertainty

    Science.gov (United States)

    Nguyen, Nhan T.

    2012-01-01

    This paper presents a new model-reference adaptive control method based on a bi-objective optimal control formulation for systems with input uncertainty. A parallel predictor model is constructed to relate the predictor error to the estimation error of the control effectiveness matrix. In this work, we develop an optimal control modification adaptive control approach that seeks to minimize a bi-objective linear quadratic cost function of both the tracking error norm and predictor error norm simultaneously. The resulting adaptive laws for the parametric uncertainty and control effectiveness uncertainty are dependent on both the tracking error and predictor error, while the adaptive laws for the feedback gain and command feedforward gain are only dependent on the tracking error. The optimal control modification term provides robustness to the adaptive laws naturally from the optimal control framework. Simulations demonstrate the effectiveness of the proposed adaptive control approach.

  15. Controling contagious processes on temporal networks via adaptive rewiring

    CERN Document Server

    Belik, Vitaly; Hövel, Philipp

    2015-01-01

    We consider recurrent contagious processes on a time-varying network. As a control procedure to mitigate the epidemic, we propose an adaptive rewiring mechanism for temporary isolation of infected nodes upon their detection. As a case study, we investigate the network of pig trade in Germany. Based on extensive numerical simulations for a wide range of parameters, we demonstrate that the adaptation mechanism leads to a significant extension of the parameter range, for which most of the index nodes (origins of the epidemic) lead to vanishing epidemics. We find that diseases with detection times around a week and infectious periods up to 3 months can be effectively controlled. Furthermore the performance of adaptation is very heterogeneous with respect to the index node. We identify index nodes that are most responsive to the adaptation strategy and quantify the success of the proposed adaptation scheme in dependence on the infectious period and detection times.

  16. [An adaptive scaling hybrid algorithm for reduction of CT artifacts caused by metal objects].

    Science.gov (United States)

    Chen, Yu; Luo, Hai; Zhou, He-qin

    2009-03-01

    A new adaptively hybrid filtering algorithm is proposed to reduce the artifacts caused by metal in CT image. Firstly, the method is used to preprocess the projection data of metal region and is reconstruct by filtered back projection (FBP) method. Then the expectation maximization algorithm (EM) is performed on the iterative original metal project data. Finally, a compensating procedure is applied to the reconstructed metal region. The simulation result has demonstrated that the proposed algorithm can remove the metal artifacts and keep the structure information of metal object effectively. It ensures that the tissues around the metal will not be distorted. The method is also computational efficient and effective for the CT images which contains several metal objects.

  17. Adaptive Non-linear Control of Hydraulic Actuator Systems

    DEFF Research Database (Denmark)

    Hansen, Poul Erik; Conrad, Finn

    1998-01-01

    Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF).......Presentation of two new developed adaptive non-liner controllers for hydraulic actuator systems to give stable operation and improved performance.Results from the IMCIA project supported by the Danish Technical Research Council (STVF)....

  18. Design of a digital adaptive control system for reentry vehicles.

    Science.gov (United States)

    Picon-Jimenez, J. L.; Montgomery, R. C.; Grigsby, L. L.

    1972-01-01

    The flying qualities of atmospheric reentry vehicles experience considerable variations due to the wide changes in flight conditions characteristic of reentry trajectories. A digital adaptive control system has been designed to modify the vehicle's dynamic characteristics and to provide desired flying qualities for all flight conditions. This adaptive control system consists of a finite-memory identifier which determines the vehicle's unknown parameters, and a gain computer which calculates feedback gains to satisfy flying quality requirements.

  19. Cascade Control Solution for Traction Motor for Hybrid Electric Vehicles

    Directory of Open Access Journals (Sweden)

    Zsuzsa Preitl

    2007-10-01

    Full Text Available In this paper a hybrid electric vehicle is considered, which contains both aninternal combustion engine and an electric motor (EM. Without focusing on the othercomponents of the vehicle, the EM is treated in detail, both regarding modelling aspectsand control solutions.After a brief modelling of the plant, two cascade speed control solutions are presented: firsta classical PI+PI cascade control solution is presented. The control systems related totraction electric motors (used in vehicle traction must be able to cope with differentrequests, such as variation of the reference signal, load disturbances which depend on thetransport conditions and parametric disturbances regarding changes in the total mass ofthe vehicle. For this purpose, in the design of the speed controller (external loop a specificmethodology based on extension of the symmetrical optimum method is presented. Thecontrollers are developed using the Modulus–Optimum method for the inner loop, and theExtended Symmetrical Optimum Method, corrected based on the 2p-SO-method, for theouter loop (for a more efficient disturbance rejection.In order to force the behaviour of the system regarding the reference input, a correctionterm is introduced as a non-homogenous structured PI controller solution.Simulations were performed using numerical values taken from a real applicationconsisting in a hybrid vehicle prototype, showing satisfactory behaviour.

  20. Recurrent rearrangement during adaptive evolution in an interspecific yeast hybrid suggests a model for rapid introgression.

    Directory of Open Access Journals (Sweden)

    Barbara Dunn

    2013-03-01

    Full Text Available Genome rearrangements are associated with eukaryotic evolutionary processes ranging from tumorigenesis to speciation. Rearrangements are especially common following interspecific hybridization, and some of these could be expected to have strong selective value. To test this expectation we created de novo interspecific yeast hybrids between two diverged but largely syntenic Saccharomyces species, S. cerevisiae and S. uvarum, then experimentally evolved them under continuous ammonium limitation. We discovered that a characteristic interspecific genome rearrangement arose multiple times in independently evolved populations. We uncovered nine different breakpoints, all occurring in a narrow ~1-kb region of chromosome 14, and all producing an "interspecific fusion junction" within the MEP2 gene coding sequence, such that the 5' portion derives from S. cerevisiae and the 3' portion derives from S. uvarum. In most cases the rearrangements altered both chromosomes, resulting in what can be considered to be an introgression of a several-kb region of S. uvarum into an otherwise intact S. cerevisiae chromosome 14, while the homeologous S. uvarum chromosome 14 experienced an interspecific reciprocal translocation at the same breakpoint within MEP2, yielding a chimaeric chromosome; these events result in the presence in the cell of two MEP2 fusion genes having identical breakpoints. Given that MEP2 encodes for a high-affinity ammonium permease, that MEP2 fusion genes arise repeatedly under ammonium-limitation, and that three independent evolved isolates carrying MEP2 fusion genes are each more fit than their common ancestor, the novel MEP2 fusion genes are very likely adaptive under ammonium limitation. Our results suggest that, when homoploid hybrids form, the admixture of two genomes enables swift and otherwise unavailable evolutionary innovations. Furthermore, the architecture of the MEP2 rearrangement suggests a model for rapid introgression, a

  1. A general hybrid radiation transport scheme for star formation simulations on an adaptive grid

    Energy Technology Data Exchange (ETDEWEB)

    Klassen, Mikhail; Pudritz, Ralph E. [Department of Physics and Astronomy, McMaster University 1280 Main Street W, Hamilton, ON L8S 4M1 (Canada); Kuiper, Rolf [Max Planck Institute for Astronomy Königstuhl 17, D-69117 Heidelberg (Germany); Peters, Thomas [Institut für Computergestützte Wissenschaften, Universität Zürich Winterthurerstrasse 190, CH-8057 Zürich (Switzerland); Banerjee, Robi; Buntemeyer, Lars, E-mail: klassm@mcmaster.ca [Hamburger Sternwarte, Universität Hamburg Gojenbergsweg 112, D-21029 Hamburg (Germany)

    2014-12-10

    Radiation feedback plays a crucial role in the process of star formation. In order to simulate the thermodynamic evolution of disks, filaments, and the molecular gas surrounding clusters of young stars, we require an efficient and accurate method for solving the radiation transfer problem. We describe the implementation of a hybrid radiation transport scheme in the adaptive grid-based FLASH general magnetohydrodyanmics code. The hybrid scheme splits the radiative transport problem into a raytracing step and a diffusion step. The raytracer captures the first absorption event, as stars irradiate their environments, while the evolution of the diffuse component of the radiation field is handled by a flux-limited diffusion solver. We demonstrate the accuracy of our method through a variety of benchmark tests including the irradiation of a static disk, subcritical and supercritical radiative shocks, and thermal energy equilibration. We also demonstrate the capability of our method for casting shadows and calculating gas and dust temperatures in the presence of multiple stellar sources. Our method enables radiation-hydrodynamic studies of young stellar objects, protostellar disks, and clustered star formation in magnetized, filamentary environments.

  2. A General Hybrid Radiation Transport Scheme for Star Formation Simulations on an Adaptive Grid

    Science.gov (United States)

    Klassen, Mikhail; Kuiper, Rolf; Pudritz, Ralph E.; Peters, Thomas; Banerjee, Robi; Buntemeyer, Lars

    2014-12-01

    Radiation feedback plays a crucial role in the process of star formation. In order to simulate the thermodynamic evolution of disks, filaments, and the molecular gas surrounding clusters of young stars, we require an efficient and accurate method for solving the radiation transfer problem. We describe the implementation of a hybrid radiation transport scheme in the adaptive grid-based FLASH general magnetohydrodyanmics code. The hybrid scheme splits the radiative transport problem into a raytracing step and a diffusion step. The raytracer captures the first absorption event, as stars irradiate their environments, while the evolution of the diffuse component of the radiation field is handled by a flux-limited diffusion solver. We demonstrate the accuracy of our method through a variety of benchmark tests including the irradiation of a static disk, subcritical and supercritical radiative shocks, and thermal energy equilibration. We also demonstrate the capability of our method for casting shadows and calculating gas and dust temperatures in the presence of multiple stellar sources. Our method enables radiation-hydrodynamic studies of young stellar objects, protostellar disks, and clustered star formation in magnetized, filamentary environments.

  3. Hybrid threshold adaptable quantum secret sharing scheme with reverse Huffman-Fibonacci-tree coding

    Science.gov (United States)

    Lai, Hong; Zhang, Jun; Luo, Ming-Xing; Pan, Lei; Pieprzyk, Josef; Xiao, Fuyuan; Orgun, Mehmet A.

    2016-08-01

    With prevalent attacks in communication, sharing a secret between communicating parties is an ongoing challenge. Moreover, it is important to integrate quantum solutions with classical secret sharing schemes with low computational cost for the real world use. This paper proposes a novel hybrid threshold adaptable quantum secret sharing scheme, using an m-bonacci orbital angular momentum (OAM) pump, Lagrange interpolation polynomials, and reverse Huffman-Fibonacci-tree coding. To be exact, we employ entangled states prepared by m-bonacci sequences to detect eavesdropping. Meanwhile, we encode m-bonacci sequences in Lagrange interpolation polynomials to generate the shares of a secret with reverse Huffman-Fibonacci-tree coding. The advantages of the proposed scheme is that it can detect eavesdropping without joint quantum operations, and permits secret sharing for an arbitrary but no less than threshold-value number of classical participants with much lower bandwidth. Also, in comparison with existing quantum secret sharing schemes, it still works when there are dynamic changes, such as the unavailability of some quantum channel, the arrival of new participants and the departure of participants. Finally, we provide security analysis of the new hybrid quantum secret sharing scheme and discuss its useful features for modern applications.

  4. Hybrid Fluid-borne Noise Control in Fluid-filled Pipelines

    Science.gov (United States)

    Pan, M.; Johnston, N.; Plummer, A.

    2016-09-01

    This article reports on an initial investigation of a hybrid fluid-borne noise control system in hydraulic pipelines. The hybrid system is built by integrating an active feedforward noise controller with passive tuned flexible hoses. The active attenuator is designed to cancel the dominant harmonic pressure pulsations in the fluid line, while the passive hose is tuned to attenuate the residual high frequency pulsations. The active attenuator can effectively decrease the fluid-borne noise by superimposing a secondary anti-phase control signal. Adaptive notch filters with the filtered-X least mean square algorithm were applied for the controller and a frequency-domain least mean square filter was used for the secondary path on-line identification. The transmission line model was used to model the pipeline, and a time-domain hose model which includes coupling of longitudinal wall and fluid waves was used to model the flexible hose. Simulation results show that very good noise cancellation was achieved using the proposed approach, which has several advantages over existing fluid-borne noise control systems, being effective for a wide range of frequencies without impairing the system dynamic response much. While the flexible hoses may be less effective than purpose-built passive silencers, they can form an inexpensive and practical solution in combination with active control.

  5. Adaptive Control of Nonlinear Flexible Systems

    Science.gov (United States)

    1994-05-26

    Proceedings of the American Control Conference , pp. 547-551, San Francisco, June 1993. 3 2 1.3 Personnel Dr. Robert Kosut and Dr. M. Giintekin Kabuli worked on...Control of Nonlinear Systems Under Matching Conditions," Proceedings of the American Control Conference , pp. 549-555, San Diego, CA, May 1990. [10] I...Poolla, P. Khargonekar, A. Tikku, J. Krause and K. Nagpal, "A time-domain ap- proach to model validation," Proceedings

  6. Synchronization of general complex networks via adaptive control schemes

    Indian Academy of Sciences (India)

    Ping He; Chun-Guo Jing; Chang-Zhong Chen; Tao Fan; Hassan Saberi Nik

    2014-03-01

    In this paper, the synchronization problem of general complex networks is investigated by using adaptive control schemes. Time-delay coupling, derivative coupling, nonlinear coupling etc. exist universally in real-world complex networks. The adaptive synchronization scheme is designed for the complex network with multiple class of coupling terms. A criterion guaranteeing synchronization of such complex networks is established by employing the Lyapunov stability theorem and adaptive control schemes. Finally, an illustrative example with numerical simulation is given to show the feasibility and efficiency of theoretical results.

  7. Adaptive Attitude Control of the Crew Launch Vehicle

    Science.gov (United States)

    Muse, Jonathan

    2010-01-01

    An H(sub infinity)-NMA architecture for the Crew Launch Vehicle was developed in a state feedback setting. The minimal complexity adaptive law was shown to improve base line performance relative to a performance metric based on Crew Launch Vehicle design requirements for all most all of the Worst-on-Worst dispersion cases. The adaptive law was able to maintain stability for some dispersions that are unstable with the nominal control law. Due to the nature of the H(sub infinity)-NMA architecture, the augmented adaptive control signal has low bandwidth which is a great benefit for a manned launch vehicle.

  8. Adaptive control with an expert system based supervisory level. Thesis

    Science.gov (United States)

    Sullivan, Gerald A.

    1991-01-01

    Adaptive control is presently one of the methods available which may be used to control plants with poorly modelled dynamics or time varying dynamics. Although many variations of adaptive controllers exist, a common characteristic of all adaptive control schemes, is that input/output measurements from the plant are used to adjust a control law in an on-line fashion. Ideally the adjustment mechanism of the adaptive controller is able to learn enough about the dynamics of the plant from input/output measurements to effectively control the plant. In practice, problems such as measurement noise, controller saturation, and incorrect model order, to name a few, may prevent proper adjustment of the controller and poor performance or instability result. In this work we set out to avoid the inadequacies of procedurally implemented safety nets, by introducing a two level control scheme in which an expert system based 'supervisor' at the upper level provides all the safety net functions for an adaptive controller at the lower level. The expert system is based on a shell called IPEX, (Interactive Process EXpert), that we developed specifically for the diagnosis and treatment of dynamic systems. Some of the more important functions that the IPEX system provides are: (1) temporal reasoning; (2) planning of diagnostic activities; and (3) interactive diagnosis. Also, because knowledge and control logic are separate, the incorporation of new diagnostic and treatment knowledge is relatively simple. We note that the flexibility available in the system to express diagnostic and treatment knowledge, allows much greater functionality than could ever be reasonably expected from procedural implementations of safety nets. The remainder of this chapter is divided into three sections. In section 1.1 we give a detailed review of the literature in the area of supervisory systems for adaptive controllers. In particular, we describe the evolution of safety nets from simple ad hoc techniques, up

  9. Electric and hybrid vehicles environmental control subsystem study

    Science.gov (United States)

    1981-01-01

    An environmental control subsystem (ECS) in the passenger compartment of electric and hybrid vehicles is studied. Various methods of obtaining the desired temperature control for the battery pack is also studied. The functional requirements of ECS equipment is defined. Following categorization by methodology, technology availability and risk, all viable ECS concepts are evaluated. Each is assessed independently for benefits versus risk, as well as for its feasibility to short, intermediate and long term product development. Selection of the preferred concept is made against these requirements, as well as the study's major goal of providing safe, highly efficient and thermally confortable ECS equipment.

  10. Spectrum management considerations of adaptive power control in satellite networks

    Science.gov (United States)

    Sawitz, P.; Sullivan, T.

    1983-01-01

    Adaptive power control concepts for the compensation of rain attenuation are considered for uplinks and downlinks. The performance of example power-controlled and fixed-EIRP uplinks is compared in terms of C/Ns and C/Is. Provisional conclusions are drawn with regard to the efficacy of uplink and downlink power control orbit/spectrum utilization efficiency.

  11. Dissemination Protocols to Support Cooperative Adaptive Cruise Control (CACC) Merging

    NARCIS (Netherlands)

    Klein Wolterink, W.; Heijenk, Geert; Karagiannis, Georgios

    2011-01-01

    Cooperative adaptive cruise control (CACC) is a form of cruise control in which vehicles cooperatively control their speed using wireless communication. Previously we have implemented CACC using beaconing: the regular broadcasting of status information using 802.11p. Currently we are concerned with

  12. Combined MIMO adaptive and decentralized controllers for broadband active noise and vibration control

    NARCIS (Netherlands)

    Berkhoff, A.P.; Wesselink, J.M.

    2009-01-01

    Recent implementations of multiple-input multiple-output adaptive controllers for reduction of broadband noise and vibrations provide considerably improved performance over traditional adaptive algorithms. The most significant performance improvements are in terms of speed of convergence, the amount

  13. Combined MIMO adaptive and decentralized controllers for broadband active noise and vibration control

    NARCIS (Netherlands)

    Berkhoff, Arthur P.; Wesselink, J.M.

    2009-01-01

    Recent implementations of multiple-input multiple-output adaptive controllers for reduction of broadband noise and vibrations provide considerably improved performance over traditional adaptive algorithms. The most significant performance improvements are in terms of speed of convergence, the amount

  14. Robust adaptive fuzzy control scheme for nonlinear system with uncertainty

    Institute of Scientific and Technical Information of China (English)

    Mingjun ZHANG; Huaguang ZHANG

    2006-01-01

    In this paper, a robust adaptive fuzzy control scheme for a class of nonlinear system with uncertainty is proposed. First, using prior knowledge about the plant we obtain a fuzzy model, which is called the generalized fuzzy hyperbolic model (GFHM). Secondly, for the case that the states of the system are not available an observer is designed and a robust adaptive fuzzy output feedback control scheme is developed. The overall control system guarantees that the tracking error converges to a small neighborhood of origin and that all signals involved are uniformly bounded. The main advantages of the proposed control scheme are that the human knowledge about the plant under control can be used to design the controller and only one parameter in the adaptive mechanism needs to be on-line adjusted.

  15. Adaptive Fuzzy Dynamic Surface Control for Uncertain Nonlinear Systems

    Institute of Scientific and Technical Information of China (English)

    Xiao-Yuan Luo; Zhi-Hao Zhu; Xin-Ping Guan

    2009-01-01

    In this paper, a robust adaptive fuzzy dynamic surface control for a class of uncertain nonlinear systems is proposed. A novel adaptive fuzzy dynamic surface model is built to approximate the uncertain nonlinear functions by only one fuzzy logic system. The approximation capability of this model is proved and the model is implemented to solve the problem that too many approximators are used in the controller design of uncertain nonlinear systems. The shortage of "explosion of complexity" in backstepping design procedure is overcome by using the proposed dynamic surface control method. It is proved by constructing appropriate Lyapunov candidates that all signals of closed-loop systems are semi-globaily uniformly ultimate bounded. Also, this novel controller stabilizes the states of uncertain nonlinear systems faster than the adaptive sliding mode controller (SMC). Two simulation examples are provided to illustrate the effectiveness of the control approach proposed in this paper.

  16. Adaptive Control for Robotic Manipulators Base on RBF Neural Network

    Directory of Open Access Journals (Sweden)

    MA Jing

    2013-09-01

    Full Text Available An adaptive neural network controller is brought forward by the paper to solve trajectory tracking problems of robotic manipulators with uncertainties. The first scheme consists of a PD feedback and a dynamic compensator which is composed by neural network controller and variable structure controller. Neutral network controller is designed to adaptive learn and compensate the unknown uncertainties, variable structure controller is designed to eliminate approach errors of neutral network. The adaptive weight learning algorithm of neural network is designed to ensure online real-time adjustment, offline learning phase is not need; Global asymptotic stability (GAS of system base on Lyapunov theory is analysised to ensure the convergence of the algorithm. The simulation result s show that the kind of the control scheme is effective and has good robustness.

  17. Adaptive process control using fuzzy logic and genetic algorithms

    Science.gov (United States)

    Karr, C. L.

    1993-01-01

    Researchers at the U.S. Bureau of Mines have developed adaptive process control systems in which genetic algorithms (GA's) are used to augment fuzzy logic controllers (FLC's). GA's are search algorithms that rapidly locate near-optimum solutions to a wide spectrum of problems by modeling the search procedures of natural genetics. FLC's are rule based systems that efficiently manipulate a problem environment by modeling the 'rule-of-thumb' strategy used in human decision making. Together, GA's and FLC's possess the capabilities necessary to produce powerful, efficient, and robust adaptive control systems. To perform efficiently, such control systems require a control element to manipulate the problem environment, and a learning element to adjust to the changes in the problem environment. Details of an overall adaptive control system are discussed. A specific laboratory acid-base pH system is used to demonstrate the ideas presented.

  18. Adapting Predictive Feedback Chaos Control for Optimal Convergence Speed

    CERN Document Server

    Bick, Christian; Kolodziejski, Christoph

    2012-01-01

    Stabilizing unstable periodic orbits in a chaotic invariant set not only reveals information about its structure but also leads to various interesting applications. For the successful application of a chaos control scheme, convergence speed is of crucial importance. Here we present a predictive feedback chaos control method that adapts a control parameter online to yield optimal asymptotic convergence speed. We study the adaptive control map both analytically and numerically and prove that it converges at least linearly to a value determined by the spectral radius of the control map at the periodic orbit to be stabilized. The method is easy to implement algorithmically and may find applications for adaptive online control of biological and engineering systems.

  19. Novel hybrid coatings with controlled wettability by composite nanoparticle aggregation

    Science.gov (United States)

    Hritcu, Doina; Dodi, Gianina; Iordache, Mirabela L.; Draganescu, Dan; Sava, Elena; Popa, Marcel I.

    2016-11-01

    The aim of this study is to evaluate novel hybrid materials as potential candidates for producing coatings with hierarchical roughness and controlled wetting behaviour. Magnetite (Fe3O4) nanoparticles obtained by co-precipitation were embedded in matrices synthesized by radical graft co-polymerization of butyl acrylate (BA), butyl methacrylate (BMA), hexyl acrylate (HA) or styrene (ST) with ethylene glycol di-methacrylate (EGDMA) onto previously modified chitosan bearing surface vinyl groups. The resulting composite particles were characterized regarding their average size, composition and magnetic properties. Hybrid thin films containing suspension of composite particles in ethanol and pre-hydrolysed hexadecyltrimethoxysilane (HDTS) as a coupling/crosslinking agent were deposited by spin coating or spraying. The films were cured by heating and subsequently characterized regarding their morphology (scanning electron microscopy), contact angle with water and adhesion to substrate (scratch test). The structure-property relationship is discussed.

  20. Research in Adaptive and Decentralized Stochastic Control.

    Science.gov (United States)

    1986-01-01

    2] 0. Hernandez-Lerma and S.I. Marcus, "Identification and Approximation of Queueing Systems," IEEE Transactions on Automatic Control , Vol. AC-29...of Systems Possessing r" Symmetries," IEEE Transactions on Automatic Control , Vol. AC-29, November 1984, pp. 1037-1040. [6] J.W. Grizzle and S.I

  1. A hybrid joint based controller for an upper extremity exoskeleton

    Science.gov (United States)

    Mohd Khairuddin, Ismail; Taha, Zahari; Majeed, Anwar P. P. Abdul; Hakeem Deboucha, Abdel; Azraai Mohd Razman, Mohd; Aziz Jaafar, Abdul; Mohamed, Zulkifli

    2016-02-01

    This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton. The Euler-Lagrange formulation was used in deriving the dynamic modelling of both the human upper limb as well as the exoskeleton that consists of the upper arm and the forearm. The human model is based on anthropometrical measurements of the upper limb. The proportional-derivative (PD) computed torque control (CTC) architecture is employed in this study to investigate its efficacy performing joint-space control objectives specifically in rehabilitating the elbow and shoulder joints along the sagittal plane. An active force control (AFC) algorithm is also incorporated into the PD-CTC to investigate the effectiveness of this hybrid system in compensating disturbances. It was found that the AFC- PD-CTC performs well against the disturbances introduced into the system whilst achieving acceptable trajectory tracking as compared to the conventional PD-CTC control architecture.

  2. Optimal Control Policies of Pests for Hybrid Dynamical Systems

    Directory of Open Access Journals (Sweden)

    Baolin Kang

    2013-01-01

    Full Text Available We improve the traditional integrated pest management (IPM control strategies and formulate three specific management strategies, which can be described by hybrid dynamical systems. These strategies can not only effectively control pests but also reduce the abuse of pesticides and protect the natural enemies. The aim of this work is to study how the factors, such as natural enemies optimum choice in the two kinds of different pests, timings of natural enemy releases, dosages and timings of insecticide applications, and instantaneous killing rates of pesticides on both pests and natural enemies, can affect the success of IPM control programmes. The results indicate that the pests outbreak period or frequency largely depends on the optimal selective feeding of the natural enemy between one of the pests and the control tactics. Ultimately, we obtain the only pest needs to be controlled below a certain threshold while not supervising pest .

  3. Control Valve Trajectories for SOFC Hybrid System Startup

    Energy Technology Data Exchange (ETDEWEB)

    Gorrell, Megan; Banta, Larry; Rosen, William; Restrepo, Bernardo; Tucker, David

    2012-07-01

    Control and management of cathode airflow in a solid oxide fuel cell gas turbine hybrid power system was analyzed using the Hybrid Performance (HyPer) hardware simulation at the National Energy Technology (NETL), U.S. Department of Energy. This work delves into previously unexplored operating practices for HyPer, via simultaneous manipulation of bypass valves and the electric load on the generator. The work is preparatory to the development of a Multi-Input, Multi-Output (MIMO) controller for HyPer. A factorial design of experiments was conducted to acquire data for 81 different combinations of the manipulated variables, which consisted of three air flow control valves and the electric load on the turbine generator. From this data the response surface for the cathode airflow with respect to bypass valve positions was analyzed. Of particular interest is the control of airflow through the cathode during system startup and during large load swings. This paper presents an algorithm for controlling air mass flow through the cathode based on a modification of the steepest ascent method.

  4. Dynamic multimedia stream adaptation and rate control for heterogeneous networks

    Institute of Scientific and Technical Information of China (English)

    SZWABE Andrzej; SCHORR Andreas; HAUCK Franz J.; KASSLER Andreas J.

    2006-01-01

    Dynamic adaptation of multimedia content is seen as an important feature of next generation networks and pervasive systems enabling terminals and applications to adapt to changes in e.g. context, access network, and available Quality-of-Service(QoS) due to mobility of users, devices or sessions. We present the architecture of a multimedia stream adaptation service which enables communication between terminals having heterogeneous hardware and software capabilities and served by heterogeneous networks. The service runs on special content adaptation nodes which can be placed at any location within the network. The flexible structure of our architecture allows using a variety of different adaptation engines. A generic transcoding engine is used to change the codec of streams. An MPEG-21 Digital Item Adaptation (DIA) based transformation engine allows adjusting the data rate of scalable media streams. An intelligent decision-taking engine implements adaptive flow control which takes into account current network QoS parameters and congestion information. Measurements demonstrate the quality gains achieved through adaptive congestion control mechanisms under conditions typical for a heterogeneous network.

  5. Adaptive control of Hammerstein-Wiener nonlinear systems

    Science.gov (United States)

    Zhang, Bi; Hong, Hyokchan; Mao, Zhizhong

    2016-07-01

    The Hammerstein-Wiener model is a block-oriented model, having a linear dynamic block sandwiched by two static nonlinear blocks. This note develops an adaptive controller for a special form of Hammerstein-Wiener nonlinear systems which are parameterized by the key-term separation principle. The adaptive control law and recursive parameter estimation are updated by the use of internal variable estimations. By modeling the errors due to the estimation of internal variables, we establish convergence and stability properties. Theoretical results show that parameter estimation convergence and closed-loop system stability can be guaranteed under sufficient condition. From a qualitative analysis of the sufficient condition, we introduce an adaptive weighted factor to improve the performance of the adaptive controller. Numerical examples are given to confirm the results in this paper.

  6. Robust adaptive control for interval time-delay systems

    Institute of Scientific and Technical Information of China (English)

    Yizhong WANG; Huaguang ZHANG; Jun YANG

    2006-01-01

    This paper focuses on the robust adaptive control problems for a class of interval time-delay systems and a class of large-scale interconnected systems. The nonlinear uncertainties of the systems under study are bounded by high-order polynomial functions with unknown gains. Firstly, the adaptive feedback controller which can guarantee the stability of the closed-loop system in the sense of uniform ultimate boundedness is proposed. Then the proposed adaptive idea is extended to robust stabilizing designing method for a class of large-scale interconnected systems. Here, another problem we address is to design a decentralized feedback adaptive controller such that the closed-loop system is stable in the sense of uniform ultimate boundedness for all admissible uncertainties and time-delay. Finally, an illustrative example is given to show the validity of the proposed approach.

  7. Adaptive robust control of robot manipulators -- Theory and experiment

    Energy Technology Data Exchange (ETDEWEB)

    Imura, Junichi; Sugie, Toshiharu; Yoshikawa, Tsuneo (Kyoto Univ. (Japan))

    1994-10-01

    In this paper, a new adaptive robust control scheme for manipulators is proposed that overcomes the drawbacks of conventional adaptive robust control methods. The proposed controller has a simple structure by exploiting the special structure of the manipulator dynamics, and achieves the specified tracking precision without any a priori information on uncertainty. Furthermore, the feedback gain of the proposed method is almost necessary and minimum for the specified precision. To verify the advantages of the method, experimental results are shown for the trajectory control of a 2 DOF direct-drive arm.

  8. ADAPTIVE CONTROL OF FEED LOAD CHANGES IN ALCOHOL FERMENTATION

    Directory of Open Access Journals (Sweden)

    Folly R.

    1997-01-01

    Full Text Available A fed-batch alcohol fermentation on a pilot plant scale with a digital supervisory control system was evaluated as an experimental application case study of an adaptive controller. The verification of intrinsically dynamic variations in the characteristics of the fermentation, observed in previous work, showed the necessity of an adaptive control strategy for controller parameter tuning in order to adjust the changes in the specific rates of consumption, growth and product formation during the process. Satisfactory experimental results were obtained for set-point variations and sugar feed concentration load changes in the manipulated inlet flow to the fermenter

  9. Frequency Response Adaptive Control of a Refrigeration Cycle

    Directory of Open Access Journals (Sweden)

    Jens G. Balchen

    1989-01-01

    Full Text Available A technique for the adaptation of controller parameters in a single control loop based upon the estimation of frequency response parameters has been presented in an earlier paper. This paper contains an extension and a generalization of the first method and results in a more versatile solution which is applicable to a wider range of process characteristics. The application of this adaptive control technique is illustrated by a laboratory refrigeration cycle in which the evaporator pressure controls the speed of the compressor.

  10. Verification hybrid control of a wheeled mobile robot and manipulator

    Science.gov (United States)

    Muszynska, Magdalena; Burghardt, Andrzej; Kurc, Krzysztof; Szybicki, Dariusz

    2016-04-01

    In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system's nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

  11. Self-tuning regulators. [adaptive control research

    Science.gov (United States)

    Astrom, K. J.

    1975-01-01

    The results of a research project are discussed for self-tuning regulators for active control. An algorithm for the self-tuning regulator is described as being stochastic, nonlinear, time variable, and not trivial.

  12. Adaptive Feedfoward Feedback Control Framework Project

    Data.gov (United States)

    National Aeronautics and Space Administration — A novel approach is proposed for the suppression of the aircraft's structural vibration to increase the resilience of the flight control law in the presence of the...

  13. Neural dynamics for mobile robot adaptive control

    OpenAIRE

    Oubbati, Mohamed

    2006-01-01

    In this thesis, we investigate how dynamics in recurrent neural networks can be used to solve some specific mobile robot problems. We have designed a motion control approach based on a novel recurrent neural network. The advantage of this approach is that, no knowledge about the dynamic model is required, and no synaptic weight changing is needed in presence of time varying parameters. Furthermore, this approach allows a single fixed-weight network to act as a dynamic controller for several d...

  14. Economical launching and accelerating control strategy for a single-shaft parallel hybrid electric bus

    Science.gov (United States)

    Yang, Chao; Song, Jian; Li, Liang; Li, Shengbo; Cao, Dongpu

    2016-08-01

    This paper presents an economical launching and accelerating mode, including four ordered phases: pure electrical driving, clutch engagement and engine start-up, engine active charging, and engine driving, which can be fit for the alternating conditions and improve the fuel economy of hybrid electric bus (HEB) during typical city-bus driving scenarios. By utilizing the fast response feature of electric motor (EM), an adaptive controller for EM is designed to realize the power demand during the pure electrical driving mode, the engine starting mode and the engine active charging mode. Concurrently, the smoothness issue induced by the sequential mode transitions is solved with a coordinated control logic for engine, EM and clutch. Simulation and experimental results show that the proposed launching and accelerating mode and its control methods are effective in improving the fuel economy and ensure the drivability during the fast transition between the operation modes of HEB.

  15. Self-Adaptive Differential Evolution Algorithm With Zoning Evolution of Control Parameters and Adaptive Mutation Strategies.

    Science.gov (United States)

    Fan, Qinqin; Yan, Xuefeng

    2016-01-01

    The performance of the differential evolution (DE) algorithm is significantly affected by the choice of mutation strategies and control parameters. Maintaining the search capability of various control parameter combinations throughout the entire evolution process is also a key issue. A self-adaptive DE algorithm with zoning evolution of control parameters and adaptive mutation strategies is proposed in this paper. In the proposed algorithm, the mutation strategies are automatically adjusted with population evolution, and the control parameters evolve in their own zoning to self-adapt and discover near optimal values autonomously. The proposed algorithm is compared with five state-of-the-art DE algorithm variants according to a set of benchmark test functions. Furthermore, seven nonparametric statistical tests are implemented to analyze the experimental results. The results indicate that the overall performance of the proposed algorithm is better than those of the five existing improved algorithms.

  16. A Hybrid Flight Control for a Simulated Raptor-30 V2 Helicopter

    Directory of Open Access Journals (Sweden)

    Arbab Nighat Khizer

    2015-04-01

    Full Text Available This paper presents a hybrid flight control system for a single rotor simulated Raptor-30 V2 helicopter. Hybrid intelligent control system, combination of the conventional and intelligent control methodologies, is applied to small model helicopter. The proposed hybrid control used PID as a traditional control and fuzzy as an intelligent control so as to take the maximum advantage of advanced control theory. The helicopter?s model used; comes from X-Plane flight simulator and their hybrid flight control system was simulated using MATLAB/SIMULINK in a simulation platform. X-Plane is also used to visualize the performance of this proposed autopilot design. Through a series of numerous experiments, the operation of hybrid control system was investigated. Results verified that the proposed hybrid control has an excellent performance at hovering flight mode.

  17. Robust adaptive control of nonlinearly parameterized systems with unmodeled dynamics

    Institute of Scientific and Technical Information of China (English)

    LIU Yu-sheng; CHEN Jiang; LI Xing-yuan

    2006-01-01

    Many physical systems such as biochemical processes and machines with friction are of nonlinearly parameterized systems with uncertainties.How to control such systems effectively is one of the most challenging problems.This paper presents a robust adaptive controller for a significant class of nonlinearly parameterized systems.The controller can be used in cases where there exist parameter and nonlinear uncertainties,unmodeled dynamics and unknown bounded disturbances.The design of the controller is based on the control Lyapunov function method.A dynamic signal is introduced and adaptive nonlinear damping terms are used to restrain the effects of unmodeled dynamics,nonlinear uncertainties and unknown bounded disturbances.The backstepping procedure is employed to overcome the complexity in the design.With the proposed method,the estimation of the unknown parameters of the system is not required and there is only one adaptive parameter no matter how high the order of the system is and how many unknown parameters.there are.It is proved theoretically that the proposed robust adaptive control scheme guarantees the stability of nonlinearly parameterized system.Furthermore,all the states approach the equilibrium in arbitrary precision by choosing some design constants appropriately.Simulation results illustrate the effectiveness of the proposed robust adaptive controller.

  18. Terminal Sliding Mode Control Using Adaptive Fuzzy-Neural Observer

    Directory of Open Access Journals (Sweden)

    Dezhi Xu

    2013-01-01

    Full Text Available We propose a terminal sliding mode control (SMC law based on adaptive fuzzy-neural observer for nonaffine nonlinear uncertain system. First, a novel nonaffine nonlinear approximation algorithm is proposed for observer and controller design. Then, an adaptive fuzzy-neural observer is introduced to identify the simplified model and resolve the problem of the unavailability of the state variables. Moreover, based on the information of the adaptive observer, the terminal SMC law is designed. The Lyapunov synthesis approach is used to guarantee a global uniform ultimate boundedness property of the state estimation error and the asymptotic output tracking of the closed-loop control systems in spite of unknown uncertainties/disturbances, as well as all the other signals in the closed-loop system. Finally, using the designed terminal sliding mode controller, the simulation results on the dynamic model demonstrate the effectiveness of the proposed new control techniques.

  19. Adaptive neuro-fuzzy controller of switched reluctance motor

    Directory of Open Access Journals (Sweden)

    Tahour Ahmed

    2007-01-01

    Full Text Available This paper presents an application of adaptive neuro-fuzzy (ANFIS control for switched reluctance motor (SRM speed. The ANFIS has the advantages of expert knowledge of the fuzzy inference system and the learning capability of neural networks. An adaptive neuro-fuzzy controller of the motor speed is then designed and simulated. Digital simulation results show that the designed ANFIS speed controller realizes a good dynamic behaviour of the motor, a perfect speed tracking with no overshoot and a good rejection of impact loads disturbance. The results of applying the adaptive neuro-fuzzy controller to a SRM give better performance and high robustness than those obtained by the application of a conventional controller (PI.

  20. Control of sound radiation with active/adaptive structures

    Science.gov (United States)

    Fuller, C. R.; Rogers, C. A.; Robertshaw, H. H.

    1992-01-01

    Recent research is discussed in the area of active structural acoustic control with active/adaptive structures. Progress in the areas of structural acoustics, actuators, sensors, and control approaches is presented. Considerable effort has been given to the interaction of these areas with each other due to the coupled nature of the problem. A discussion is presented on actuators bonded to or embedded in the structure itself. The actuators discussed are piezoceramic actuators and shape memory alloy actuators. The sensors discussed are optical fiber sensors, Nitinol fiber sensors, piezoceramics, and polyvinylidene fluoride sensors. The active control techniques considered are state feedback control techniques and least mean square adaptive algorithms. Results presented show that significant progress has been made towards controlling structurally radiated noise by active/adaptive means applied directly to the structure.