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Sample records for intelligent robust control

  1. Robust algebraic image enhancement for intelligent control systems

    Science.gov (United States)

    Lerner, Bao-Ting; Morrelli, Michael

    1993-01-01

    Robust vision capability for intelligent control systems has been an elusive goal in image processing. The computationally intensive techniques a necessary for conventional image processing make real-time applications, such as object tracking and collision avoidance difficult. In order to endow an intelligent control system with the needed vision robustness, an adequate image enhancement subsystem capable of compensating for the wide variety of real-world degradations, must exist between the image capturing and the object recognition subsystems. This enhancement stage must be adaptive and must operate with consistency in the presence of both statistical and shape-based noise. To deal with this problem, we have developed an innovative algebraic approach which provides a sound mathematical framework for image representation and manipulation. Our image model provides a natural platform from which to pursue dynamic scene analysis, and its incorporation into a vision system would serve as the front-end to an intelligent control system. We have developed a unique polynomial representation of gray level imagery and applied this representation to develop polynomial operators on complex gray level scenes. This approach is highly advantageous since polynomials can be manipulated very easily, and are readily understood, thus providing a very convenient environment for image processing. Our model presents a highly structured and compact algebraic representation of grey-level images which can be viewed as fuzzy sets.

  2. Study of the intelligent control robustness with respect to radiations induced faults

    International Nuclear Information System (INIS)

    Cheynet, Ph.

    1999-01-01

    The so-called intelligent control techniques, such as Artificial Neural Networks and Fuzzy Logic, are considered as being potentially robust. Their digital implementation gives compact and powerful solutions to some problems difficult to be tackled by classical techniques. Such approaches might be used for applications working in harsh environment (nuclear and space). The aim of this thesis is to study the robustness of artificial neural networks and fuzzy logic against Single Event Upset faults, in order to evaluate their viability and their efficiency for onboard spacecraft processes. A set of experiments have been performed on a neural network and a fuzzy controller, both implementing real space applications: texture analysis from satellite images and wheel control of a martian rover. An original method, allowing to increase the recognition rate of any artificial neural network has been developed and used on the studied network. Digital architectures implementing the two studied techniques in this thesis, have been boarded on two scientific satellites. One is in flight since one year, the other will be launched in the end of 1999. Obtained results, both from software simulations, hardware fault injections or particle accelerator tests, show that intelligent control techniques have a significant robustness against Single Event Upset faults. Data issued from the flight experiment confirm these properties, showing that some onboard spacecraft processes can be reliably executed by digital artificial neural networks. (author)

  3. Robust intelligent backstepping tracking control for uncertain non-linear chaotic systems using H∞ control technique

    International Nuclear Information System (INIS)

    Peng, Y.-F.

    2009-01-01

    The cerebellar model articulation controller (CMAC) is a non-linear adaptive system with built-in simple computation, good generalization capability and fast learning property. In this paper, a robust intelligent backstepping tracking control (RIBTC) system combined with adaptive CMAC and H ∞ control technique is proposed for a class of chaotic systems with unknown system dynamics and external disturbance. In the proposed control system, an adaptive backstepping cerebellar model articulation controller (ABCMAC) is used to mimic an ideal backstepping control (IBC), and a robust H ∞ controller is designed to attenuate the effect of the residual approximation errors and external disturbances with desired attenuation level. Moreover, the all adaptation laws of the RIBTC system are derived based on the Lyapunov stability analysis, the Taylor linearization technique and H ∞ control theory, so that the stability of the closed-loop system and H ∞ tracking performance can be guaranteed. Finally, three application examples, including a Duffing-Holmes chaotic system, a Genesio chaotic system and a Sprott circuit system, are used to demonstrate the effectiveness and performance of proposed robust control technique.

  4. Robust intelligent sliding model control using recurrent cerebellar model articulation controller for uncertain nonlinear chaotic systems

    International Nuclear Information System (INIS)

    Peng Yafu

    2009-01-01

    In this paper, a robust intelligent sliding model control (RISMC) scheme using an adaptive recurrent cerebellar model articulation controller (RCMAC) is developed for a class of uncertain nonlinear chaotic systems. This RISMC system offers a design approach to drive the state trajectory to track a desired trajectory, and it is comprised of an adaptive RCMAC and a robust controller. The adaptive RCMAC is used to mimic an ideal sliding mode control (SMC) due to unknown system dynamics, and a robust controller is designed to recover the residual approximation error for guaranteeing the stable characteristic. Moreover, the Taylor linearization technique is employed to derive the linearized model of the RCMAC. The all adaptation laws of the RISMC system are derived based on the Lyapunov stability analysis and projection algorithm, so that the stability of the system can be guaranteed. Finally, the proposed RISMC system is applied to control a Van der Pol oscillator, a Genesio chaotic system and a Chua's chaotic circuit. The effectiveness of the proposed control scheme is verified by some simulation results with unknown system dynamics and existence of external disturbance. In addition, the advantages of the proposed RISMC are indicated in comparison with a SMC system

  5. Adaptive Critic Nonlinear Robust Control: A Survey.

    Science.gov (United States)

    Wang, Ding; He, Haibo; Liu, Derong

    2017-10-01

    Adaptive dynamic programming (ADP) and reinforcement learning are quite relevant to each other when performing intelligent optimization. They are both regarded as promising methods involving important components of evaluation and improvement, at the background of information technology, such as artificial intelligence, big data, and deep learning. Although great progresses have been achieved and surveyed when addressing nonlinear optimal control problems, the research on robustness of ADP-based control strategies under uncertain environment has not been fully summarized. Hence, this survey reviews the recent main results of adaptive-critic-based robust control design of continuous-time nonlinear systems. The ADP-based nonlinear optimal regulation is reviewed, followed by robust stabilization of nonlinear systems with matched uncertainties, guaranteed cost control design of unmatched plants, and decentralized stabilization of interconnected systems. Additionally, further comprehensive discussions are presented, including event-based robust control design, improvement of the critic learning rule, nonlinear H ∞ control design, and several notes on future perspectives. By applying the ADP-based optimal and robust control methods to a practical power system and an overhead crane plant, two typical examples are provided to verify the effectiveness of theoretical results. Overall, this survey is beneficial to promote the development of adaptive critic control methods with robustness guarantee and the construction of higher level intelligent systems.

  6. Artificial Intelligence for Controlling Robotic Aircraft

    Science.gov (United States)

    Krishnakumar, Kalmanje

    2005-01-01

    A document consisting mostly of lecture slides presents overviews of artificial-intelligence-based control methods now under development for application to robotic aircraft [called Unmanned Aerial Vehicles (UAVs) in the paper] and spacecraft and to the next generation of flight controllers for piloted aircraft. Following brief introductory remarks, the paper presents background information on intelligent control, including basic characteristics defining intelligent systems and intelligent control and the concept of levels of intelligent control. Next, the paper addresses several concepts in intelligent flight control. The document ends with some concluding remarks, including statements to the effect that (1) intelligent control architectures can guarantee stability of inner control loops and (2) for UAVs, intelligent control provides a robust way to accommodate an outer-loop control architecture for planning and/or related purposes.

  7. Intelligent and robust optimization frameworks for smart grids

    Science.gov (United States)

    Dhansri, Naren Reddy

    A smart grid implies a cyberspace real-time distributed power control system to optimally deliver electricity based on varying consumer characteristics. Although smart grids solve many of the contemporary problems, they give rise to new control and optimization problems with the growing role of renewable energy sources such as wind or solar energy. Under highly dynamic nature of distributed power generation and the varying consumer demand and cost requirements, the total power output of the grid should be controlled such that the load demand is met by giving a higher priority to renewable energy sources. Hence, the power generated from renewable energy sources should be optimized while minimizing the generation from non renewable energy sources. This research develops a demand-based automatic generation control and optimization framework for real-time smart grid operations by integrating conventional and renewable energy sources under varying consumer demand and cost requirements. Focusing on the renewable energy sources, the intelligent and robust control frameworks optimize the power generation by tracking the consumer demand in a closed-loop control framework, yielding superior economic and ecological benefits and circumvent nonlinear model complexities and handles uncertainties for superior real-time operations. The proposed intelligent system framework optimizes the smart grid power generation for maximum economical and ecological benefits under an uncertain renewable wind energy source. The numerical results demonstrate that the proposed framework is a viable approach to integrate various energy sources for real-time smart grid implementations. The robust optimization framework results demonstrate the effectiveness of the robust controllers under bounded power plant model uncertainties and exogenous wind input excitation while maximizing economical and ecological performance objectives. Therefore, the proposed framework offers a new worst-case deterministic

  8. A framework for the intelligent control of nuclear rockets

    International Nuclear Information System (INIS)

    Parlos, A.G.; Metzger, J.D.

    1993-01-01

    An intelligent control system architecture is proposed for nuclear rockets, and its various components are briefly described. The objective of the intelligent controller is the satisfaction of performance, robustness, fault-tolerance and reliability design specifications. The proposed hierarchical architecture consists of three levels: hardware, signal processing, and knowledge processing. The functionality of the intelligent controller is implemented utilizing advanced information processing technologies such as artificial neutral networks and fuzzy expert systems. The feasibility of a number of the controller architecture components have been independently validated using computer simulations. Preliminary results are presented demonstrating some of the signal processing capabilities of the intelligent nuclear rocket controller. Further work, currently in progress, is attempting to implement a number of the knowledge processing capabilities of the controller and their interface with the lower levels of the proposed architecture

  9. Innovation in Active Vibration Control Strategy of Intelligent Structures

    Directory of Open Access Journals (Sweden)

    A. Moutsopoulou

    2014-01-01

    Full Text Available Large amplitudes and attenuating vibration periods result in fatigue, instability, and poor structural performance. In light of past approaches in this field, this paper intends to discuss some innovative approaches in vibration control of intelligent structures, particularly in the case of structures with embedded piezoelectric materials. Control strategies are presented, such as the linear quadratic control theory, as well as more advanced theories, such as robust control theory. The paper presents sufficiently a recognizable advance in knowledge of active vibration control in intelligent structures.

  10. Robust Bio-Signal Based Control of an Intelligent Wheelchair

    Directory of Open Access Journals (Sweden)

    Dongyi Chen

    2013-09-01

    Full Text Available In this paper, an adaptive human-machine interaction (HMI method that is based on surface electromyography (sEMG signals is proposed for the hands-free control of an intelligent wheelchair. sEMG signals generated by the facial movements are obtained by a convenient dry electrodes sensing device. After the signals features are extracted from the autoregressive model, control data samples are updated and trained by an incremental online learning algorithm in real-time. Experimental results show that the proposed method can significantly improve the classification accuracy and training speed. Moreover, this method can effectively reduce the influence of muscle fatigue during a long time operation of sEMG-based HMI.

  11. Research Priorities for Robust and Beneficial Artificial Intelligence

    OpenAIRE

    Russell, Stuart; Dewey, Daniel; Tegmark, Max

    2015-01-01

    Success in the quest for artificial intelligence has the potential to bring unprecedented benefits to humanity, and it is therefore worthwhile to investigate how to maximize these benefits while avoiding potential pitfalls. This article gives numerous examples (which should by no means be construed as an exhaustive list) of such worthwhile research aimed at ensuring that AI remains robust and beneficial.

  12. Advances in soft computing, intelligent robotics and control

    CERN Document Server

    Fullér, Robert

    2014-01-01

    Soft computing, intelligent robotics and control are in the core interest of contemporary engineering. Essential characteristics of soft computing methods are the ability to handle vague information, to apply human-like reasoning, their learning capability, and ease of application. Soft computing techniques are widely applied in the control of dynamic systems, including mobile robots. The present volume is a collection of 20 chapters written by respectable experts of the fields, addressing various theoretical and practical aspects in soft computing, intelligent robotics and control. The first part of the book concerns with issues of intelligent robotics, including robust xed point transformation design, experimental verification of the input-output feedback linearization of differentially driven mobile robot and applying kinematic synthesis to micro electro-mechanical systems design. The second part of the book is devoted to fundamental aspects of soft computing. This includes practical aspects of fuzzy rule ...

  13. Intelligent Mechatronic Systems Modeling, Control and Diagnosis

    CERN Document Server

    Merzouki, Rochdi; Pathak, Pushparaj Mani; Ould Bouamama, Belkacem

    2013-01-01

    Acting as a support resource for practitioners and professionals looking to advance their understanding of complex mechatronic systems, Intelligent Mechatronic Systems explains their design and recent developments from first principles to practical applications. Detailed descriptions of the mathematical models of complex mechatronic systems, developed from fundamental physical relationships, are built on to develop innovative solutions with particular emphasis on physical model-based control strategies. Following a concurrent engineering approach, supported by industrial case studies, and drawing on the practical experience of the authors, Intelligent Mechatronic Systems covers range of topic and includes:  • An explanation of a common graphical tool for integrated design and its uses from modeling and simulation to the control synthesis • Introductions to key concepts such as different means of achieving fault tolerance, robust overwhelming control and force and impedance control • Dedicated chapters ...

  14. Sensorless speed control of switched reluctance motor using brain emotional learning based intelligent controller

    International Nuclear Information System (INIS)

    Dehkordi, Behzad Mirzaeian; Parsapoor, Amir; Moallem, Mehdi; Lucas, Caro

    2011-01-01

    In this paper, a brain emotional learning based intelligent controller (BELBIC) is developed to control the switched reluctance motor (SRM) speed. Like other intelligent controllers, BELBIC is model free and is suitable to control nonlinear systems. Motor parameter changes, operating point changes, measurement noise, open circuit fault in one phase and asymmetric phases in SRM are also simulated to show the robustness and superior performance of BELBIC. To compare the BELBIC performance with other intelligent controllers, Fuzzy Logic Controller (FLC) is developed. System responses with BELBIC and FLC are compared. Furthermore, by eliminating the position sensor, a method is introduced to estimate the rotor position. This method is based on Adaptive Neuro Fuzzy Inference System (ANFIS). The estimator inputs are four phase flux linkages. Suggested rotor position estimator is simulated in different conditions. Simulation results confirm the accurate rotor position estimation in different loads and speeds.

  15. Sensorless speed control of switched reluctance motor using brain emotional learning based intelligent controller

    Energy Technology Data Exchange (ETDEWEB)

    Dehkordi, Behzad Mirzaeian, E-mail: mirzaeian@eng.ui.ac.i [Department of Electrical Engineering, Faculty of Engineering, University of Isfahan, Hezar-Jerib St., Postal code 8174673441, Isfahan (Iran, Islamic Republic of); Parsapoor, Amir, E-mail: amirparsapoor@yahoo.co [Department of Electrical Engineering, Faculty of Engineering, University of Isfahan, Hezar-Jerib St., Postal code 8174673441, Isfahan (Iran, Islamic Republic of); Moallem, Mehdi, E-mail: moallem@cc.iut.ac.i [Department of Electrical Engineering, Isfahan University of Technology, Isfahan (Iran, Islamic Republic of); Lucas, Caro, E-mail: lucas@ut.ac.i [Centre of Excellence for Control and Intelligent Processing, Electrical and Computer Engineering Faculty, College of Engineering, University of Tehran, Tehran (Iran, Islamic Republic of)

    2011-01-15

    In this paper, a brain emotional learning based intelligent controller (BELBIC) is developed to control the switched reluctance motor (SRM) speed. Like other intelligent controllers, BELBIC is model free and is suitable to control nonlinear systems. Motor parameter changes, operating point changes, measurement noise, open circuit fault in one phase and asymmetric phases in SRM are also simulated to show the robustness and superior performance of BELBIC. To compare the BELBIC performance with other intelligent controllers, Fuzzy Logic Controller (FLC) is developed. System responses with BELBIC and FLC are compared. Furthermore, by eliminating the position sensor, a method is introduced to estimate the rotor position. This method is based on Adaptive Neuro Fuzzy Inference System (ANFIS). The estimator inputs are four phase flux linkages. Suggested rotor position estimator is simulated in different conditions. Simulation results confirm the accurate rotor position estimation in different loads and speeds.

  16. Vehicle following controller design for autonomous intelligent vehicles

    Science.gov (United States)

    Chien, C. C.; Lai, M. C.; Mayr, R.

    1994-01-01

    A new vehicle following controller is proposed for autonomous intelligent vehicles. The proposed vehicle following controller not only provides smooth transient maneuvers for unavoidable nonzero initial conditions but also guarantees the asymptotic platoon stability without the availability of feedforward information. Furthermore, the achieved asymptotic platoon stability is shown to be robust to sensor delays and an upper bound for the allowable sensor delays is also provided in this paper.

  17. Adaptive Fuzzy-Lyapunov Controller Using Biologically Inspired Swarm Intelligence

    Directory of Open Access Journals (Sweden)

    Alejandro Carrasco Elizalde

    2008-01-01

    Full Text Available The collective behaviour of swarms produces smarter actions than those achieved by a single individual. Colonies of ants, flocks of birds and fish schools are examples of swarms interacting with their environment to achieve a common goal. This cooperative biological intelligence is the inspiration for an adaptive fuzzy controller developed in this paper. Swarm intelligence is used to adjust the parameters of the membership functions used in the adaptive fuzzy controller. The rules of the controller are designed using a computing-with-words approach called Fuzzy-Lyapunov synthesis to improve the stability and robustness of an adaptive fuzzy controller. Computing-with-words provides a powerful tool to manipulate numbers and symbols, like words in a natural language.

  18. Experimental Study on Intelligent Control Scheme for Fan Coil Air-Conditioning System

    Directory of Open Access Journals (Sweden)

    Yanfeng Li

    2013-01-01

    Full Text Available An intelligent control scheme for fan coil air-conditioning systems has been put forward in order to overcome the shortcomings of the traditional proportion-integral-derivative (PID control scheme. These shortcomings include the inability of anti-interference and large inertia. An intelligent control test rig of fan coil air-conditioning system has been built, and MATLAB/Simulink dynamics simulation software has been adopted to implement the intelligent control scheme. A software for data exchange has been developed to combine the intelligence control system and the building automation (BA system. Experimental tests have been conducted to investigate the effectiveness of different control schemes including the traditional PID control, fuzzy control, and fuzzy-PID control for fan coil air-conditioning system. The effects of control schemes have been compared and analyzed in robustness, static and dynamic character, and economy. The results have shown that the developed data exchange interface software can induce the intelligent control scheme of the BA system more effectively. Among the proposed control strategies, fuzzy-PID control scheme which has the advantages of both traditional PID and fuzzy schemes is the optimal control scheme for the fan coil air-conditioning system.

  19. Quality control of intelligence research

    International Nuclear Information System (INIS)

    Lu Yan; Xin Pingping; Wu Jian

    2014-01-01

    Quality control of intelligence research is the core issue of intelligence management, is a problem in study of information science This paper focuses on the performance of intelligence to explain the significance of intelligence research quality control. In summing up the results of the study on the basis of the analysis, discusses quality control methods in intelligence research, introduces the experience of foreign intelligence research quality control, proposes some recommendations to improve quality control in intelligence research. (authors)

  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. Intelligent Integration between Human Simulated Intelligence and Expert Control Technology for the Combustion Process of Gas Heating Furnace

    Directory of Open Access Journals (Sweden)

    Yucheng Liu

    2014-01-01

    Full Text Available Due to being poor in control quality of the combustion process of gas heating furnace, this paper explored a sort of strong robust control algorithm in order to improve the control quality of the combustion process of gas heating furnace. The paper analyzed the control puzzle in the complex combustion process of gas heating furnace, summarized the cybernetics characteristic of the complex combustion process, researched into control strategy of the uncertainty complex control process, discussed the control model of the complex process, presented a sort of intelligent integration between human-simulated intelligence and expert control technology, and constructed the control algorithm for the combustion process controlling of gas heating furnace. The simulation results showed that the control algorithm proposed in the paper is not only better in dynamic and steady quality of the combustion process, but also obvious in energy saving effect, feasible, and effective in control strategy.

  2. Intelligent control with implementation on the wind energy conversion system

    International Nuclear Information System (INIS)

    Basma, Mohamad Khalil

    1997-05-01

    In this thesis our main job is to compare intelligent control and conventional control algorithms, by applying each scheme to the same control problem. Based on simulation, we analyze and compare the results of applying fuzzy logic and neural networks controllers on a popular control problem: variable speed wind energy conversion system. The reason behind our choice is the challenging nature of the problem where the plant should be controlled to maximize the power generated, while respecting its hardware constraints under varying operating conditions and disturbances. We have shown the effectiveness of fuzzy logic exciter controller for the adopted wind energy generator when compared to a conventional PI exciter. It showed better performance in the whole operating range. However, in the high wind speeds region, both controllers were unable to deliver the rpm requirements. We proposed the use of neural network intelligent techniques to supply us the optimal pitch. Our aim was to develop a simple and reliable controller that can deliver this optimal output, while remaining adaptive to system uncertainties and disturbances. The proposed fuzzy controller with a neural pitch controller showed best dynamic and robust performance as compared to the adaptive pitch controller together with the PI exciter. This study has shown that artificial neural networks and fuzzy logic control algorithms can be implemented for real time control implementations. the neuro-fuzzy control approach is robust and its performance is superior to that of traditional control methods. (author)

  3. Fuzzy Sliding Mode Lateral Control of Intelligent Vehicle Based on Vision

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2013-01-01

    Full Text Available The lateral control of intelligent vehicle is studied in this paper, with the intelligent vehicle DLUIV-1 based on visual navigation as the object of research. Firstly, the lateral control model based on visual preview is established. The kinematics model based on visual preview, including speed and other factors, is used to calculate the lateral error and direction error. Secondly, according to the characteristics of lateral control, an efficient strategy of intelligent vehicle lateral mode is proposed. The integration of the vehicle current lateral error and direction error is chosen as the parameter of the sliding mode switching function to design the sliding surface. The control variables are adjusted according to the fuzzy control rules to ensure that they meet the existence and reaching condition. The sliding mode switching function is regarded as the control objective, to ensure the stability of the steering wheel rotation. Simulation results show that the lateral controller can guarantee high path-tracking accuracy and strong robustness for the change of model parameters.

  4. Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair

    Directory of Open Access Journals (Sweden)

    Razvan SOLEA

    2009-12-01

    Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.

  5. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.

    Science.gov (United States)

    Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng

    2017-05-30

    The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  6. The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network

    Directory of Open Access Journals (Sweden)

    Gaining Han

    2017-05-01

    Full Text Available The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS, the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.

  7. DESIGN AN INTELLIGENT CONTROLLER FOR FULL VEHICLE NONLINEAR ACTIVE SUSPENSION SYSTEMS

    OpenAIRE

    Aldair, A. A.; Wang, W. J.

    2011-01-01

    The main objective of designed the controller for a vehicle suspension system is to reduce the discomfort sensed by passengers which arises from road roughness and to increase the ride handling associated with the pitching and rolling movements. This necessitates a very fast and accurate controller to meet as much control objectives, as possible. Therefore, this paper deals with an artificial intelligence Neuro-Fuzzy (NF) technique to design a robust controller to meet the control objectives....

  8. Intelligent Hybrid Control Strategy for Trajectory Tracking of Robot Manipulators

    Directory of Open Access Journals (Sweden)

    Yi Zuo

    2008-01-01

    Full Text Available We address the problem of robust tracking control using a PD-plus-feedforward controller and an intelligent adaptive robust compensator for a rigid robotic manipulator with uncertain dynamics and external disturbances. A key feature of this scheme is that soft computer methods are used to learn the upper bound of system uncertainties and adjust the width of the boundary layer base. In this way, the prior knowledge of the upper bound of the system uncertainties does need not to be required. Moreover, chattering can be effectively eliminated, and asymptotic error convergence can be guaranteed. Numerical simulations and experiments of two-DOF rigid robots are presented to show effectiveness of the proposed scheme.

  9. Intelligent Mission Controller Node

    National Research Council Canada - National Science Library

    Perme, David

    2002-01-01

    The goal of the Intelligent Mission Controller Node (IMCN) project was to improve the process of translating mission taskings between real-world Command, Control, Communications, Computers, and Intelligence (C41...

  10. Sensor guided control and navigation with intelligent machines. Final technical report

    Energy Technology Data Exchange (ETDEWEB)

    Ghosh, Bijoy K.

    2001-03-26

    This item constitutes the final report on ''Visionics: An integrated approach to analysis and design of intelligent machines.'' The report discusses dynamical systems approach to problems in robust control of possibly time-varying linear systems, problems in vision and visually guided control, and, finally, applications of these control techniques to intelligent navigation with a mobile platform. Robust design of a controller for a time-varying system essentially deals with the problem of synthesizing a controller that can adapt to sudden changes in the parameters of the plant and can maintain stability. The approach presented is to design a compensator that simultaneously stabilizes each and every possible mode of the plant as the parameters undergo sudden and unexpected changes. Such changes can in fact be detected by a visual sensor and, hence, visually guided control problems are studied as a natural consequence. The problem here is to detect parameters of the plant and maintain st ability in the closed loop using a ccd camera as a sensor. The main result discussed in the report is the role of perspective systems theory that was developed in order to analyze such a detection and control problem. The robust control algorithms and the visually guided control algorithms are applied in the context of a PUMA 560 robot arm control where the goal is to visually locate a moving part on a mobile turntable. Such problems are of paramount importance in manufacturing with a certain lack of structure. Sensor guided control problems are extended to problems in robot navigation using a NOMADIC mobile platform with a ccd and a laser range finder as sensors. The localization and map building problems are studied with the objective of navigation in an unstructured terrain.

  11. Combined Intelligent Control (CIC an Intelligent Decision Making Algorithm

    Directory of Open Access Journals (Sweden)

    Moteaal Asadi Shirzi

    2007-03-01

    Full Text Available The focus of this research is to introduce the concept of combined intelligent control (CIC as an effective architecture for decision-making and control of intelligent agents and multi-robot sets. Basically, the CIC is a combination of various architectures and methods from fields such as artificial intelligence, Distributed Artificial Intelligence (DAI, control and biological computing. Although any intelligent architecture may be very effective for some specific applications, it could be less for others. Therefore, CIC combines and arranges them in a way that the strengths of any approach cover the weaknesses of others. In this paper first, we introduce some intelligent architectures from a new aspect. Afterward, we offer the CIC by combining them. CIC has been executed in a multi-agent set. In this set, robots must cooperate to perform some various tasks in a complex and nondeterministic environment with a low sensory feedback and relationship. In order to investigate, improve, and correct the combined intelligent control method, simulation software has been designed which will be presented and considered. To show the ability of the CIC algorithm as a distributed architecture, a central algorithm is designed and compared with the CIC.

  12. A Review of Fuzzy Logic and Neural Network Based Intelligent Control Design for Discrete-Time Systems

    Directory of Open Access Journals (Sweden)

    Yiming Jiang

    2016-01-01

    Full Text Available Over the last few decades, the intelligent control methods such as fuzzy logic control (FLC and neural network (NN control have been successfully used in various applications. The rapid development of digital computer based control systems requires control signals to be calculated in a digital or discrete-time form. In this background, the intelligent control methods developed for discrete-time systems have drawn great attentions. This survey aims to present a summary of the state of the art of the design of FLC and NN-based intelligent control for discrete-time systems. For discrete-time FLC systems, numerous remarkable design approaches are introduced and a series of efficient methods to deal with the robustness, stability, and time delay of FLC discrete-time systems are recommended. Techniques for NN-based intelligent control for discrete-time systems, such as adaptive methods and adaptive dynamic programming approaches, are also reviewed. Overall, this paper is devoted to make a brief summary for recent progresses in FLC and NN-based intelligent control design for discrete-time systems as well as to present our thoughts and considerations of recent trends and potential research directions in this area.

  13. Development of An Intelligent Flight Propulsion Control System

    Science.gov (United States)

    Calise, A. J.; Rysdyk, R. T.; Leonhardt, B. K.

    1999-01-01

    The initial design and demonstration of an Intelligent Flight Propulsion and Control System (IFPCS) is documented. The design is based on the implementation of a nonlinear adaptive flight control architecture. This initial design of the IFPCS enhances flight safety by using propulsion sources to provide redundancy in flight control. The IFPCS enhances the conventional gain scheduled approach in significant ways: (1) The IFPCS provides a back up flight control system that results in consistent responses over a wide range of unanticipated failures. (2) The IFPCS is applicable to a variety of aircraft models without redesign and,(3) significantly reduces the laborious research and design necessary in a gain scheduled approach. The control augmentation is detailed within an approximate Input-Output Linearization setting. The availability of propulsion only provides two control inputs, symmetric and differential thrust. Earlier Propulsion Control Augmentation (PCA) work performed by NASA provided for a trajectory controller with pilot command input of glidepath and heading. This work is aimed at demonstrating the flexibility of the IFPCS in providing consistency in flying qualities under a variety of failure scenarios. This report documents the initial design phase where propulsion only is used. Results confirm that the engine dynamics and associated hard nonlineaaities result in poor handling qualities at best. However, as demonstrated in simulation, the IFPCS is capable of results similar to the gain scheduled designs of the NASA PCA work. The IFPCS design uses crude estimates of aircraft behaviour. The adaptive control architecture demonstrates robust stability and provides robust performance. In this work, robust stability means that all states, errors, and adaptive parameters remain bounded under a wide class of uncertainties and input and output disturbances. Robust performance is measured in the quality of the tracking. The results demonstrate the flexibility of

  14. Advanced and intelligent computations in diagnosis and control

    CERN Document Server

    2016-01-01

    This book is devoted to the demands of research and industrial centers for diagnostics, monitoring and decision making systems that result from the increasing complexity of automation and systems, the need to ensure the highest level of reliability and safety, and continuing research and the development of innovative approaches to fault diagnosis. The contributions combine domains of engineering knowledge for diagnosis, including detection, isolation, localization, identification, reconfiguration and fault-tolerant control. The book is divided into six parts:  (I) Fault Detection and Isolation; (II) Estimation and Identification; (III) Robust and Fault Tolerant Control; (IV) Industrial and Medical Diagnostics; (V) Artificial Intelligence; (VI) Expert and Computer Systems.

  15. Intelligent control systems 1990

    International Nuclear Information System (INIS)

    Shoureshi, R.

    1991-01-01

    The field of artificial intelligence (Al) has generated many useful ideas and techniques that can be integrated into the design of control systems. It is believed and, for special cases, has been demonstrated, that integration of Al into control systems would provide the necessary tools for solving many of the complex problems that present control techniques and Al algorithms are unable to do, individually. However, this integration requires the development of basic understanding and new fundamentals to provide scientific bases for achievement of its potential. This book presents an overview of some of the latest research studies in the area of intelligent control systems. These papers present techniques for formulation of intelligent control, and development of the rule-based control systems. Papers present applications of control systems in nuclear power plants and HVAC systems

  16. Intelligent Controller Design for Quad-Rotor Stabilization in Presence of Parameter Variations

    Directory of Open Access Journals (Sweden)

    Oualid Doukhi

    2017-01-01

    Full Text Available The paper presents the mathematical model of a quadrotor unmanned aerial vehicle (UAV and the design of robust Self-Tuning PID controller based on fuzzy logic, which offers several advantages over certain types of conventional control methods, specifically in dealing with highly nonlinear systems and parameter uncertainty. The proposed controller is applied to the inner and outer loop for heading and position trajectory tracking control to handle the external disturbances caused by the variation in the payload weight during the flight period. The results of the numerical simulation using gazebo physics engine simulator and real-time experiment using AR drone 2.0 test bed demonstrate the effectiveness of this intelligent control strategy which can improve the robustness of the whole system and achieve accurate trajectory tracking control, comparing it with the conventional proportional integral derivative (PID.

  17. An intelligent control scheme for precise tip-motion control in atomic force microscopy.

    Science.gov (United States)

    Wang, Yanyan; Hu, Xiaodong; Xu, Linyan

    2016-01-01

    The paper proposes a new intelligent control method to precisely control the tip motion of the atomic force microscopy (AFM). The tip moves up and down at a high rate along the z direction during scanning, requiring the utilization of a rapid feedback controller. The standard proportional-integral (PI) feedback controller is commonly used in commercial AFMs to enable topography measurements. The controller's response performance is determined by the set of the proportional (P) parameter and the integral (I) parameter. However, the two parameters cannot be automatically altered simultaneously according to the scanning speed and the surface topography during continuors scanning, leading to an inaccurate measurement. Thus a new intelligent controller combining the fuzzy controller and the PI controller is put forward in the paper. The new controller automatically selects the most appropriate PI parameters to achieve a fast response rate on basis of the tracking errors. In the experimental setup, the new controller is realized with a digital signal process (DSP) system, implemented in a conventional AFM system. Experiments are carried out by comparing the new method with the standard PI controller. The results demonstrate that the new method is more robust and effective for the precise tip motion control, corresponding to the achievement of a highly qualified image by shortening the response time of the controller. © Wiley Periodicals, Inc.

  18. A Lateral Control Method of Intelligent Vehicle Based on Fuzzy Neural Network

    Directory of Open Access Journals (Sweden)

    Linhui Li

    2015-01-01

    Full Text Available A lateral control method is proposed for intelligent vehicle to track the desired trajectory. Firstly, a lateral control model is established based on the visual preview and dynamic characteristics of intelligent vehicle. Then, the lateral error and orientation error are melded into an integrated error. Considering the system parameter perturbation and the external interference, a sliding model control is introduced in this paper. In order to design a sliding surface, the integrated error is chosen as the parameter of the sliding mode switching function. The sliding mode switching function and its derivative are selected as two inputs of the controller, and the front wheel angle is selected as the output. Next, a fuzzy neural network is established, and the self-learning functions of neural network is utilized to construct the fuzzy rules. Finally, the simulation results demonstrate the effectiveness and robustness of the proposed method.

  19. The Need for Intelligent Control of Space Power Systems

    Science.gov (United States)

    May, Ryan David; Soeder, James F.; Beach, Raymond F.; McNelis, Nancy B.

    2013-01-01

    As manned spacecraft venture farther from Earth, the need for reliable, autonomous control of vehicle subsystems becomes critical. This is particularly true for the electrical power system which is critical to every other system. Autonomy can not be achieved by simple scripting techniques due to the communication latency times and the difficulty associated with failures (or combinations of failures) that need to be handled in as graceful a manner as possible to ensure system availability. Therefore an intelligent control system must be developed that can respond to disturbances and failures in a robust manner and ensure that critical system loads are served and all system constraints are respected.

  20. Genetic Fuzzy Trees for Intelligent Control of Unmanned Combat Aerial Vehicles

    Science.gov (United States)

    Ernest, Nicholas D.

    Fuzzy Logic Control is a powerful tool that has found great success in a variety of applications. This technique relies less on complex mathematics and more "expert knowledge" of a system to bring about high-performance, resilient, and efficient control through linguistic classification of inputs and outputs and if-then rules. Genetic Fuzzy Systems (GFSs) remove the need of this expert knowledge and instead rely on a Genetic Algorithm (GA) and have similarly found great success. However, the combination of these methods suffer severely from scalability; the number of rules required to control the system increases exponentially with the number of states the inputs and outputs can take. Therefor GFSs have thus far not been applicable to complex, artificial intelligence type problems. The novel Genetic Fuzzy Tree (GFT) method breaks down complex problems hierarchically, makes sub-decisions when possible, and thus greatly reduces the burden on the GA. This development significantly changes the field of possible applications for GFSs. Within this study, this is demonstrated through applying this technique to a difficult air combat problem. Looking forward to an autonomous Unmanned Combat Aerial Vehicle (UCAV) in the 2030 time-frame, it becomes apparent that the mission, flight, and ground controls will utilize the emerging paradigm of Intelligent Systems (IS); namely, the ability to learn, adapt, exhibit robustness in uncertain situations, make sense of the data collected in real-time and extrapolate when faced with scenarios significantly different from those used in training. LETHA (Learning Enhanced Tactical Handling Algorithm) was created to develop intelligent controllers for these advanced unmanned craft as the first GFT. A simulation space referred to as HADES (Hoplological Autonomous Defend and Engage Simulation) was created in which LETHA can train the UCAVs. Equipped with advanced sensors, a limited supply of Self-Defense Missiles (SDMs), and a recharging

  1. The implementation of intelligent home controller

    Science.gov (United States)

    Li, Biqing; Li, Zhao

    2018-04-01

    This paper mainly talks about the working way of smart home terminal controller and the design of hardware and software. Controlling the lights and by simulating the lamp and the test of the curtain, destroy the light of lamp ON-OFF and the curtain's UP-DOWN by simulating the lamp and the test of the cuetain. Through the sensor collects the ambient information and sends to the network, such as light, temperature and humidity. Besides, it can realise the control of intelligent home control by PCS. Terminal controller of intelligent home which is based on ZiBee technology has into the intelligent home system, it provides people with convenient, safe and intelligent household experience.

  2. Soft computing in intelligent control

    CERN Document Server

    Jung, Jin-Woo; Kubota, Naoyuki

    2014-01-01

    Nowadays, people have tendency to be fond of smarter machines that are able to collect data, make learning, recognize things, infer meanings, communicate with human and perform behaviors. Thus, we have built advanced intelligent control affecting all around societies; automotive, rail, aerospace, defense, energy, healthcare, telecoms and consumer electronics, finance, urbanization. Consequently, users and consumers can take new experiences through the intelligent control systems. We can reshape the technology world and provide new opportunities for industry and business, by offering cost-effective, sustainable and innovative business models. We will have to know how to create our own digital life. The intelligent control systems enable people to make complex applications, to implement system integration and to meet society’s demand for safety and security. This book aims at presenting the research results and solutions of applications in relevance with intelligent control systems. We propose to researchers ...

  3. Robust Manufacturing Control

    CERN Document Server

    2013-01-01

    This contributed volume collects research papers, presented at the CIRP Sponsored Conference Robust Manufacturing Control: Innovative and Interdisciplinary Approaches for Global Networks (RoMaC 2012, Jacobs University, Bremen, Germany, June 18th-20th 2012). These research papers present the latest developments and new ideas focusing on robust manufacturing control for global networks. Today, Global Production Networks (i.e. the nexus of interconnected material and information flows through which products and services are manufactured, assembled and distributed) are confronted with and expected to adapt to: sudden and unpredictable large-scale changes of important parameters which are occurring more and more frequently, event propagation in networks with high degree of interconnectivity which leads to unforeseen fluctuations, and non-equilibrium states which increasingly characterize daily business. These multi-scale changes deeply influence logistic target achievement and call for robust planning and control ...

  4. Robust Control of Aeronautical Electrical Generators for Energy Management Applications

    Directory of Open Access Journals (Sweden)

    Giacomo Canciello

    2017-01-01

    Full Text Available A new strategy for the control of aeronautical electrical generators via sliding manifold selection is proposed, with an associated innovative intelligent energy management strategy used for efficient power transfer between two sources providing energy to aeronautical loads, having different functionalities and priorities. Electric generators used for aeronautical application involve several machines, including a main generator and an exciter. Standard regulators (PI or PID-like are normally used for the rectification of the generator voltage to be used to supply a high-voltage DC bus. The regulation is obtained by acting on a DC/DC converter that imposes the field voltage of the exciter. In this paper, the field voltage is fed to the generator windings by using a second-order sliding mode controller, resulting into a stable, robust (against disturbances action and a fast convergence to the desired reference. By using this strategy, an energy management strategy is proposed that dynamically changes the voltage set point, in order to intelligently transfer power between two voltage busses. Detailed simulation results are provided in order to show the effectiveness of the proposed energy management strategy in different scenarios.

  5. The Effect of Paternal Age on Offspring Intelligence and Personality when Controlling for Parental Trait Levels

    Science.gov (United States)

    Arslan, Ruben C.; Penke, Lars; Johnson, Wendy; Iacono, William G.; McGue, Matt

    2014-01-01

    Paternal age at conception has been found to predict the number of new genetic mutations. We examined the effect of father’s age at birth on offspring intelligence, head circumference and personality traits. Using the Minnesota Twin Family Study sample we tested paternal age effects while controlling for parents’ trait levels measured with the same precision as offspring’s. From evolutionary genetic considerations we predicted a negative effect of paternal age on offspring intelligence, but not on other traits. Controlling for parental intelligence (IQ) had the effect of turning an initially positive association non-significantly negative. We found paternal age effects on offspring IQ and Multidimensional Personality Questionnaire Absorption, but they were not robustly significant, nor replicable with additional covariates. No other noteworthy effects were found. Parents’ intelligence and personality correlated with their ages at twin birth, which may have obscured a small negative effect of advanced paternal age (birth order and the Flynn effect. PMID:24587224

  6. The effect of paternal age on offspring intelligence and personality when controlling for paternal trait level.

    Science.gov (United States)

    Arslan, Ruben C; Penke, Lars; Johnson, Wendy; Iacono, William G; McGue, Matt

    2014-01-01

    Paternal age at conception has been found to predict the number of new genetic mutations. We examined the effect of father's age at birth on offspring intelligence, head circumference and personality traits. Using the Minnesota Twin Family Study sample we tested paternal age effects while controlling for parents' trait levels measured with the same precision as offspring's. From evolutionary genetic considerations we predicted a negative effect of paternal age on offspring intelligence, but not on other traits. Controlling for parental intelligence (IQ) had the effect of turning an initially positive association non-significantly negative. We found paternal age effects on offspring IQ and Multidimensional Personality Questionnaire Absorption, but they were not robustly significant, nor replicable with additional covariates. No other noteworthy effects were found. Parents' intelligence and personality correlated with their ages at twin birth, which may have obscured a small negative effect of advanced paternal age (birth order and the Flynn effect.

  7. Artificial intelligence in robot control systems

    Science.gov (United States)

    Korikov, A.

    2018-05-01

    This paper analyzes modern concepts of artificial intelligence and known definitions of the term "level of intelligence". In robotics artificial intelligence system is defined as a system that works intelligently and optimally. The author proposes to use optimization methods for the design of intelligent robot control systems. The article provides the formalization of problems of robotic control system design, as a class of extremum problems with constraints. Solving these problems is rather complicated due to the high dimensionality, polymodality and a priori uncertainty. Decomposition of the extremum problems according to the method, suggested by the author, allows reducing them into a sequence of simpler problems, that can be successfully solved by modern computing technology. Several possible approaches to solving such problems are considered in the article.

  8. Robust control design with MATLAB

    CERN Document Server

    Gu, Da-Wei; Konstantinov, Mihail M

    2013-01-01

    Robust Control Design with MATLAB® (second edition) helps the student to learn how to use well-developed advanced robust control design methods in practical cases. To this end, several realistic control design examples from teaching-laboratory experiments, such as a two-wheeled, self-balancing robot, to complex systems like a flexible-link manipulator are given detailed presentation. All of these exercises are conducted using MATLAB® Robust Control Toolbox 3, Control System Toolbox and Simulink®. By sharing their experiences in industrial cases with minimum recourse to complicated theories and formulae, the authors convey essential ideas and useful insights into robust industrial control systems design using major H-infinity optimization and related methods allowing readers quickly to move on with their own challenges. The hands-on tutorial style of this text rests on an abundance of examples and features for the second edition: ·        rewritten and simplified presentation of theoretical and meth...

  9. MetrIntSimil—An Accurate and Robust Metric for Comparison of Similarity in Intelligence of Any Number of Cooperative Multiagent Systems

    Directory of Open Access Journals (Sweden)

    Laszlo Barna Iantovics

    2018-02-01

    Full Text Available Intelligent cooperative multiagent systems are applied for solving a large range of real-life problems, including in domains like biology and healthcare. There are very few metrics able to make an effective measure of the machine intelligence quotient. The most important drawbacks of the designed metrics presented in the scientific literature consist in the limitation in universality, accuracy, and robustness. In this paper, we propose a novel universal metric called MetrIntSimil capable of making an accurate and robust symmetric comparison of the similarity in intelligence of any number of cooperative multiagent systems specialized in difficult problem solving. The universality is an important necessary property based on the large variety of designed intelligent systems. MetrIntSimil makes a comparison by taking into consideration the variability in intelligence in the problem solving of the compared cooperative multiagent systems. It allows a classification of the cooperative multiagent systems based on their similarity in intelligence. A cooperative multiagent system has variability in the problem solving intelligence, and it can manifest lower or higher intelligence in different problem solving tasks. More cooperative multiagent systems with similar intelligence can be included in the same class. For the evaluation of the proposed metric, we conducted a case study for more intelligent cooperative multiagent systems composed of simple computing agents applied for solving the Symmetric Travelling Salesman Problem (STSP that is a class of NP-hard problems. STSP is the problem of finding the shortest Hamiltonian cycle/tour in a weighted undirected graph that does not have loops or multiple edges. The distance between two cities is the same in each opposite direction. Two classes of similar intelligence denoted IntClassA and IntClassB were identified. The experimental results show that the agent belonging to IntClassA intelligence class is less

  10. The effect of paternal age on offspring intelligence and personality when controlling for paternal trait level.

    Directory of Open Access Journals (Sweden)

    Ruben C Arslan

    Full Text Available Paternal age at conception has been found to predict the number of new genetic mutations. We examined the effect of father's age at birth on offspring intelligence, head circumference and personality traits. Using the Minnesota Twin Family Study sample we tested paternal age effects while controlling for parents' trait levels measured with the same precision as offspring's. From evolutionary genetic considerations we predicted a negative effect of paternal age on offspring intelligence, but not on other traits. Controlling for parental intelligence (IQ had the effect of turning an initially positive association non-significantly negative. We found paternal age effects on offspring IQ and Multidimensional Personality Questionnaire Absorption, but they were not robustly significant, nor replicable with additional covariates. No other noteworthy effects were found. Parents' intelligence and personality correlated with their ages at twin birth, which may have obscured a small negative effect of advanced paternal age (<1% of variance explained on intelligence. We discuss future avenues for studies of paternal age effects and suggest that stronger research designs are needed to rule out confounding factors involving birth order and the Flynn effect.

  11. Robust Self Tuning Controllers

    DEFF Research Database (Denmark)

    Poulsen, Niels Kjølstad

    1985-01-01

    The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...... has several operation modes and a detector for controlling the mode. A special self tuning controller has been developed to regulate plant with changing time delay.......The present thesis concerns robustness properties of adaptive controllers. It is addressed to methods for robustifying self tuning controllers with respect to abrupt changes in the plant parameters. In the thesis an algorithm for estimating abruptly changing parameters is presented. The estimator...

  12. Intelligent Flow Control Valve

    Science.gov (United States)

    Kelley, Anthony R (Inventor)

    2015-01-01

    The present invention is an intelligent flow control valve which may be inserted into the flow coming out of a pipe and activated to provide a method to stop, measure, and meter flow coming from the open or possibly broken pipe. The intelligent flow control valve may be used to stop the flow while repairs are made. Once repairs have been made, the valve may be removed or used as a control valve to meter the amount of flow from inside the pipe. With the addition of instrumentation, the valve may also be used as a variable area flow meter and flow controller programmed based upon flowing conditions. With robotic additions, the valve may be configured to crawl into a desired pipe location, anchor itself, and activate flow control or metering remotely.

  13. Multimodel Robust Control for Hydraulic Turbine

    OpenAIRE

    Osuský, Jakub; Števo, Stanislav

    2014-01-01

    The paper deals with the multimodel and robust control system design and their combination based on M-Δ structure. Controller design will be done in the frequency domain with nominal performance specified by phase margin. Hydraulic turbine model is analyzed as system with unstructured uncertainty, and robust stability condition is included in controller design. Multimodel and robust control approaches are presented in detail on hydraulic turbine model. Control design approaches are compared a...

  14. Is the Speech Transmission Index (STI) a robust measure of sound system speech intelligibility performance?

    Science.gov (United States)

    Mapp, Peter

    2002-11-01

    Although RaSTI is a good indicator of the speech intelligibility capability of auditoria and similar spaces, during the past 2-3 years it has been shown that RaSTI is not a robust predictor of sound system intelligibility performance. Instead, it is now recommended, within both national and international codes and standards, that full STI measurement and analysis be employed. However, new research is reported, that indicates that STI is not as flawless, nor robust as many believe. The paper highlights a number of potential error mechanisms. It is shown that the measurement technique and signal excitation stimulus can have a significant effect on the overall result and accuracy, particularly where DSP-based equipment is employed. It is also shown that in its current state of development, STI is not capable of appropriately accounting for a number of fundamental speech and system attributes, including typical sound system frequency response variations and anomalies. This is particularly shown to be the case when a system is operating under reverberant conditions. Comparisons between actual system measurements and corresponding word score data are reported where errors of up to 50 implications for VA and PA system performance verification will be discussed.

  15. Advances in robust fractional control

    CERN Document Server

    Padula, Fabrizio

    2015-01-01

    This monograph presents design methodologies for (robust) fractional control systems. It shows the reader how to take advantage of the superior flexibility of fractional control systems compared with integer-order systems in achieving more challenging control requirements. There is a high degree of current interest in fractional systems and fractional control arising from both academia and industry and readers from both milieux are catered to in the text. Different design approaches having in common a trade-off between robustness and performance of the control system are considered explicitly. The text generalizes methodologies, techniques and theoretical results that have been successfully applied in classical (integer) control to the fractional case. The first part of Advances in Robust Fractional Control is the more industrially-oriented. It focuses on the design of fractional controllers for integer processes. In particular, it considers fractional-order proportional-integral-derivative controllers, becau...

  16. Soft Computing Optimizer For Intelligent Control Systems Design: The Structure And Applications

    Directory of Open Access Journals (Sweden)

    Sergey A. Panfilov

    2003-10-01

    Full Text Available Soft Computing Optimizer (SCO as a new software tool for design of robust intelligent control systems is described. It is based on the hybrid methodology of soft computing and stochastic simulation. It uses as an input the measured or simulated data about the modeled system. SCO is used to design an optimal fuzzy inference system, which approximates a random behavior of control object with the certain accuracy. The task of the fuzzy inference system construction is reduced to the subtasks such as forming of the linguistic variables for each input and output variable, creation of rule data base, optimization of rule data base and refinement of the parameters of the membership functions. Each task by the corresponding genetic algorithm (with an appropriate fitness function is solved. The result of SCO application is the design of Knowledge Base of a Fuzzy Controller, which contains the value information about developed fuzzy inference system. Such value information can be downloaded into the actual fuzzy controller to perform online fuzzy control. Simulations results of robust fuzzy control of nonlinear dynamic systems and experimental results of application on automotive semi-active suspension control are demonstrated.

  17. Advances in chaos theory and intelligent control

    CERN Document Server

    Vaidyanathan, Sundarapandian

    2016-01-01

    The book reports on the latest advances in and applications of chaos theory and intelligent control. Written by eminent scientists and active researchers and using a clear, matter-of-fact style, it covers advanced theories, methods, and applications in a variety of research areas, and explains key concepts in modeling, analysis, and control of chaotic and hyperchaotic systems. Topics include fractional chaotic systems, chaos control, chaos synchronization, memristors, jerk circuits, chaotic systems with hidden attractors, mechanical and biological chaos, and circuit realization of chaotic systems. The book further covers fuzzy logic controllers, evolutionary algorithms, swarm intelligence, and petri nets among other topics. Not only does it provide the readers with chaos fundamentals and intelligent control-based algorithms; it also discusses key applications of chaos as well as multidisciplinary solutions developed via intelligent control. The book is a timely and comprehensive reference guide for graduate s...

  18. Intelligent Lighting Control System

    OpenAIRE

    García, Elena; Rodríguez González, Sara; de Paz Santana, Juan F.; Bajo Pérez, Javier

    2014-01-01

    This paper presents an adaptive architecture that allows centralized control of public lighting and intelligent management, in order to economise on lighting and maintain maximum comfort status of the illuminated areas. To carry out this management, architecture merges various techniques of artificial intelligence (AI) and statistics such as artificial neural networks (ANN), multi-agent systems (MAS), EM algorithm, methods based on ANOVA and a Service Oriented Aproach (SOA). It performs optim...

  19. Development of intelligent system for a thermal analysis instrument

    International Nuclear Information System (INIS)

    Xu Xiaoli; Wu Guoxin; Shi Yongchao

    2005-01-01

    The key techniques for the intelligent analysis instrument developed are proposed. Based on the technique of virtual instrumentation, the intelligent PID control algorithm to control the temperature of thermal analysis instrument is described. The dynamic character and the robust performance of traditional PID controls are improved through the dynamic gain factor, temperature rate change factor, the forecast factor, and the temperature correction factor is introduced. Using the graphic development environment of LabVIEW, the design of system modularization and the graphic display are implemented. By means of multiple mathematical modules, intelligent data processing is realized

  20. Intelligent control of dynamic LED lighting; Intelligent styring af dynamisk LED belysning. Slutrapport

    Energy Technology Data Exchange (ETDEWEB)

    Thorseth, A.; Corell, D.; Hansen, Soeren S.; Dam-Hansen, C.; Petersen, Paul Michael

    2013-01-15

    The project has resulted in a prototype of a new intelligent lighting control system. The control system enables the end user to control his or her own local lighting environment (lighting zone) according to individual preferences and needs. The report provides a description of how the developed intelligent lighting system is composed and functions. The system is designed as a work lamp that enables dynamic change of the light color scheme according to a number of light control algorithms. It is specifically designed in relation to user tests of the intelligent lighting system, which is carried out in the final part of the project. An intelligent and advanced control of LED lighting was developed, which enables optimization of the user's light conditions in a given situation. Based on a number of known parameters, the system can control lighting so that at any time optimal light conditions are created, using a minimum of electric power. (LN)

  1. Robust Controller to Extract the Maximum Power of a Photovoltaic System

    Directory of Open Access Journals (Sweden)

    OULD CHERCHALI Noureddine

    2014-05-01

    Full Text Available This paper proposes a technique of intelligent control to track the maximum power point (MPPT of a photovoltaic system . The PV system is non-linear and it is exposed to external perturbations like temperature and solar irradiation. Fuzzy logic control is known for its stability and robustness. FLC is adopted in this work for the improvement and optimization of control performance of a photovoltaic system. Another technique called perturb and observe (P & O is studied and compared with the FLC technique. The PV system is constituted of a photovoltaic panel (PV, a DC-DC converter (Boost and a battery like a load. The simulation results are developed in MATLAB / Simulink software. The results show that the controller based on fuzzy logic is better and faster than the conventional controller perturb and observe (P & O and gives a good maximum power of a photovoltaic generator under different changes of weather conditions.

  2. Intelligent Traffic Light Based on PLC Control

    Science.gov (United States)

    Mei, Lin; Zhang, Lijian; Wang, Lingling

    2017-11-01

    The traditional traffic light system with a fixed control mode and single control function is contradicted with the current traffic section. The traditional one has been unable to meet the functional requirements of the existing flexible traffic control system. This paper research and develop an intelligent traffic light called PLC control system. It uses PLC as control core, using a sensor module for receiving real-time information of vehicles, traffic control mode for information to select the traffic lights. Of which control mode is flexible and changeable, and it also set the countdown reminder to improve the effectiveness of traffic lights, which can realize the goal of intelligent traffic diversion, intelligent traffic diversion.

  3. The NASA F-15 Intelligent Flight Control Systems: Generation II

    Science.gov (United States)

    Buschbacher, Mark; Bosworth, John

    2006-01-01

    The Second Generation (Gen II) control system for the F-15 Intelligent Flight Control System (IFCS) program implements direct adaptive neural networks to demonstrate robust tolerance to faults and failures. The direct adaptive tracking controller integrates learning neural networks (NNs) with a dynamic inversion control law. The term direct adaptive is used because the error between the reference model and the aircraft response is being compensated or directly adapted to minimize error without regard to knowing the cause of the error. No parameter estimation is needed for this direct adaptive control system. In the Gen II design, the feedback errors are regulated with a proportional-plus-integral (PI) compensator. This basic compensator is augmented with an online NN that changes the system gains via an error-based adaptation law to improve aircraft performance at all times, including normal flight, system failures, mispredicted behavior, or changes in behavior resulting from damage.

  4. Attractive ellipsoids in robust control

    CERN Document Server

    Poznyak, Alexander; Azhmyakov, Vadim

    2014-01-01

    This monograph introduces a newly developed robust-control design technique for a wide class of continuous-time dynamical systems called the “attractive ellipsoid method.” Along with a coherent introduction to the proposed control design and related topics, the monograph studies nonlinear affine control systems in the presence of uncertainty and presents a constructive and easily implementable control strategy that guarantees certain stability properties. The authors discuss linear-style feedback control synthesis in the context of the above-mentioned systems. The development and physical implementation of high-performance robust-feedback controllers that work in the absence of complete information is addressed, with numerous examples to illustrate how to apply the attractive ellipsoid method to mechanical and electromechanical systems. While theorems are proved systematically, the emphasis is on understanding and applying the theory to real-world situations. Attractive Ellipsoids in Robust Control will a...

  5. Robust data reconciliation and outlier detection with swarm intelligence in a thermal reactor power calculation

    Energy Technology Data Exchange (ETDEWEB)

    Valdetaro, Eduardo Damianik, E-mail: valdtar@eletronuclear.gov.br [ELETRONUCLEAR - ELETROBRAS, Angra dos Reis, RJ (Brazil). Angra 2 Operating Dept.; Coordenacao dos Programas de Pos-Graduacao de Engenharia (PEN/COPPE/UFRJ), RJ (Brazil). Programa de Engenharia Nuclear; Schirru, Roberto, E-mail: schirru@lmp.ufrj.br [Coordenacao dos Programas de Pos-Graduacao de Engenharia (PEN/COPPE/UFRJ), RJ (Brazil). Programa de Engenharia Nuclear

    2011-07-01

    In Nuclear power plants, Data Reconciliation (DR) and Gross Errors Detection (GED) are techniques of increasing interest and are primarily used to keep mass and energy balance into account, which brings outcomes as a direct and indirect financial benefits. Data reconciliation is formulated by a constrained minimization problem, where the constraints correspond to energy and mass balance model. Statistical methods are used combined with the minimization of quadratic error form. Solving nonlinear optimization problem using conventional methods can be troublesome, because a multimodal function with differentiated solutions introduces some difficulties to search an optimal solution. Many techniques were developed to solve Data Reconciliation and Outlier Detection, some of them use, for example, Quadratic Programming, Lagrange Multipliers, Mixed-Integer Non Linear Programming and others use evolutionary algorithms like Genetic Algorithms (GA) and recently the use of the Particle Swarm Optimization (PSO) showed to be a potential tool as a global optimization algorithm when applied to data reconciliation. Robust Statistics is also increasing in interest and it is being used when measured data are contaminated by random errors and one can not assume the error is normally distributed, situation which reflects real problems situation. The aim of this work is to present a brief comparison between the classical data reconciliation technique and the robust data reconciliation and gross error detection with swarm intelligence procedure in calculating the thermal reactor power for a simplified heat circuit diagram of a steam turbine plant using real data obtained from Angra 2 Nuclear power plant. The main objective is to test the potential of the robust DR and GED method in a integrated framework using swarm intelligence and the three part redescending estimator of Hampel when applied to a real process condition. The results evaluate the potential use of the robust technique in

  6. Robust data reconciliation and outlier detection with swarm intelligence in a thermal reactor power calculation

    International Nuclear Information System (INIS)

    Valdetaro, Eduardo Damianik; Coordenacao dos Programas de Pos-Graduacao de Engenharia; Schirru, Roberto

    2011-01-01

    In Nuclear power plants, Data Reconciliation (DR) and Gross Errors Detection (GED) are techniques of increasing interest and are primarily used to keep mass and energy balance into account, which brings outcomes as a direct and indirect financial benefits. Data reconciliation is formulated by a constrained minimization problem, where the constraints correspond to energy and mass balance model. Statistical methods are used combined with the minimization of quadratic error form. Solving nonlinear optimization problem using conventional methods can be troublesome, because a multimodal function with differentiated solutions introduces some difficulties to search an optimal solution. Many techniques were developed to solve Data Reconciliation and Outlier Detection, some of them use, for example, Quadratic Programming, Lagrange Multipliers, Mixed-Integer Non Linear Programming and others use evolutionary algorithms like Genetic Algorithms (GA) and recently the use of the Particle Swarm Optimization (PSO) showed to be a potential tool as a global optimization algorithm when applied to data reconciliation. Robust Statistics is also increasing in interest and it is being used when measured data are contaminated by random errors and one can not assume the error is normally distributed, situation which reflects real problems situation. The aim of this work is to present a brief comparison between the classical data reconciliation technique and the robust data reconciliation and gross error detection with swarm intelligence procedure in calculating the thermal reactor power for a simplified heat circuit diagram of a steam turbine plant using real data obtained from Angra 2 Nuclear power plant. The main objective is to test the potential of the robust DR and GED method in a integrated framework using swarm intelligence and the three part redescending estimator of Hampel when applied to a real process condition. The results evaluate the potential use of the robust technique in

  7. The Crane Robust Control

    Directory of Open Access Journals (Sweden)

    Marek Hicar

    2004-01-01

    Full Text Available The article is about a control design for complete structure of the crane: crab, bridge and crane uplift.The most important unknown parameters for simulations are burden weight and length of hanging rope. We will use robustcontrol for crab and bridge control to ensure adaptivity for burden weight and rope length. Robust control will be designed for current control of the crab and bridge, necessary is to know the range of unknown parameters. Whole robust will be splitto subintervals and after correct identification of unknown parameters the most suitable robust controllers will be chosen.The most important condition at the crab and bridge motion is avoiding from burden swinging in the final position. Crab and bridge drive is designed by asynchronous motor fed from frequency converter. We will use crane uplift with burden weightobserver in combination for uplift, crab and bridge drive with cooperation of their parameters: burden weight, rope length and crab and bridge position. Controllers are designed by state control method. We will use preferably a disturbance observerwhich will identify burden weight as a disturbance. The system will be working in both modes at empty hook as well asat maximum load: burden uplifting and dropping down.

  8. Robustness analysis of chiller sequencing control

    International Nuclear Information System (INIS)

    Liao, Yundan; Sun, Yongjun; Huang, Gongsheng

    2015-01-01

    Highlights: • Uncertainties with chiller sequencing control were systematically quantified. • Robustness of chiller sequencing control was systematically analyzed. • Different sequencing control strategies were sensitive to different uncertainties. • A numerical method was developed for easy selection of chiller sequencing control. - Abstract: Multiple-chiller plant is commonly employed in the heating, ventilating and air-conditioning system to increase operational feasibility and energy-efficiency under part load condition. In a multiple-chiller plant, chiller sequencing control plays a key role in achieving overall energy efficiency while not sacrifices the cooling sufficiency for indoor thermal comfort. Various sequencing control strategies have been developed and implemented in practice. Based on the observation that (i) uncertainty, which cannot be avoided in chiller sequencing control, has a significant impact on the control performance and may cause the control fail to achieve the expected control and/or energy performance; and (ii) in current literature few studies have systematically addressed this issue, this paper therefore presents a study on robustness analysis of chiller sequencing control in order to understand the robustness of various chiller sequencing control strategies under different types of uncertainty. Based on the robustness analysis, a simple and applicable method is developed to select the most robust control strategy for a given chiller plant in the presence of uncertainties, which will be verified using case studies

  9. Robust hydraulic position controller by a fuzzy state controller

    International Nuclear Information System (INIS)

    Zhao, T.; Van der Wal, A.J.

    1994-01-01

    In nuclear industry, one of the most important design considerations of controllers is their robustness. Robustness in this context is defined as the ability of a system to be controlled in a stable way over a wide range of system parameters. Generally the systems to be controlled are linearized, and stability is subsequently proven for this idealized system. By combining classical control theory and fuzzy set theory, a new kind of state controller is proposed and successfully applied to a hydraulic position servo with excellent robustness against variation of system parameters

  10. Robust lyapunov controller for uncertain systems

    KAUST Repository

    Laleg-Kirati, Taous-Meriem; Elmetennani, Shahrazed

    2017-01-01

    Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust

  11. Design Robust Controller for Rotary Kiln

    Directory of Open Access Journals (Sweden)

    Omar D. Hernández-Arboleda

    2013-11-01

    Full Text Available This paper presents the design of a robust controller for a rotary kiln. The designed controller is a combination of a fractional PID and linear quadratic regulator (LQR, these are not used to control the kiln until now, in addition robustness criteria are evaluated (gain margin, phase margin, strength gain, rejecting high frequency noise and sensitivity applied to the entire model (controller-plant, obtaining good results with a frequency range of 0.020 to 90 rad/s, which contributes to the robustness of the system.

  12. A model predictive control approach combined unscented Kalman filter vehicle state estimation in intelligent vehicle trajectory tracking

    Directory of Open Access Journals (Sweden)

    Hongxiao Yu

    2015-05-01

    Full Text Available Trajectory tracking and state estimation are significant in the motion planning and intelligent vehicle control. This article focuses on the model predictive control approach for the trajectory tracking of the intelligent vehicles and state estimation of the nonlinear vehicle system. The constraints of the system states are considered when applying the model predictive control method to the practical problem, while 4-degree-of-freedom vehicle model and unscented Kalman filter are proposed to estimate the vehicle states. The estimated states of the vehicle are used to provide model predictive control with real-time control and judge vehicle stability. Furthermore, in order to decrease the cost of solving the nonlinear optimization, the linear time-varying model predictive control is used at each time step. The effectiveness of the proposed vehicle state estimation and model predictive control method is tested by driving simulator. The results of simulations and experiments show that great and robust performance is achieved for trajectory tracking and state estimation in different scenarios.

  13. A generic flexible and robust approach for intelligent real-time video-surveillance systems

    Science.gov (United States)

    Desurmont, Xavier; Delaigle, Jean-Francois; Bastide, Arnaud; Macq, Benoit

    2004-05-01

    In this article we present a generic, flexible and robust approach for an intelligent real-time video-surveillance system. A previous version of the system was presented in [1]. The goal of these advanced tools is to provide help to operators by detecting events of interest in visual scenes and highlighting alarms and compute statistics. The proposed system is a multi-camera platform able to handle different standards of video inputs (composite, IP, IEEE1394 ) and which can basically compress (MPEG4), store and display them. This platform also integrates advanced video analysis tools, such as motion detection, segmentation, tracking and interpretation. The design of the architecture is optimised to playback, display, and process video flows in an efficient way for video-surveillance application. The implementation is distributed on a scalable computer cluster based on Linux and IP network. It relies on POSIX threads for multitasking scheduling. Data flows are transmitted between the different modules using multicast technology and under control of a TCP-based command network (e.g. for bandwidth occupation control). We report here some results and we show the potential use of such a flexible system in third generation video surveillance system. We illustrate the interest of the system in a real case study, which is the indoor surveillance.

  14. Expectation-based intelligent control

    International Nuclear Information System (INIS)

    Zak, Michail

    2006-01-01

    New dynamics paradigms-negative diffusion and terminal attractors-are introduced to control noise and chaos. The applied control forces are composed of expectations governed by the associated Fokker-Planck and Liouville equations. The approach is expanded to a general concept of intelligent control via expectations. Relevance to control in livings is emphasized and illustrated by neural nets with mirror neurons

  15. New approaches in intelligent control techniques, methodologies and applications

    CERN Document Server

    Kountchev, Roumen

    2016-01-01

    This volume introduces new approaches in intelligent control area from both the viewpoints of theory and application. It consists of eleven contributions by prominent authors from all over the world and an introductory chapter. This volume is strongly connected to another volume entitled "New Approaches in Intelligent Image Analysis" (Eds. Roumen Kountchev and Kazumi Nakamatsu). The chapters of this volume are self-contained and include summary, conclusion and future works. Some of the chapters introduce specific case studies of various intelligent control systems and others focus on intelligent theory based control techniques with applications. A remarkable specificity of this volume is that three chapters are dealing with intelligent control based on paraconsistent logics.

  16. Quality of Institutions : Does Intelligence Matter?

    OpenAIRE

    Isaac Kalonda-Kanyama; Oasis Kodila-Tedika

    2012-01-01

    This paper analyzes the eect of the average level of intelligence on different measures of the quality of institutions, using a 2006 cross-sectional sample of 113 countries. The results show that average IQ positively affects all the measures of institutional quality considered in our study, namely government efficiency, regulatory quality, rule of law, political stability and voice and accountability. The positive effect of intelligence is robust to controlling for other determinants of inst...

  17. Overview of Intelligent Systems and Operations Development

    Science.gov (United States)

    Pallix, Joan; Dorais, Greg; Penix, John

    2004-01-01

    To achieve NASA's ambitious mission objectives for the future, aircraft and spacecraft will need intelligence to take the correct action in a variety of circumstances. Vehicle intelligence can be defined as the ability to "do the right thing" when faced with a complex decision-making situation. It will be necessary to implement integrated autonomous operations and low-level adaptive flight control technologies to direct actions that enhance the safety and success of complex missions despite component failures, degraded performance, operator errors, and environment uncertainty. This paper will describe the array of technologies required to meet these complex objectives. This includes the integration of high-level reasoning and autonomous capabilities with multiple subsystem controllers for robust performance. Future intelligent systems will use models of the system, its environment, and other intelligent agents with which it interacts. They will also require planners, reasoning engines, and adaptive controllers that can recommend or execute commands enabling the system to respond intelligently. The presentation will also address the development of highly dependable software, which is a key component to ensure the reliability of intelligent systems.

  18. The Robust Control Mixer Module Method for Control Reconfiguration

    DEFF Research Database (Denmark)

    Yang, Z.; Blanke, M.

    1999-01-01

    into a LTI dynamical system, and furthermore multiple dynamical control mixer modules can be employed in our consideration. The H_{\\infty} control theory is used for the analysis and design of the robust control mixer modules. Finally, one practical robot arm system as benchmark is used to test the proposed......The control mixer concept is efficient in improving an ordinary control system into a fault tolerant one, especially for these control systems of which the real-time and on-line redesign of the control laws is very difficult. In order to consider the stability, performance and robustness...... of the reconfigurated system simultaneously, and to deal with a more general controller reconfiguration than the static feedback mechanism by using the control mixer approach, the robust control mixer module method is proposed in this paper. The form of the control mixer module extends from a static gain matrix...

  19. Development of intelligent supervisory control system

    International Nuclear Information System (INIS)

    Takizawa, Y.; Fukumoto, A.; Makino, M.; Takiguchi, S.

    1994-01-01

    The objective of the development of an intelligent supervisory control system for next generation plants is enhancement of the operational reliability by applying the recent outcome of artificial intelligence and computer technologies. This system consists of the supervisory control and monitoring for automatic operation, the equipment operation support for historical data management and for test scheduling, the operators' decision making support for accidental plant situations and the human-friendly interface of these support functions. The verification test results showed the validity of the functions realized by this system for the next generation control room. (author)

  20. Application of Artificial Intelligence Techniques in Uninhabited Aerial Vehicle Flight

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of an application of Artificial Intelligence (AI) for Unmanned Aerial Vehicle (UAV) control. The project was done as part of the requirements for a class in AI at NOVA Southeastearn University and a beginning project at NASA Wallops Flight Facility for a resilient, robust, and intelligent UAV flight control system. A method is outlined which allows a base level application for applying an Artificial Intelligence method, Fuzzy Logic, to aspects of Control Logic for UAV flight. One element of UAV flight, automated altitude hold, has been implemented and preliminary results displayed.

  1. Application of Artificial Intelligence Techniques in Uninhabitated Aerial Vehicle Flight

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2003-01-01

    This paper describes the development of an application of Artificial Intelligence (AI) for Unmanned Aerial Vehicle (UAV) control. The project was done as part of the requirements for a class in AI at NOVA southeastern University and a beginning project at NASA Wallops Flight Facility for a resilient, robust, and intelligent UAV flight control system. A method is outlined which allows a base level application for applying an Artificial Intelligence method, Fuzzy Logic, to aspects of Control Logic for UAV flight. One element of UAV flight, automated altitude hold, has been implemented and preliminary results displayed.

  2. The Role of Intelligence Quotient and Emotional Intelligence in Cognitive Control Processes

    Science.gov (United States)

    Checa, Purificación; Fernández-Berrocal, Pablo

    2015-01-01

    The relationship between intelligence quotient (IQ) and cognitive control processes has been extensively established. Several studies have shown that IQ correlates with cognitive control abilities, such as interference suppression, as measured with experimental tasks like the Stroop and Flanker tasks. By contrast, there is a debate about the role of Emotional Intelligence (EI) in individuals' cognitive control abilities. The aim of this study is to examine the relation between IQ and EI, and cognitive control abilities evaluated by a typical laboratory control cognitive task, the Stroop task. Results show a negative correlation between IQ and the interference suppression index, the ability to inhibit processing of irrelevant information. However, the Managing Emotions dimension of EI measured by the Mayer-Salovey-Caruso Emotional Intelligence Test (MSCEIT), but not self-reported of EI, negatively correlates with the impulsivity index, the premature execution of the response. These results suggest that not only is IQ crucial, but also competences related to EI are essential to human cognitive control processes. Limitations and implications of these results are also discussed. PMID:26648901

  3. The role of Intelligence Quotient and Emotional Intelligence in cognitive control processes

    Directory of Open Access Journals (Sweden)

    Purificación eCheca

    2015-12-01

    Full Text Available The relationship between intelligence quotient (IQ and cognitive control processes has been extensively established. Several studies have shown that IQ correlates with cognitive control abilities, such as interference suppression, as measured with experimental tasks like the Stroop and Flanker tasks. By contrast, there is a debate about the role of Emotional Intelligence (EI in individuals’ cognitive control abilities. The aim of this study is to examine the relation between IQ and EI, and cognitive control abilities evaluated by a typical laboratory control cognitive task, the Stroop task. Results show a negative correlation between IQ and the interference suppression index, the ability to inhibit processing of irrelevant information. However, the Managing Emotions dimension of EI measured by the Mayer-Salovey-Caruso Emotional Intelligence Test, but not self-reported of EI, negatively correlates with the impulsivity index, the premature execution of the response. These results suggest that not only is IQ crucial, but also competences related to EI are essential to human cognitive control processes. Limitations and implications of these results are also discussed

  4. Control Strategy for Automatic Gantry Crane Systems: A Practical and Intelligent Approach

    Directory of Open Access Journals (Sweden)

    Wahyudi

    2007-12-01

    Full Text Available The use of gantry crane systems for transporting payload is very common in building constructions. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. Various attempts in controlling gantry cranes system based on open- loop and closed-loop control systems were proposed. However, most of the proposed controllers were designed based on the model and parameter of the crane system. In general, modeling and parameter identifications are troublesome and time consuming task. To overcome this problem, in this paper, a practical and intelligent control method for automatic gantry crane is introduced and evaluated experimentally. The results show that the proposed method is not only effective for controlling the crane but also robust to parameter variation.

  5. Control Strategy for Automatic Gantry Crane Systems: A Practical and Intelligent Approach

    Directory of Open Access Journals (Sweden)

    Wahyudi

    2008-11-01

    Full Text Available The use of gantry crane systems for transporting payload is very common in building constructions. However, moving the payload using the crane is not an easy task especially when strict specifications on the swing angle and on the transfer time need to be satisfied. Various attempts in controlling gantry cranes system based on open- loop and closed-loop control systems were proposed. However, most of the proposed controllers were designed based on the model and parameter of the crane system. In general, modeling and parameter identifications are troublesome and time consuming task. To overcome this problem, in this paper, a practical and intelligent control method for automatic gantry crane is introduced and evaluated experimentally. The results show that the proposed method is not only effective for controlling the crane but also robust to parameter variation.

  6. Nonlinear robust hierarchical control for nonlinear uncertain systems

    Directory of Open Access Journals (Sweden)

    Leonessa Alexander

    1999-01-01

    Full Text Available A nonlinear robust control-system design framework predicated on a hierarchical switching controller architecture parameterized over a set of moving nominal system equilibria is developed. Specifically, using equilibria-dependent Lyapunov functions, a hierarchical nonlinear robust control strategy is developed that robustly stabilizes a given nonlinear system over a prescribed range of system uncertainty by robustly stabilizing a collection of nonlinear controlled uncertain subsystems. The robust switching nonlinear controller architecture is designed based on a generalized (lower semicontinuous Lyapunov function obtained by minimizing a potential function over a given switching set induced by the parameterized nominal system equilibria. The proposed framework robustly stabilizes a compact positively invariant set of a given nonlinear uncertain dynamical system with structured parametric uncertainty. Finally, the efficacy of the proposed approach is demonstrated on a jet engine propulsion control problem with uncertain pressure-flow map data.

  7. Intelligent control aspects of fuzzy logic and neural nets

    CERN Document Server

    Harris, C J; Brown, M

    1993-01-01

    With increasing demands for high precision autonomous control over wide operating envelopes, conventional control engineering approaches are unable to adequately deal with system complexity, nonlinearities, spatial and temporal parameter variations, and with uncertainty. Intelligent Control or self-organising/learning control is a new emerging discipline that is designed to deal with problems. Rather than being model based, it is experiential based. Intelligent Control is the amalgam of the disciplines of Artificial Intelligence, Systems Theory and Operations Research. It uses most recent expe

  8. A robust standard deviation control chart

    NARCIS (Netherlands)

    Schoonhoven, M.; Does, R.J.M.M.

    2012-01-01

    This article studies the robustness of Phase I estimators for the standard deviation control chart. A Phase I estimator should be efficient in the absence of contaminations and resistant to disturbances. Most of the robust estimators proposed in the literature are robust against either diffuse

  9. Learning for intelligent mobile robots

    Science.gov (United States)

    Hall, Ernest L.; Liao, Xiaoqun; Alhaj Ali, Souma M.

    2003-10-01

    Unlike intelligent industrial robots which often work in a structured factory setting, intelligent mobile robots must often operate in an unstructured environment cluttered with obstacles and with many possible action paths. However, such machines have many potential applications in medicine, defense, industry and even the home that make their study important. Sensors such as vision are needed. However, in many applications some form of learning is also required. The purpose of this paper is to present a discussion of recent technical advances in learning for intelligent mobile robots. During the past 20 years, the use of intelligent industrial robots that are equipped not only with motion control systems but also with sensors such as cameras, laser scanners, or tactile sensors that permit adaptation to a changing environment has increased dramatically. However, relatively little has been done concerning learning. Adaptive and robust control permits one to achieve point to point and controlled path operation in a changing environment. This problem can be solved with a learning control. In the unstructured environment, the terrain and consequently the load on the robot"s motors are constantly changing. Learning the parameters of a proportional, integral and derivative controller (PID) and artificial neural network provides an adaptive and robust control. Learning may also be used for path following. Simulations that include learning may be conducted to see if a robot can learn its way through a cluttered array of obstacles. If a situation is performed repetitively, then learning can also be used in the actual application. To reach an even higher degree of autonomous operation, a new level of learning is required. Recently learning theories such as the adaptive critic have been proposed. In this type of learning a critic provides a grade to the controller of an action module such as a robot. The creative control process is used that is "beyond the adaptive critic." A

  10. Artificial intelligence-based speed control of DTC induction motor drives - A comparative study

    Energy Technology Data Exchange (ETDEWEB)

    Gadoue, S.M.; Giaouris, D.; Finch, J.W. [School of Electrical, Electronic and Computer Engineering, Newcastle University, Newcastle upon Tyne NE1 7RU (United Kingdom)

    2009-01-15

    The design of the speed controller greatly affects the performance of an electric drive. A common strategy to control an induction machine is to use direct torque control combined with a PI speed controller. These schemes require proper and continuous tuning and therefore adaptive controllers are proposed to replace conventional PI controllers to improve the drive's performance. This paper presents a comparison between four different speed controller design strategies based on artificial intelligence techniques; two are based on tuning of conventional PI controllers, the third makes use of a fuzzy logic controller and the last is based on hybrid fuzzy sliding mode control theory. To provide a numerical comparison between different controllers, a performance index based on speed error is assigned. All methods are applied to the direct torque control scheme and each control strategy has been tested for its robustness and disturbance rejection ability. (author)

  11. Artificial intelligence-based modeling and control of fluidized bed combustion

    Energy Technology Data Exchange (ETDEWEB)

    Ikonen, E.; Leppaekoski, K. (Univ. of Oulu, Dept. of Process and Environmental Engineering (Finland)). email: enso.ikonen@oulu.fi

    2009-07-01

    AI-inspired techniques have a lot to offer when developing methods for advanced identification, monitoring, control and optimization of industrial processes, such as power plants. Advanced control methods have been extensively examined in the research of the Power Plant Automation group at the Systems Engineering Laboratory, e.g., in fuel inventory modelling, combustion power control, modelling and control of flue gas oxygen, drum control, modelling and control of superheaters, or in optimization of flue-gas emissions. Most engineering approaches to artificial intelligence (AI) are characterized by two fundamental properties: the ability to learn from various sources and the ability to deal with plant complexity. Learning systems that are able to operate in uncertain environments based on incomplete information are commonly referred to as being intelligent. A number of other approaches exist, characterized by these properties, but not easily categorized as AI-systems. Advanced control methods (adaptive, predictive, multivariable, robust, etc.) are based on the availability of a model of the process to be controlled. Hence identification of processes becomes a key issue, leading to the use of adaptation and learning techniques. A typical learning control system concerns a selection of learning techniques applied for updating a process model, which in turn is used for the controller design. When design of learning control systems is complemented with concerns for dealing with uncertainties or vaguenesses in models, measurements, or even objectives, particularly close connections exist between advanced process control and methods of artificial intelligence and machine learning. Needs for advanced techniques are typically characterized by the desire to properly handle plant non-linearities, the multivariable nature of the dynamic problems, and the necessity to adapt to changing plant conditions. In the field of fluidized bed combustion (FBC) control, the many promising

  12. Intelligent distributed control for nuclear power plants

    International Nuclear Information System (INIS)

    Klevans, E.H.

    1993-01-01

    This project was initiated in September 1989 as a three year project to develop and demonstrate Intelligent Distributed Control (IDC) for Nuclear Power Plants. There were two primary goals of this research project. The first goal was to combine diagnostics and control to achieve a highly automated power plant as described by M.A. Schultz. The second goal was to apply this research to develop a prototype demonstration on an actual power plant system, the EBR-2 steam plant. Described in this Final (Third Annual) Technical Progress Report is the accomplishment of the project's final milestone, an in-plant intelligent control experiment conducted on April 1, 1993. The development of the experiment included: simulation validation, experiment formulation and final programming, procedure development and approval, and experimental results. Other third year developments summarized in this report are: (1) a theoretical foundation for Reconfigurable Hybrid Supervisory Control, (2) a steam plant diagnostic system, (3) control console design tools and (4) other advanced and intelligent control

  13. Robot Advanced Intelligent Control developed through Versatile ...

    African Journals Online (AJOL)

    pc

    2018-03-05

    Mar 5, 2018 ... environments of human life exposed to great dangers such as support and repair in .... intelligent control interfaces, network quality of service, shared resources and ..... Artificial Intelligence series, volume 6556, p. 336-349 ...

  14. Fixed Point Learning Based Intelligent Traffic Control System

    Science.gov (United States)

    Zongyao, Wang; Cong, Sui; Cheng, Shao

    2017-10-01

    Fixed point learning has become an important tool to analyse large scale distributed system such as urban traffic network. This paper presents a fixed point learning based intelligence traffic network control system. The system applies convergence property of fixed point theorem to optimize the traffic flow density. The intelligence traffic control system achieves maximum road resources usage by averaging traffic flow density among the traffic network. The intelligence traffic network control system is built based on decentralized structure and intelligence cooperation. No central control is needed to manage the system. The proposed system is simple, effective and feasible for practical use. The performance of the system is tested via theoretical proof and simulations. The results demonstrate that the system can effectively solve the traffic congestion problem and increase the vehicles average speed. It also proves that the system is flexible, reliable and feasible for practical use.

  15. Indirect intelligent sliding mode control of a shape memory alloy actuated flexible beam using hysteretic recurrent neural networks

    International Nuclear Information System (INIS)

    Hannen, Jennifer C; Buckner, Gregory D; Crews, John H

    2012-01-01

    This paper introduces an indirect intelligent sliding mode controller (IISMC) for shape memory alloy (SMA) actuators, specifically a flexible beam deflected by a single offset SMA tendon. The controller manipulates applied voltage, which alters SMA tendon temperature to track reference bending angles. A hysteretic recurrent neural network (HRNN) captures the nonlinear, hysteretic relationship between SMA temperature and bending angle. The variable structure control strategy provides robustness to model uncertainties and parameter variations, while effectively compensating for system nonlinearities, achieving superior tracking compared to an optimized PI controller. (paper)

  16. Application of artificial intelligence in process control

    CERN Document Server

    Krijgsman, A

    1993-01-01

    This book is the result of a united effort of six European universities to create an overall course on the appplication of artificial intelligence (AI) in process control. The book includes an introduction to key areas including; knowledge representation, expert, logic, fuzzy logic, neural network, and object oriented-based approaches in AI. Part two covers the application to control engineering, part three: Real-Time Issues, part four: CAD Systems and Expert Systems, part five: Intelligent Control and part six: Supervisory Control, Monitoring and Optimization.

  17. Intelligence for embedded systems a methodological approach

    CERN Document Server

    Alippi, Cesare

    2014-01-01

    Addressing current issues of which any engineer or computer scientist should be aware, this monograph is a response to the need to adopt a new computational paradigm as the methodological basis for designing pervasive embedded systems with sensor capabilities. The requirements of this paradigm are to control complexity, to limit cost and energy consumption, and to provide adaptation and cognition abilities allowing the embedded system to interact proactively with the real world. The quest for such intelligence requires the formalization of a new generation of intelligent systems able to exploit advances in digital architectures and in sensing technologies. The book sheds light on the theory behind intelligence for embedded systems with specific focus on: ·        robustness (the robustness of a computational flow and its evaluation); ·        intelligence (how to mimic the adaptation and cognition abilities of the human brain), ·        the capacity to learn in non-stationary and evolv...

  18. TOWARDS MEASURES OF INTELLIGENCE BASED ON SEMIOTIC CONTROL

    Energy Technology Data Exchange (ETDEWEB)

    C. JOSLYN

    2000-08-01

    We address the question of how to identify and measure the degree of intelligence in systems. We define the presence of intelligence as equivalent to the presence of a control relation. We contrast the distinct atomic semioic definitions of models and controls, and discuss hierarchical and anticipatory control. We conclude with a suggestion about moving towards quantitative measures of the degree of such control in systems.

  19. Intelligent Home Control System Based on ARM10

    Science.gov (United States)

    Chen, G. X.; Jiang, J.; Zhong, L. H.

    2017-10-01

    Intelligent home is becoming the hot spot of social attention in the 21st century. When it is in China, it is a really new industry. However, there is no doubt that Intelligent home will become a new economic growth point of social development; it will change the life-style of human being. To develop the intelligent home, we should keep up with the development trend of technology. This is the reason why I talk about the intelligent home control system here. In this paper, intelligent home control system is designed for alarm and remote control on gas- leaking, fire disaster, earthquake prediction, etc., by examining environmental changes around house. When the Intelligent home control system has detected an accident occurs, the processor will communicate with the GSM module, informing the house keeper the occurrence of accident. User can receive and send the message to the system to cut the power by mobile phone. The system can get access to DCCthrough ARM10 JTAG interface, using DCC to send and receive messages. At the same time, the debugger on the host is mainly used to receive the user’s command and send it to the debug component in the target system. The data that returned from the target system is received and displayed to the user in a certain format.

  20. A Robust Cooperated Control Method with Reinforcement Learning and Adaptive H∞ Control

    Science.gov (United States)

    Obayashi, Masanao; Uchiyama, Shogo; Kuremoto, Takashi; Kobayashi, Kunikazu

    This study proposes a robust cooperated control method combining reinforcement learning with robust control to control the system. A remarkable characteristic of the reinforcement learning is that it doesn't require model formula, however, it doesn't guarantee the stability of the system. On the other hand, robust control system guarantees stability and robustness, however, it requires model formula. We employ both the actor-critic method which is a kind of reinforcement learning with minimal amount of computation to control continuous valued actions and the traditional robust control, that is, H∞ control. The proposed system was compared method with the conventional control method, that is, the actor-critic only used, through the computer simulation of controlling the angle and the position of a crane system, and the simulation result showed the effectiveness of the proposed method.

  1. Feedforward/feedback control synthesis for performance and robustness

    Science.gov (United States)

    Wie, Bong; Liu, Qiang

    1990-01-01

    Both feedforward and feedback control approaches for uncertain dynamical systems are investigated. The control design objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant modeling uncertainty. Preshapong of an ideal, time-optimal control input using a 'tapped-delay' filter is shown to provide a rapid maneuver with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. The proposed feedforward/feedback control approach is robust for a certain class of uncertain dynamical systems, since the control input command computed for a given desired output does not depend on the plant parameters.

  2. A Robust H∞ Controller for an UAV Flight Control System

    Directory of Open Access Journals (Sweden)

    J. López

    2015-01-01

    Full Text Available The objective of this paper is the implementation and validation of a robust H∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H∞ robust controller in the inner loop, H∞ control methodology is used. The two controllers that conform the outer loop are designed using the H∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

  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. Robust Structured Control Design via LMI Optimization

    DEFF Research Database (Denmark)

    Adegas, Fabiano Daher; Stoustrup, Jakob

    2011-01-01

    This paper presents a new procedure for discrete-time robust structured control design. Parameter-dependent nonconvex conditions for stabilizable and induced L2-norm performance controllers are solved by an iterative linear matrix inequalities (LMI) optimization. A wide class of controller...... structures including decentralized of any order, fixed-order dynamic output feedback, static output feedback can be designed robust to polytopic uncertainties. Stability is proven by a parameter-dependent Lyapunov function. Numerical examples on robust stability margins shows that the proposed procedure can...

  5. Muscle Synergy-Driven Robust Motion Control.

    Science.gov (United States)

    Min, Kyuengbo; Iwamoto, Masami; Kakei, Shinji; Kimpara, Hideyuki

    2018-04-01

    Humans are able to robustly maintain desired motion and posture under dynamically changing circumstances, including novel conditions. To accomplish this, the brain needs to optimize the synergistic control between muscles against external dynamic factors. However, previous related studies have usually simplified the control of multiple muscles using two opposing muscles, which are minimum actuators to simulate linear feedback control. As a result, they have been unable to analyze how muscle synergy contributes to motion control robustness in a biological system. To address this issue, we considered a new muscle synergy concept used to optimize the synergy between muscle units against external dynamic conditions, including novel conditions. We propose that two main muscle control policies synergistically control muscle units to maintain the desired motion against external dynamic conditions. Our assumption is based on biological evidence regarding the control of multiple muscles via the corticospinal tract. One of the policies is the group control policy (GCP), which is used to control muscle group units classified based on functional similarities in joint control. This policy is used to effectively resist external dynamic circumstances, such as disturbances. The individual control policy (ICP) assists the GCP in precisely controlling motion by controlling individual muscle units. To validate this hypothesis, we simulated the reinforcement of the synergistic actions of the two control policies during the reinforcement learning of feedback motion control. Using this learning paradigm, the two control policies were synergistically combined to result in robust feedback control under novel transient and sustained disturbances that did not involve learning. Further, by comparing our data to experimental data generated by human subjects under the same conditions as those of the simulation, we showed that the proposed synergy concept may be used to analyze muscle synergy

  6. Robust Control of a Hydraulically Actuated Manipulator Using Sliding Mode Control

    DEFF Research Database (Denmark)

    Hansen, Michael Rygaard; Andersen, Torben Ole; Pedersen, Henrik Clemmensen

    2005-01-01

    This paper presents an approach to robust control called sliding mode control (SMC) applied to the a hydraulic servo system (HSS), consisting of a servo valve controlled symmetrical cylinder. The motivation for applying sliding mode control to hydraulically actuated systems is its robustness...

  7. A Robust Controller Structure for Pico-Satellite Applications

    DEFF Research Database (Denmark)

    Kragelund, Martin Nygaard; Green, Martin; Kristensen, Mads

    This paper describes the development of a robust controller structure for use in pico-satellite missions. The structure relies on unknown disturbance estimation and use of robust control theory to implement a system that is robust to both unmodeled disturbances and parameter uncertainties. As one...

  8. Artificial Intelligence Applied to the Command, Control, Communications, and Intelligence of the U.S. Central Command.

    Science.gov (United States)

    1983-06-06

    these components will be presented. 4.17 °°,. CHAPTER III FOOTNOTES 1. Arron Barr and Edward A. Feigenbaum, eds., Te Handbook gf Artificial Inteligence ol...RD-R137 205 ARTIFICIAL INTELLIGENCE APPLIED TO THE COMIMAND CONTROL i/i COMMUNICATIONS RND..(U) ARMY WAR COLL CARLISLE BARRACKS U PA J N ENVART 06...appropriate mlitary servic or *swesmment aency. ARTIFICIAL INTELLIGENCE APPLIED TO THE COMMAND, CONTROL, COMMUNICATIONS, AND INTELLIGENCE OF THE U.S. CENTRAL

  9. Parametric uncertainty modeling for robust control

    DEFF Research Database (Denmark)

    Rasmussen, K.H.; Jørgensen, Sten Bay

    1999-01-01

    The dynamic behaviour of a non-linear process can often be approximated with a time-varying linear model. In the presented methodology the dynamics is modeled non-conservatively as parametric uncertainty in linear lime invariant models. The obtained uncertainty description makes it possible...... to perform robustness analysis on a control system using the structured singular value. The idea behind the proposed method is to fit a rational function to the parameter variation. The parameter variation can then be expressed as a linear fractional transformation (LFT), It is discussed how the proposed...... point changes. It is shown that a diagonal PI control structure provides robust performance towards variations in feed flow rate or feed concentrations. However including both liquid and vapor flow delays robust performance specifications cannot be satisfied with this simple diagonal control structure...

  10. An intelligent CPIB controller

    International Nuclear Information System (INIS)

    Wikne, J.C.

    1987-12-01

    An intelligent GPIB (General Purpose Interface Bus) controller is described. It employs an autonomous slave CPU together with a dedicated controller/talker/listener chip to handle the GPIB bus protocol, thus freeing the host computer from this time-consuming task. Distribution of a large part of the necessary software to the slave side, assures that the system can be implemented on virtually any computer with a minimum of effort

  11. Robust Parametric Control of Spacecraft Rendezvous

    Directory of Open Access Journals (Sweden)

    Dake Gu

    2014-01-01

    Full Text Available This paper proposes a method to design the robust parametric control for autonomous rendezvous of spacecrafts with the inertial information with uncertainty. We consider model uncertainty of traditional C-W equation to formulate the dynamic model of the relative motion. Based on eigenstructure assignment and model reference theory, a concise control law for spacecraft rendezvous is proposed which could be fixed through solving an optimization problem. The cost function considers the stabilization of the system and other performances. Simulation results illustrate the robustness and effectiveness of the proposed control.

  12. Observer-Based Robust Control for Hydraulic Velocity Control System

    Directory of Open Access Journals (Sweden)

    Wei Shen

    2013-01-01

    Full Text Available This paper investigates the problems of robust stabilization and robust control for the secondary component speed control system with parameters uncertainty and load disturbance. The aim is to enhance the control performance of hydraulic system based on Common Pressure Rail (CPR. Firstly, a mathematical model is presented to describe the hydraulic control system. Then a novel observer is proposed, and an observed-based control strategy is designed such that the closed-loop system is asymptotically stable and satisfies the disturbance attenuation level. The condition for the existence of the developed controller can by efficiently solved by using the MATLAB software. Finally, simulation results are provided to demonstrate the effectiveness of the proposed method.

  13. Robust Control of an Ill-Conditioned Aircraft

    DEFF Research Database (Denmark)

    Breslin, S.G.; Tøffner-Clausen, S.; Grimble, M.J.

    1996-01-01

    A robust controller is designed for a linear model of an Advanced Short Take-Off and Vertical Landing (ASTOVL) aircraft at one operating point.......A robust controller is designed for a linear model of an Advanced Short Take-Off and Vertical Landing (ASTOVL) aircraft at one operating point....

  14. Robust Control Charts for Time Series Data

    NARCIS (Netherlands)

    Croux, C.; Gelper, S.; Mahieu, K.

    2010-01-01

    This article presents a control chart for time series data, based on the one-step- ahead forecast errors of the Holt-Winters forecasting method. We use robust techniques to prevent that outliers affect the estimation of the control limits of the chart. Moreover, robustness is important to maintain

  15. A Robust H ∞ Controller for an UAV Flight Control System.

    Science.gov (United States)

    López, J; Dormido, R; Dormido, S; Gómez, J P

    2015-01-01

    The objective of this paper is the implementation and validation of a robust H ∞ controller for an UAV to track all types of manoeuvres in the presence of noisy environment. A robust inner-outer loop strategy is implemented. To design the H ∞ robust controller in the inner loop, H ∞ control methodology is used. The two controllers that conform the outer loop are designed using the H ∞ Loop Shaping technique. The reference vector used in the control architecture formed by vertical velocity, true airspeed, and heading angle, suggests a nontraditional way to pilot the aircraft. The simulation results show that the proposed control scheme works well despite the presence of noise and uncertainties, so the control system satisfies the requirements.

  16. The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy.

    Science.gov (United States)

    Zhang, Libo; Zhu, Junjie; Ren, Hao; Liu, Dongdong; Meng, Dan; Wu, Yanjun; Luo, Tiejian

    2017-10-14

    Intelligent robots are part of a new generation of robots that are able to sense the surrounding environment, plan their own actions and eventually reach their targets. In recent years, reliance upon robots in both daily life and industry has increased. The protocol proposed in this paper describes the design and production of a handling robot with an intelligent search algorithm and an autonomous identification function. First, the various working modules are mechanically assembled to complete the construction of the work platform and the installation of the robotic manipulator. Then, we design a closed-loop control system and a four-quadrant motor control strategy, with the aid of debugging software, as well as set steering gear identity (ID), baud rate and other working parameters to ensure that the robot achieves the desired dynamic performance and low energy consumption. Next, we debug the sensor to achieve multi-sensor fusion to accurately acquire environmental information. Finally, we implement the relevant algorithm, which can recognize the success of the robot's function for a given application. The advantage of this approach is its reliability and flexibility, as the users can develop a variety of hardware construction programs and utilize the comprehensive debugger to implement an intelligent control strategy. This allows users to set personalized requirements based on their needs with high efficiency and robustness.

  17. Real-time control systems: feedback, scheduling and robustness

    Science.gov (United States)

    Simon, Daniel; Seuret, Alexandre; Sename, Olivier

    2017-08-01

    The efficient control of real-time distributed systems, where continuous components are governed through digital devices and communication networks, needs a careful examination of the constraints arising from the different involved domains inside co-design approaches. Thanks to the robustness of feedback control, both new control methodologies and slackened real-time scheduling schemes are proposed beyond the frontiers between these traditionally separated fields. A methodology to design robust aperiodic controllers is provided, where the sampling interval is considered as a control variable of the system. Promising experimental results are provided to show the feasibility and robustness of the approach.

  18. The Epistemic Status of Intelligence

    DEFF Research Database (Denmark)

    Rønn, Kira Vrist; Høffding, Simon

    2012-01-01

    We argue that the majority of intelligence definitions fail to recognize that the normative epistemic status of intelligence is knowledge and not an inferior alternative. We refute the counter-arguments that intelligence ought not to be seen as knowledge because of 1) its action-oriented scope...... and robustness of claims to intelligence-knowledge can be assessed....

  19. Robust control charts in statistical process control

    NARCIS (Netherlands)

    Nazir, H.Z.

    2014-01-01

    The presence of outliers and contaminations in the output of the process highly affects the performance of the design structures of commonly used control charts and hence makes them of less practical use. One of the solutions to deal with this problem is to use control charts which are robust

  20. Robust lyapunov controller for uncertain systems

    KAUST Repository

    Laleg-Kirati, Taous-Meriem

    2017-02-23

    Various examples of systems and methods are provided for Lyapunov control for uncertain systems. In one example, a system includes a process plant and a robust Lyapunov controller configured to control an input of the process plant. The robust Lyapunov controller includes an inner closed loop Lyapunov controller and an outer closed loop error stabilizer. In another example, a method includes monitoring a system output of a process plant; generating an estimated system control input based upon a defined output reference; generating a system control input using the estimated system control input and a compensation term; and adjusting the process plant based upon the system control input to force the system output to track the defined output reference. An inner closed loop Lyapunov controller can generate the estimated system control input and an outer closed loop error stabilizer can generate the system control input.

  1. Intelligent computational control of multi-fingered dexterous robotic hand

    OpenAIRE

    Chen, Disi; Li, Gongfa; Jiang, Guozhang; Fang, Yinfeng; Ju, Zhaojie; Liu, Honghai

    2015-01-01

    We discuss the intelligent computational control theory and introduce the hardware structure of HIT/DLR II dexterous robotic hand, which is the typical dexterous robotic hand. We show that how DSP or FPGA controller can be used in the dexterous robotic hand. A popular intelligent dexterous robotic hand control system, which named Electromyography (EMG) control is investigated. We introduced some mathematical algorithms in EMG controlling, such as Gauss mixture model (GMM), artificial neural n...

  2. Robust control design for the plasma horizontal position control on J-TEXT Tokamak

    International Nuclear Information System (INIS)

    Yu, W.Z.; Chen, Z.P.; Zhuang, G.; Wang, Z.J.

    2013-01-01

    It is extremely important for tokamak to control the plasma position during routine discharge. However, the model of plasma in tokamak usually contains much of the uncertainty, such as structured uncertainties and unmodeled dynamics. Compared with the traditional PID control approach, robust control theory is more suitable to handle this problem. In the paper, we propose a H ∞ robust control scheme to control the horizontal position of plasma during the flat-top phase of discharge on Joint Texas Experimental Tokamak (J-TEXT) tokamak. First, the model of our plant for plasma horizontal position control is obtained from the position equilibrium equations. Then the H ∞ robust control framework is used to synthesize the controller. Based on this, an H ∞ controller is designed to minimize the regulation/tracking error. Finally, a comparison study is conducted between the optimized H ∞ robust controller and the traditional PID controller in simulations. The simulation results of the H ∞ robust controller show a significant improvement of the performance with respect to those obtained with traditional PID controller, which is currently used on our machine

  3. Intelligent control of HVAC systems. Part II: perceptron performance analysis

    Directory of Open Access Journals (Sweden)

    Ioan URSU

    2013-09-01

    Full Text Available This is the second part of a paper on intelligent type control of Heating, Ventilating, and Air-Conditioning (HVAC systems. The whole study proposes a unified approach in the design of intelligent control for such systems, to ensure high energy efficiency and air quality improving. In the first part of the study it is considered as benchmark system a single thermal space HVAC system, for which it is assigned a mathematical model of the controlled system and a mathematical model(algorithm of intelligent control synthesis. The conception of the intelligent control is of switching type, between a simple neural network, a perceptron, which aims to decrease (optimize a cost index,and a fuzzy logic component, having supervisory antisaturating role for neuro-control. Based on numerical simulations, this Part II focuses on the analysis of system operation in the presence only ofthe neural control component. Working of the entire neuro-fuzzy system will be reported in a third part of the study.

  4. Robust Position Control of Electro-mechanical Systems

    OpenAIRE

    Rong Mei; Mou Chen

    2013-01-01

    In this work, the robust position control scheme is proposed for the electro-mechanical system using the disturbance observer and backstepping control method. To the external unknown load of the electro-mechanical system, the nonlinear disturbance observer is given to estimate the external unknown load. Combining the output of the developed nonlinear disturbance observer with backstepping technology, the robust position control scheme is proposed for the electro-mechanical system. The stabili...

  5. Closed-Loop and Robust Control of Quantum Systems

    Directory of Open Access Journals (Sweden)

    Chunlin Chen

    2013-01-01

    Full Text Available For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA, and reinforcement learning (RL methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H∞ control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

  6. Closed-loop and robust control of quantum systems.

    Science.gov (United States)

    Chen, Chunlin; Wang, Lin-Cheng; Wang, Yuanlong

    2013-01-01

    For most practical quantum control systems, it is important and difficult to attain robustness and reliability due to unavoidable uncertainties in the system dynamics or models. Three kinds of typical approaches (e.g., closed-loop learning control, feedback control, and robust control) have been proved to be effective to solve these problems. This work presents a self-contained survey on the closed-loop and robust control of quantum systems, as well as a brief introduction to a selection of basic theories and methods in this research area, to provide interested readers with a general idea for further studies. In the area of closed-loop learning control of quantum systems, we survey and introduce such learning control methods as gradient-based methods, genetic algorithms (GA), and reinforcement learning (RL) methods from a unified point of view of exploring the quantum control landscapes. For the feedback control approach, the paper surveys three control strategies including Lyapunov control, measurement-based control, and coherent-feedback control. Then such topics in the field of quantum robust control as H(∞) control, sliding mode control, quantum risk-sensitive control, and quantum ensemble control are reviewed. The paper concludes with a perspective of future research directions that are likely to attract more attention.

  7. An Artificial Neural Network Controller for Intelligent Transportation Systems Applications

    Science.gov (United States)

    1996-01-01

    An Autonomous Intelligent Cruise Control (AICC) has been designed using a feedforward artificial neural network, as an example for utilizing artificial neural networks for nonlinear control problems arising in intelligent transportation systems appli...

  8. Identification and robust control of an experimental servo motor.

    Science.gov (United States)

    Adam, E J; Guestrin, E D

    2002-04-01

    In this work, the design of a robust controller for an experimental laboratory-scale position control system based on a dc motor drive as well as the corresponding identification and robust stability analysis are presented. In order to carry out the robust design procedure, first, a classic closed-loop identification technique is applied and then, the parametrization by internal model control is used. The model uncertainty is evaluated under both parametric and global representation. For the latter case, an interesting discussion about the conservativeness of this description is presented by means of a comparison between the uncertainty disk and the critical perturbation radius approaches. Finally, conclusions about the performance of the experimental system with the robust controller are discussed using comparative graphics of the controlled variable and the Nyquist stability margin as a robustness measurement.

  9. Active vibration control by robust control techniques

    International Nuclear Information System (INIS)

    Lohar, F.A.

    2001-01-01

    This paper studies active vibration control of multi-degree-of-freedom system. The control techniques considered are LTR, H/sup 2/ and H/sup infinite/. The results show that LTR controls the vibration but its respective settling time is higher than that of the other techniques. The control performance of H/sup infinite/ control is similar to that of H/sup 2/ control in the case of it weighting functions. However, H/sup infinite/ control is superior to H/sup 2/ control with respect to robustness, steady state error and settling time. (author)

  10. Intelligent process control operator aid -- An artificial intelligence approach

    International Nuclear Information System (INIS)

    Sharma, D.D.; Miller, D.D.; Hajek, B.; Chandrasekaran, B.

    1986-01-01

    This paper describes an approach for designing intelligent process and power plant control operator aids. It is argued that one of the key aspects of an intelligent operator aid is the capability for dynamic procedure synthesis with incomplete definition of initial state, unknown goal states, and the dynamic world situation. The dynamic world state is used to determine the goal, select appropriate plan steps from prespecified procedures to achieve the goal, control the execution of the synthesized plan, and provide for dynamic recovery from failure often using a goal hierarchy. The dynamic synthesis of a plan requires integration of various problems solving capabilities such as plan generation, plan synthesis, plan modification, and failure recovery from a plan. The programming language for implementing the DPS framework provides a convenient tool for developing applications. An application of the DPS approach to a Nuclear Power Plant emergency procedure synthesis is also described. Initial test results indicate that the approach is successful in dynamically synthesizing the procedures. The authors realize that the DPS framework is not a solution for all control tasks. However, many existing process and plant control problems satisfy the requirements discussed in the paper and should be able to benefit from the framework described

  11. A Design Method of Robust Servo Internal Model Control with Control Input Saturation

    OpenAIRE

    山田, 功; 舩見, 洋祐

    2001-01-01

    In the present paper, we examine a design method of robust servo Internal Model Control with control input saturation. First of all, we clarify the condition that Internal Model Control has robust servo characteristics for the system with control input saturation. From this consideration, we propose new design method of Internal Model Control with robust servo characteristics. A numerical example to illustrate the effectiveness of the proposed method is shown.

  12. Intelligent Transportation Control based on Proactive Complex Event Processing

    Directory of Open Access Journals (Sweden)

    Wang Yongheng

    2016-01-01

    Full Text Available Complex Event Processing (CEP has become the key part of Internet of Things (IoT. Proactive CEP can predict future system states and execute some actions to avoid unwanted states which brings new hope to intelligent transportation control. In this paper, we propose a proactive CEP architecture and method for intelligent transportation control. Based on basic CEP technology and predictive analytic technology, a networked distributed Markov decision processes model with predicting states is proposed as sequential decision model. A Q-learning method is proposed for this model. The experimental evaluations show that this method works well when used to control congestion in in intelligent transportation systems.

  13. Artificial intelligence and information-control systems of robots - 87

    International Nuclear Information System (INIS)

    Plander, I.

    1987-01-01

    Independent research areas of artificial intelligence represent the following problems: automatic problem solving and new knowledge discovering, automatic program synthesis, natural language, picture and scene recognition and understanding, intelligent control systems of robots equipped with sensoric subsystems, dialogue of two knowledge systems, as well as studying and modelling higher artificial intelligence attributes, such as emotionality and personality. The 4th Conference draws on the problems treated at the preceding Conferences, and presents the most recent knowledge on the following topics: theoretical problems of artificial intelligence, knowledge-based systems, expert systems, perception and pattern recognition, robotics, intelligent computer-aided design, special-purpose computer systems for artificial intelligence and robotics

  14. Intelligent distributed control for nuclear power plants

    International Nuclear Information System (INIS)

    Klevans, E.H.

    1991-01-01

    In September of 1989 work began on the DOE University Program grant DE-FG07-89ER12889. The grant provides support for a three year project to develop and demonstrate Intelligent Distributed Control (IDC) for Nuclear Power Plants. The body of this First Annual Technical Progress report summarizes the first year tasks while the appendices provide detailed information presented at conference meetings. One major addendum report, authored by M.A. Schultz, describes the ultimate goals and projected structure of an automatic distributed control system for EBR-2. The remaining tasks of the project develop specific implementations of various components required to demonstrate the intelligent distributed control concept

  15. Model-reference robust tuning of PID controllers

    CERN Document Server

    Alfaro, Victor M

    2016-01-01

    This book presents a unified methodology for the design of PID controllers that encompasses the wide range of different dynamics to be found in industrial processes. This is extended to provide a coherent way of dealing with the tuning of PID controllers. The particular method at the core of the book is the so-called model-reference robust tuning (MoReRT), developed by the authors. MoReRT constitutes a novel and powerful way of thinking of a robust design and taking into account the usual design trade-offs encountered in any control design problem. The book starts by presenting the different two-degree-of-freedom PID control algorithm variations and their conversion relations as well as the indexes used for performance, robustness and fragility evaluation:the bases of the proposed model. Secondly, the MoReRT design methodology and normalized controlled process models and controllers used in the design are described in order to facilitate the formulation of the different design problems and subsequent derivati...

  16. Intelligence and gender (in)equality: empirical evidence from developing countries

    OpenAIRE

    Salahodjaev, Raufhon; Azam, Sardor

    2015-01-01

    This paper makes an attempt to explore whether intelligence of nations is related to gender inequality, measured by Social Institutions and Gender Index (SIGI), in developing countries. Related literature robustly links intelligence to economic development, poverty, quality of institutions and informal economic activity. Controlling for conventional antecedents of gender inequality (i.e. religion, political regime, legal origins and trade openness), this paper finds that, on average, a 10-poi...

  17. Comparison of intelligent fuzzy based AGC coordinated PID controlled and PSS controlled AVR system

    Energy Technology Data Exchange (ETDEWEB)

    Mukherjee, V. [Department of Electrical Engineering, Asansol Engineering College, Asansol, West Bengal (India); Ghoshal, S.P. [Department of Electrical Engineering, National Institute of Technology, Durgapur, West Bengal (India)

    2007-11-15

    This paper attempts to investigate the performance of intelligent fuzzy based coordinated control of the Automatic Generation Control (AGC) loop and the excitation loop equipped with Proportional Integral Derivative (PID) controlled Automatic Voltage Regulator (AVR) system and Power System Stabilizer (PSS) controlled AVR system. The work establishes that PSS controlled AVR system is much more robust in dynamic performance of the system over a wide range of system operating configurations. Thus, it is revealed that PSS equipped AVR is much more superior than PID equipped AVR in damping the oscillation resulting in improved transient response. The paper utilizes a novel class of Particle Swarm Optimization (PSO) termed as Craziness based Particle Swarm Optimization (CRPSO) as optimizing tool to get optimal tuning of PSS parameters as well as the gains of PID controllers. For on-line, off-nominal operating conditions Takagi Sugeno Fuzzy Logic (TSFL) has been applied to obtain the off-nominal optimal gains of PID controllers and parameters of PSS. Implementation of TSFL helps to achieve very fast dynamic response. Fourth order model of generator with AVR and high gain thyristor excitation system is considered for PSS controlled system while normal gain exciter is considered for PID controlled system. Simulation study also reveals that with high gain exciter, PID control is not at all effective. Transient responses are achieved by using modal analysis. (author)

  18. Automatic intelligent cruise control

    OpenAIRE

    Stanton, NA; Young, MS

    2006-01-01

    This paper reports a study on the evaluation of automatic intelligent cruise control (AICC) from a psychological perspective. It was anticipated that AICC would have an effect upon the psychology of driving—namely, make the driver feel like they have less control, reduce the level of trust in the vehicle, make drivers less situationally aware, but might reduce the workload and make driving might less stressful. Drivers were asked to drive in a driving simulator under manual and automatic inte...

  19. Controls and Health Management Technologies for Intelligent Aerospace Propulsion Systems

    Science.gov (United States)

    Garg, Sanjay

    2004-01-01

    With the increased emphasis on aircraft safety, enhanced performance and affordability, and the need to reduce the environmental impact of aircraft, there are many new challenges being faced by the designers of aircraft propulsion systems. The Controls and Dynamics Technology Branch at NASA (National Aeronautics and Space Administration) Glenn Research Center (GRC) in Cleveland, Ohio, is leading and participating in various projects in partnership with other organizations within GRC and across NASA, the U.S. aerospace industry, and academia to develop advanced controls and health management technologies that will help meet these challenges through the concept of an Intelligent Engine. The key enabling technologies for an Intelligent Engine are the increased efficiencies of components through active control, advanced diagnostics and prognostics integrated with intelligent engine control to enhance component life, and distributed control with smart sensors and actuators in an adaptive fault tolerant architecture. This paper describes the current activities of the Controls and Dynamics Technology Branch in the areas of active component control and propulsion system intelligent control, and presents some recent analytical and experimental results in these areas.

  20. Intelligent Flight Control Simulation Research Program

    National Research Council Canada - National Science Library

    Stolarik, Brian

    2007-01-01

    ...). Under the program, entitled "Intelligent Flight Control Simulation Research Laboratory," a variety of technologies were investigated or developed during the course of the research for AFRL/VAC...

  1. Fuzzy Logic Controller Design for Intelligent Robots

    Directory of Open Access Journals (Sweden)

    Ching-Han Chen

    2017-01-01

    Full Text Available This paper presents a fuzzy logic controller by which a robot can imitate biological behaviors such as avoiding obstacles or following walls. The proposed structure is implemented by integrating multiple ultrasonic sensors into a robot to collect data from a real-world environment. The decisions that govern the robot’s behavior and autopilot navigation are driven by a field programmable gate array- (FPGA- based fuzzy logic controller. The validity of the proposed controller was demonstrated by simulating three real-world scenarios to test the bionic behavior of a custom-built robot. The results revealed satisfactorily intelligent performance of the proposed fuzzy logic controller. The controller enabled the robot to demonstrate intelligent behaviors in complex environments. Furthermore, the robot’s bionic functions satisfied its design objectives.

  2. Intelligent control and automation technology for nuclear applications

    International Nuclear Information System (INIS)

    Kim, Jae Hui; Huh, Young Hwan; Lee, Jang Soo; Kim, Ko Ryeo; Cha, Kyoung Ho; Lee, Jae Cheol; Dong, In Sook

    1993-01-01

    This project intends to establish the basic technology of intelligent control and automation to be applied to the next generation nuclear plant. For that, the research status of those technologies is surveyed for various application areas at first. The characteristics and availability of those techniques such as neural network, fuzzy rule based control and reasoning, multimedia, real-time software and qualitative modelling are studied through a series of simulations and experiments. By integrating each technologies studied above, we developed a hierarchical, intelligent control system for an autonomous mobile robot as a test bed. The system is composed of several modules of software and hardware subsystems, which are implemented by use of the intelligent techniques. Through the analysis of the results and experiences, we investigated the feasibility of application of the basic technology to the next generation plant. (Author)

  3. Intelligent Shutter Speech Control System Based on DSP

    Directory of Open Access Journals (Sweden)

    Yonghong Deng

    2017-01-01

    Full Text Available Based on TMS320F28035 DSP, this paper designed a smart shutters voice control system, which realized the functions of opening and closing shutters, intelligent switching of lighting mode and solar power supply through voice control. The traditional control mode is converted to voice control at the same time with automatic lighting and solar power supply function. In the convenience of people’s lives at the same time more satisfied with today’s people on the intelligent and environmental protection of the two concepts of the pursuit. The whole system is simple, low cost, safe and reliable.

  4. Synthesis of fixed-architecture, robust H2 and H∞ controllers

    Directory of Open Access Journals (Sweden)

    Emmanuel G. Collins

    2000-01-01

    Full Text Available This paper discusses and compares the synthesis of fixed-architecture controllers that guarantee either robust H2 or H∞ performance. The synthesis is accomplished by solving a Riccati equation feasibility problem resulting from mixed structured singular value theory with Popov multipliers. Whereas the algorithm for robust H2 performance had been previously implemented, a major contribution described in this paper is the implementation of the much more complex algorithm for robust H∞ performance. Both robust H2 and H∞, controllers are designed for a benchmark problem and a comparison is made between the resulting controllers and control algorithms. It is found that the numerical algorithm for robust H∞ performance is much more computationally intensive than that for robust H2 performance. Both controllers are found to have smaller bandwidth, lower control authority and to be less conservative than controllers obtained using complex structured singular value synthesis.

  5. Neural robust stabilization via event-triggering mechanism and adaptive learning technique.

    Science.gov (United States)

    Wang, Ding; Liu, Derong

    2018-06-01

    The robust control synthesis of continuous-time nonlinear systems with uncertain term is investigated via event-triggering mechanism and adaptive critic learning technique. We mainly focus on combining the event-triggering mechanism with adaptive critic designs, so as to solve the nonlinear robust control problem. This can not only make better use of computation and communication resources, but also conduct controller design from the view of intelligent optimization. Through theoretical analysis, the nonlinear robust stabilization can be achieved by obtaining an event-triggered optimal control law of the nominal system with a newly defined cost function and a certain triggering condition. The adaptive critic technique is employed to facilitate the event-triggered control design, where a neural network is introduced as an approximator of the learning phase. The performance of the event-triggered robust control scheme is validated via simulation studies and comparisons. The present method extends the application domain of both event-triggered control and adaptive critic control to nonlinear systems possessing dynamical uncertainties. Copyright © 2018 Elsevier Ltd. All rights reserved.

  6. Robust control synthesis for uncertain dynamical systems

    Science.gov (United States)

    Byun, Kuk-Whan; Wie, Bong; Sunkel, John

    1989-01-01

    This paper presents robust control synthesis techniques for uncertain dynamical systems subject to structured parameter perturbation. Both QFT (quantitative feedback theory) and H-infinity control synthesis techniques are investigated. Although most H-infinity-related control techniques are not concerned with the structured parameter perturbation, a new way of incorporating the parameter uncertainty in the robust H-infinity control design is presented. A generic model of uncertain dynamical systems is used to illustrate the design methodologies investigated in this paper. It is shown that, for a certain noncolocated structural control problem, use of both techniques results in nonminimum phase compensation.

  7. Robust on-off pulse control of flexible space vehicles

    Science.gov (United States)

    Wie, Bong; Sinha, Ravi

    1993-01-01

    The on-off reaction jet control system is often used for attitude and orbital maneuvering of various spacecraft. Future space vehicles such as the orbital transfer vehicles, orbital maneuvering vehicles, and space station will extensively use reaction jets for orbital maneuvering and attitude stabilization. The proposed robust fuel- and time-optimal control algorithm is used for a three-mass spacing model of flexible spacecraft. A fuel-efficient on-off control logic is developed for robust rest-to-rest maneuver of a flexible vehicle with minimum excitation of structural modes. The first part of this report is concerned with the problem of selecting a proper pair of jets for practical trade-offs among the maneuvering time, fuel consumption, structural mode excitation, and performance robustness. A time-optimal control problem subject to parameter robustness constraints is formulated and solved. The second part of this report deals with obtaining parameter insensitive fuel- and time- optimal control inputs by solving a constrained optimization problem subject to robustness constraints. It is shown that sensitivity to modeling errors can be significantly reduced by the proposed, robustified open-loop control approach. The final part of this report deals with sliding mode control design for uncertain flexible structures. The benchmark problem of a flexible structure is used as an example for the feedback sliding mode controller design with bounded control inputs and robustness to parameter variations is investigated.

  8. Robust blood-glucose control using Mathematica.

    Science.gov (United States)

    Kovács, Levente; Paláncz, Béla; Benyó, Balázs; Török, László; Benyó, Zoltán

    2006-01-01

    A robust control design on frequency domain using Mathematica is presented for regularization of glucose level in type I diabetes persons under intensive care. The method originally proposed under Mathematica by Helton and Merino, --now with an improved disturbance rejection constraint inequality--is employed, using a three-state minimal patient model. The robustness of the resulted high-order linear controller is demonstrated by nonlinear closed loop simulation in state-space, in case of standard meal disturbances and is compared with H infinity design implemented with the mu-toolbox of Matlab. The controller designed with model parameters represented the most favorable plant dynamics from the point of view of control purposes, can operate properly even in case of parameter values of the worst-case scenario.

  9. Robust Learning Control Design for Quantum Unitary Transformations.

    Science.gov (United States)

    Wu, Chengzhi; Qi, Bo; Chen, Chunlin; Dong, Daoyi

    2017-12-01

    Robust control design for quantum unitary transformations has been recognized as a fundamental and challenging task in the development of quantum information processing due to unavoidable decoherence or operational errors in the experimental implementation of quantum operations. In this paper, we extend the systematic methodology of sampling-based learning control (SLC) approach with a gradient flow algorithm for the design of robust quantum unitary transformations. The SLC approach first uses a "training" process to find an optimal control strategy robust against certain ranges of uncertainties. Then a number of randomly selected samples are tested and the performance is evaluated according to their average fidelity. The approach is applied to three typical examples of robust quantum transformation problems including robust quantum transformations in a three-level quantum system, in a superconducting quantum circuit, and in a spin chain system. Numerical results demonstrate the effectiveness of the SLC approach and show its potential applications in various implementation of quantum unitary transformations.

  10. Intelligent on-line fault tolerant control for unanticipated catastrophic failures.

    Science.gov (United States)

    Yen, Gary G; Ho, Liang-Wei

    2004-10-01

    As dynamic systems become increasingly complex, experience rapidly changing environments, and encounter a greater variety of unexpected component failures, solving the control problems of such systems is a grand challenge for control engineers. Traditional control design techniques are not adequate to cope with these systems, which may suffer from unanticipated dynamic failures. In this research work, we investigate the on-line fault tolerant control problem and propose an intelligent on-line control strategy to handle the desired trajectories tracking problem for systems suffering from various unanticipated catastrophic faults. Through theoretical analysis, the sufficient condition of system stability has been derived and two different on-line control laws have been developed. The approach of the proposed intelligent control strategy is to continuously monitor the system performance and identify what the system's current state is by using a fault detection method based upon our best knowledge of the nominal system and nominal controller. Once a fault is detected, the proposed intelligent controller will adjust its control signal to compensate for the unknown system failure dynamics by using an artificial neural network as an on-line estimator to approximate the unexpected and unknown failure dynamics. The first control law is derived directly from the Lyapunov stability theory, while the second control law is derived based upon the discrete-time sliding mode control technique. Both control laws have been implemented in a variety of failure scenarios to validate the proposed intelligent control scheme. The simulation results, including a three-tank benchmark problem, comply with theoretical analysis and demonstrate a significant improvement in trajectory following performance based upon the proposed intelligent control strategy.

  11. Robust Decentralized Formation Flight Control

    Directory of Open Access Journals (Sweden)

    Zhao Weihua

    2011-01-01

    Full Text Available Motivated by the idea of multiplexed model predictive control (MMPC, this paper introduces a new framework for unmanned aerial vehicles (UAVs formation flight and coordination. Formulated using MMPC approach, the whole centralized formation flight system is considered as a linear periodic system with control inputs of each UAV subsystem as its periodic inputs. Divided into decentralized subsystems, the whole formation flight system is guaranteed stable if proper terminal cost and terminal constraints are added to each decentralized MPC formulation of the UAV subsystem. The decentralized robust MPC formulation for each UAV subsystem with bounded input disturbances and model uncertainties is also presented. Furthermore, an obstacle avoidance control scheme for any shape and size of obstacles, including the nonapriorily known ones, is integrated under the unified MPC framework. The results from simulations demonstrate that the proposed framework can successfully achieve robust collision-free formation flights.

  12. PID control with robust disturbance feedback control

    DEFF Research Database (Denmark)

    Kawai, Fukiko; Vinther, Kasper; Andersen, Palle

    2015-01-01

    Disturbance Feedback Control (DFC) is a technique, originally proposed by Fuji Electric, for augmenting existing control systems with an extra feedback for attenuation of disturbances and model errors. In this work, we analyze the robustness and performance of a PID-based control system with DFC...... and performance (if such gains exist). Finally, two different simulation case studies are evaluated and compared. Our numerical studies indicate that better performance can be achieved with the proposed method compared with a conservatively tuned PID controller and comparable performance can be achieved when...... compared with an H-infinity controller....

  13. An intelligent man-machine system for future nuclear power plants

    International Nuclear Information System (INIS)

    Takizawa, Yoji; Hattori, Yoshiaki; Itoh, Juichiro; Fukumoto, Akira

    1994-01-01

    The objective of the development of an intelligent man-machine system for future nuclear power plants is enhancement of operational reliability by applying recent advances in cognitive science, artificial intelligence, and computer technologies. To realize this objective, the intelligent man-machine system, aiming to support a knowledge-based decision making process in an operator's supervisory plant control tasks, consists of three main functions, i.e., a cognitive model-based advisor, a robust automatic sequence controller, and an ecological interface. These three functions have been integrated into a console-type nuclear power plant monitoring and control system as a validation test bed. The validation tests in which experienced operator crews participated were carried out in 1991 and 1992. The test results show the usefulness of the support functions and the validity of the system design approach

  14. Effect of intermittent feedback control on robustness of human-like postural control system

    Science.gov (United States)

    Tanabe, Hiroko; Fujii, Keisuke; Suzuki, Yasuyuki; Kouzaki, Motoki

    2016-03-01

    Humans have to acquire postural robustness to maintain stability against internal and external perturbations. Human standing has been recently modelled using an intermittent feedback control. However, the causality inside of the closed-loop postural control system associated with the neural control strategy is still unknown. Here, we examined the effect of intermittent feedback control on postural robustness and of changes in active/passive components on joint coordinative structure. We implemented computer simulation of a quadruple inverted pendulum that is mechanically close to human tiptoe standing. We simulated three pairs of joint viscoelasticity and three choices of neural control strategies for each joint: intermittent, continuous, or passive control. We examined postural robustness for each parameter set by analysing the region of active feedback gain. We found intermittent control at the hip joint was necessary for model stabilisation and model parameters affected the robustness of the pendulum. Joint sways of the pendulum model were partially smaller than or similar to those of experimental data. In conclusion, intermittent feedback control was necessary for the stabilisation of the quadruple inverted pendulum. Also, postural robustness of human-like multi-link standing would be achieved by both passive joint viscoelasticity and neural joint control strategies.

  15. Intelligent Electronic Speed Controller, Phase I

    Data.gov (United States)

    National Aeronautics and Space Administration — This project intends to design and develop an Intelligent Electronic Speed Controller (IESC) for use on Unmanned Aerial Vehicles (UAVs). The IESC will advance the...

  16. Robust Control Design for Uncertain Nonlinear Dynamic Systems

    Science.gov (United States)

    Kenny, Sean P.; Crespo, Luis G.; Andrews, Lindsey; Giesy, Daniel P.

    2012-01-01

    Robustness to parametric uncertainty is fundamental to successful control system design and as such it has been at the core of many design methods developed over the decades. Despite its prominence, most of the work on robust control design has focused on linear models and uncertainties that are non-probabilistic in nature. Recently, researchers have acknowledged this disparity and have been developing theory to address a broader class of uncertainties. This paper presents an experimental application of robust control design for a hybrid class of probabilistic and non-probabilistic parametric uncertainties. The experimental apparatus is based upon the classic inverted pendulum on a cart. The physical uncertainty is realized by a known additional lumped mass at an unknown location on the pendulum. This unknown location has the effect of substantially altering the nominal frequency and controllability of the nonlinear system, and in the limit has the capability to make the system neutrally stable and uncontrollable. Another uncertainty to be considered is a direct current motor parameter. The control design objective is to design a controller that satisfies stability, tracking error, control power, and transient behavior requirements for the largest range of parametric uncertainties. This paper presents an overview of the theory behind the robust control design methodology and the experimental results.

  17. Robust Droop Control of Grid-Connected Inverters

    DEFF Research Database (Denmark)

    Elkayam, Moria; Kuperman, Alon; Guerrero, Josep M.

    2016-01-01

    The use of distributed generation in microgrid systems is becoming a popular way to provide a reliable source of electricity to critical loads. Droop control techniques are used in power systems for the synchronization of grid-connected inverters by local measurements of active and reactive powers....... Despite the benefits of distributed generation, the drawback is that large grid-side impedance steps can cause a system to become unstable. A robust control method based on disturbance observer is proposed in this paper. When the proposed robust controller is utilized, closed loop performance remains...

  18. Robustness analysis method for orbit control

    Science.gov (United States)

    Zhang, Jingrui; Yang, Keying; Qi, Rui; Zhao, Shuge; Li, Yanyan

    2017-08-01

    Satellite orbits require periodical maintenance due to the presence of perturbations. However, random errors caused by inaccurate orbit determination and thrust implementation may lead to failure of the orbit control strategy. Therefore, it is necessary to analyze the robustness of the orbit control methods. Feasible strategies which are tolerant to errors of a certain magnitude can be developed to perform reliable orbit control for the satellite. In this paper, first, the orbital dynamic model is formulated by Gauss' form of the planetary equation using the mean orbit elements; the atmospheric drag and the Earth's non-spherical perturbations are taken into consideration in this model. Second, an impulsive control strategy employing the differential correction algorithm is developed to maintain the satellite trajectory parameters in given ranges. Finally, the robustness of the impulsive control method is analyzed through Monte Carlo simulations while taking orbit determination error and thrust error into account.

  19. Adaptive robust control of the EBR-II reactor

    International Nuclear Information System (INIS)

    Power, M.A.; Edwards, R.M.

    1996-01-01

    Simulation results are presented for an adaptive H ∞ controller, a fixed H ∞ controller, and a classical controller. The controllers are applied to a simulation of the Experimental Breeder Reactor II primary system. The controllers are tested for the best robustness and performance by step-changing the demanded reactor power and by varying the combined uncertainty in initial reactor power and control rod worth. The adaptive H ∞ controller shows the fastest settling time, fastest rise time and smallest peak overshoot when compared to the fixed H ∞ and classical controllers. This makes for a superior and more robust controller

  20. [Control of intelligent car based on electroencephalogram and neurofeedback].

    Science.gov (United States)

    Li, Song; Xiong, Xin; Fu, Yunfa

    2018-02-01

    To improve the performance of brain-controlled intelligent car based on motor imagery (MI), a method based on neurofeedback (NF) with electroencephalogram (EEG) for controlling intelligent car is proposed. A mental strategy of MI in which the energy column diagram of EEG features related to the mental activity is presented to subjects with visual feedback in real time to train them to quickly master the skills of MI and regulate their EEG activity, and combination of multi-features fusion of MI and multi-classifiers decision were used to control the intelligent car online. The average, maximum and minimum accuracy of identifying instructions achieved by the trained group (trained by the designed feedback system before the experiment) were 85.71%, 90.47% and 76.19%, respectively and the corresponding accuracy achieved by the control group (untrained) were 73.32%, 80.95% and 66.67%, respectively. For the trained group, the average, longest and shortest time consuming were 92 s, 101 s, and 85 s, respectively, while for the control group the corresponding time were 115.7 s, 120 s, and 110 s, respectively. According to the results described above, it is expected that this study may provide a new idea for the follow-up development of brain-controlled intelligent robot by the neurofeedback with EEG related to MI.

  1. An Intelligent Control for the Distributed Flexible Network Photovoltaic System using Autonomous Control and Agent

    Science.gov (United States)

    Park, Sangsoo; Miura, Yushi; Ise, Toshifumi

    This paper proposes an intelligent control for the distributed flexible network photovoltaic system using autonomous control and agent. The distributed flexible network photovoltaic system is composed of a secondary battery bank and a number of subsystems which have a solar array, a dc/dc converter and a load. The control mode of dc/dc converter can be selected based on local information by autonomous control. However, if only autonomous control using local information is applied, there are some problems associated with several cases such as voltage drop on long power lines. To overcome these problems, the authors propose introducing agents to improve control characteristics. The autonomous control with agents is called as intelligent control in this paper. The intelligent control scheme that employs the communication between agents is applied for the model system and proved with simulation using PSCAD/EMTDC.

  2. Intelligent control and automation technology for nuclear applications

    International Nuclear Information System (INIS)

    Kim, Jae Hee; Kim, Ko Ryeo; Lee, Jae Cheol; Eom, Heung Seop; Lee, Jang Soo

    1994-01-01

    Using recently established intelligent mobile robot theory and high technologies in computer science, we have designed an inspection automation system for welded parts of the reactor vessel, and we intend to establish basic technologies. The recent status of those technologies is surveyed for various application areas, and the characteristics and availability of those techniques such as intelligent mobile robot, digital computer control, intelligent user interface, realtime data processing, ultrasonic signal processing, intelligent user interface, intelligent defect recognition, are studied and examined at first. The high performance and compact size inspection system is designed, and if implemented, it is expected to be very efficient in economic point of view. In addition, the use of integrated SW system leads to the reduction of human errors. Through the analysis results and experiences, we investigated the further feasibility of basic technology applications to the various similar operation systems in NPP. (Author)

  3. Self-optimizing robust nonlinear model predictive control

    NARCIS (Netherlands)

    Lazar, M.; Heemels, W.P.M.H.; Jokic, A.; Thoma, M.; Allgöwer, F.; Morari, M.

    2009-01-01

    This paper presents a novel method for designing robust MPC schemes that are self-optimizing in terms of disturbance attenuation. The method employs convex control Lyapunov functions and disturbance bounds to optimize robustness of the closed-loop system on-line, at each sampling instant - a unique

  4. Contribution to intelligent vehicle platoon control

    OpenAIRE

    Zhao , Jin

    2010-01-01

    This PhD thesis is dedicated to the control strategies for intelligent vehicle platoon in highway with the main aims of alleviating traffic congestion and improving traffic safety. After a review of the different existing automated driving systems, the vehicle longitudinal and lateral dynamic models are derived. Then, the longitudinal control and lateral control strategies are studied respectively. At first, the longitudinal control system is designed to be hierarchical with an upper level co...

  5. Computation of robustly stabilizing PID controllers for interval systems.

    Science.gov (United States)

    Matušů, Radek; Prokop, Roman

    2016-01-01

    The paper is focused on the computation of all possible robustly stabilizing Proportional-Integral-Derivative (PID) controllers for plants with interval uncertainty. The main idea of the proposed method is based on Tan's (et al.) technique for calculation of (nominally) stabilizing PI and PID controllers or robustly stabilizing PI controllers by means of plotting the stability boundary locus in either P-I plane or P-I-D space. Refinement of the existing method by consideration of 16 segment plants instead of 16 Kharitonov plants provides an elegant and efficient tool for finding all robustly stabilizing PID controllers for an interval system. The validity and relatively effortless application of presented theoretical concepts are demonstrated through a computation and simulation example in which the uncertain mathematical model of an experimental oblique wing aircraft is robustly stabilized.

  6. Robust Control Analysis of Hydraulic Turbine Speed

    Science.gov (United States)

    Jekan, P.; Subramani, C.

    2018-04-01

    An effective control strategy for the hydro-turbine governor in time scenario is adjective for this paper. Considering the complex dynamic characteristic and the uncertainty of the hydro-turbine governor model and taking the static and dynamic performance of the governing system as the ultimate goal, the designed logic combined the classical PID control theory with artificial intelligence used to obtain the desired output. The used controller will be a variable control techniques, therefore, its parameters can be adaptively adjusted according to the information about the control error signal.

  7. The effectiveness of robust RMCD control chart as outliers’ detector

    Science.gov (United States)

    Darmanto; Astutik, Suci

    2017-12-01

    A well-known control chart to monitor a multivariate process is Hotelling’s T 2 which its parameters are estimated classically, very sensitive and also marred by masking and swamping of outliers data effect. To overcome these situation, robust estimators are strongly recommended. One of robust estimators is re-weighted minimum covariance determinant (RMCD) which has robust characteristics as same as MCD. In this paper, the effectiveness term is accuracy of the RMCD control chart in detecting outliers as real outliers. In other word, how effectively this control chart can identify and remove masking and swamping effects of outliers. We assessed the effectiveness the robust control chart based on simulation by considering different scenarios: n sample sizes, proportion of outliers, number of p quality characteristics. We found that in some scenarios, this RMCD robust control chart works effectively.

  8. Robust Performance And Dissipation of Stochastic Control Systems

    DEFF Research Database (Denmark)

    Thygesen, Uffe Høgsbro

    and topology on the space of supply rates. For instance, we give conditions under which the available storage is a continuous convex function of the supply rate. Dissipation theory in the existing literature applies only to deterministic systems. This is unfortunate since robust control applications typically...... is a prototype of robust adaptive control problems. We show that the optimal (minimax) controller for this problem is finite dimensional but not based on certainty equivalence, and we discuss the heuristic certainty equivalence controller....

  9. F-15 IFCS: Intelligent Flight Control System

    Science.gov (United States)

    Bosworth, John

    2007-01-01

    This viewgraph presentation describes the F-15 Intelligent Flight Control System (IFCS). The goals of this project include: 1) Demonstrate revolutionary control approaches that can efficiently optimize aircraft performance in both normal and failure conditions; and 2) Demonstrate advance neural network-based flight control technology for new aerospace systems designs.

  10. The Robust Control Mixer Method for Reconfigurable Control Design By Using Model Matching Strategy

    DEFF Research Database (Denmark)

    Yang, Z.; Blanke, Mogens; Verhagen, M.

    2001-01-01

    This paper proposes a robust reconfigurable control synthesis method based on the combination of the control mixer method and robust H1 con- trol techniques through the model-matching strategy. The control mixer modules are extended from the conventional matrix-form into the LTI sys- tem form....... By regarding the nominal control system as the desired model, an augmented control system is constructed through the model-matching formulation, such that the current robust control techniques can be usedto synthesize these dynamical modules. One extension of this method with respect to the performance...... recovery besides the functionality recovery is also discussed under this framework. Comparing with the conventional control mixer method, the proposed method considers the recon gured system's stability, performance and robustness simultaneously. Finally, the proposed method is illustrated by a case study...

  11. 1st International Conference on Intelligent Communication, Control and Devices

    CERN Document Server

    Choudhury, Sushabhan

    2017-01-01

    The book presents high-quality research papers presented at the first international conference, ICICCD 2016, organised by the Department of Electronics, Instrumentation and Control Engineering of University of Petroleum and Energy Studies, Dehradun on 2nd and 3rd April, 2016. The book is broadly divided into three sections: Intelligent Communication, Intelligent Control and Intelligent Devices. The areas covered under these sections are wireless communication and radio technologies, optical communication, communication hardware evolution, machine-to-machine communication networks, routing techniques, network analytics, network applications and services, satellite and space communications, technologies for e-communication, wireless Ad-Hoc and sensor networks, communications and information security, signal processing for communications, communication software, microwave informatics, robotics and automation, optimization techniques and algorithms, intelligent transport, mechatronics system, guidance and navigat...

  12. Robust control design verification using the modular modeling system

    International Nuclear Information System (INIS)

    Edwards, R.M.; Ben-Abdennour, A.; Lee, K.Y.

    1991-01-01

    The Modular Modeling System (B ampersand W MMS) is being used as a design tool to verify robust controller designs for improving power plant performance while also providing fault-accommodating capabilities. These controllers are designed based on optimal control theory and are thus model based controllers which are targeted for implementation in a computer based digital control environment. The MMS is being successfully used to verify that the controllers are tolerant of uncertainties between the plant model employed in the controller and the actual plant; i.e., that they are robust. The two areas in which the MMS is being used for this purpose is in the design of (1) a reactor power controller with improved reactor temperature response, and (2) the design of a multiple input multiple output (MIMO) robust fault-accommodating controller for a deaerator level and pressure control problem

  13. Robust power system frequency control

    CERN Document Server

    Bevrani, Hassan

    2014-01-01

    This updated edition of the industry standard reference on power system frequency control provides practical, systematic and flexible algorithms for regulating load frequency, offering new solutions to the technical challenges introduced by the escalating role of distributed generation and renewable energy sources in smart electric grids. The author emphasizes the physical constraints and practical engineering issues related to frequency in a deregulated environment, while fostering a conceptual understanding of frequency regulation and robust control techniques. The resulting control strategi

  14. Research on Robust Control Strategies for VSC-HVDC

    Science.gov (United States)

    Zhu, Kaicheng; Bao, Hai

    2018-01-01

    In the control system of VSC-HVDC, the phase locked loop provides phase signals to voltage vector control and trigger pulses to generate the required reference phase. The PLL is a typical second-order system. When the system is in unstable state, it will oscillate, make the trigger angle shift, produce harmonic, and make active power and reactive power coupled. Thus, considering the external disturbances introduced by the PLL in VSC-HVDC control system, the parameter perturbations of the controller and the model uncertainties, a H∞ robust controller of mixed sensitivity optimization problem is designed by using the Hinf function provided by the robust control toolbox. Then, compare it with the proportional integral controller through the MATLAB simulation experiment. By contrast, when the H∞ robust controller is added, active and reactive power of the converter station can track the change of reference values more accurately and quickly, and reduce overshoot. When the step change of active and reactive power occurs, mutual influence is reduced and better independent regulation is achieved.

  15. Robust Behavior Recognition in Intelligent Surveillance Environments

    Directory of Open Access Journals (Sweden)

    Ganbayar Batchuluun

    2016-06-01

    Full Text Available Intelligent surveillance systems have been studied by many researchers. These systems should be operated in both daytime and nighttime, but objects are invisible in images captured by visible light camera during the night. Therefore, near infrared (NIR cameras, thermal cameras (based on medium-wavelength infrared (MWIR, and long-wavelength infrared (LWIR light have been considered for usage during the nighttime as an alternative. Due to the usage during both daytime and nighttime, and the limitation of requiring an additional NIR illuminator (which should illuminate a wide area over a great distance for NIR cameras during the nighttime, a dual system of visible light and thermal cameras is used in our research, and we propose a new behavior recognition in intelligent surveillance environments. Twelve datasets were compiled by collecting data in various environments, and they were used to obtain experimental results. The recognition accuracy of our method was found to be 97.6%, thereby confirming the ability of our method to outperform previous methods.

  16. Intelligent Transportation Control based on Proactive Complex Event Processing

    OpenAIRE

    Wang Yongheng; Geng Shaofeng; Li Qian

    2016-01-01

    Complex Event Processing (CEP) has become the key part of Internet of Things (IoT). Proactive CEP can predict future system states and execute some actions to avoid unwanted states which brings new hope to intelligent transportation control. In this paper, we propose a proactive CEP architecture and method for intelligent transportation control. Based on basic CEP technology and predictive analytic technology, a networked distributed Markov decision processes model with predicting states is p...

  17. Composite Intelligent Learning Control of Strict-Feedback Systems With Disturbance.

    Science.gov (United States)

    Xu, Bin; Sun, Fuchun

    2018-02-01

    This paper addresses the dynamic surface control of uncertain nonlinear systems on the basis of composite intelligent learning and disturbance observer in presence of unknown system nonlinearity and time-varying disturbance. The serial-parallel estimation model with intelligent approximation and disturbance estimation is built to obtain the prediction error and in this way the composite law for weights updating is constructed. The nonlinear disturbance observer is developed using intelligent approximation information while the disturbance estimation is guaranteed to converge to a bounded compact set. The highlight is that different from previous work directly toward asymptotic stability, the transparency of the intelligent approximation and disturbance estimation is included in the control scheme. The uniformly ultimate boundedness stability is analyzed via Lyapunov method. Through simulation verification, the composite intelligent learning with disturbance observer can efficiently estimate the effect caused by system nonlinearity and disturbance while the proposed approach obtains better performance with higher accuracy.

  18. International conference on Advances in Intelligent Control and Innovative Computing

    CERN Document Server

    Castillo, Oscar; Huang, Xu; Intelligent Control and Innovative Computing

    2012-01-01

    In the lightning-fast world of intelligent control and cutting-edge computing, it is vitally important to stay abreast of developments that seem to follow each other without pause. This publication features the very latest and some of the very best current research in the field, with 32 revised and extended research articles written by prominent researchers in the field. Culled from contributions to the key 2011 conference Advances in Intelligent Control and Innovative Computing, held in Hong Kong, the articles deal with a wealth of relevant topics, from the most recent work in artificial intelligence and decision-supporting systems, to automated planning, modelling and simulation, signal processing, and industrial applications. Not only does this work communicate the current state of the art in intelligent control and innovative computing, it is also an illuminating guide to up-to-date topics for researchers and graduate students in the field. The quality of the contents is absolutely assured by the high pro...

  19. Synthesis of fixed-architecture, robust H 2 and H ∞ controllers

    Directory of Open Access Journals (Sweden)

    Collins Jr. Emmanuel G.

    2000-01-01

    Full Text Available This paper discusses and compares the synthesis of fixed-architecture controllers that guarantee either robust H 2 or H ∞ performance. The synthesis is accomplished by solving a Riccati equation feasibility problem resulting from mixed structured singular value theory with Popov multipliers. Whereas the algorithm for robust H 2 performance had been previously implemented, a major contribution described in this paper is the implementation of the much more complex algorithm for robust H ∞ performance. Both robust H 2 and H ∞ , controllers are designed for a benchmark problem and a comparison is made between the resulting controllers and control algorithms. It is found that the numerical algorithm for robust H ∞ performance is much more computationally intensive than that for robust H 2 performance. Both controllers are found to have smaller bandwidth, lower control authority and to be less conservative than controllers obtained using complex structured singular value synthesis

  20. Fuzzy gain scheduling of velocity PI controller with intelligent learning algorithm for reactor control

    International Nuclear Information System (INIS)

    Dong Yun Kim; Poong Hyun Seong; .

    1997-01-01

    In this research, we propose a fuzzy gain scheduler (FGS) with an intelligent learning algorithm for a reactor control. In the proposed algorithm, the gradient descent method is used in order to generate the rule bases of a fuzzy algorithm by learning. These rule bases are obtained by minimizing an objective function, which is called a performance cost function. The objective of the FGS with an intelligent learning algorithm is to generate gains, which minimize the error of system. The proposed algorithm can reduce the time and effort required for obtaining the fuzzy rules through the intelligent learning function. It is applied to reactor control of nuclear power plant (NPP), and the results are compared with those of a conventional PI controller with fixed gains. As a result, it is shown that the proposed algorithm is superior to the conventional PI controller. (author)

  1. Generalized internal model robust control for active front steering intervention

    Science.gov (United States)

    Wu, Jian; Zhao, Youqun; Ji, Xuewu; Liu, Yahui; Zhang, Lipeng

    2015-03-01

    Because of the tire nonlinearity and vehicle's parameters' uncertainties, robust control methods based on the worst cases, such as H ∞, µ synthesis, have been widely used in active front steering control, however, in order to guarantee the stability of active front steering system (AFS) controller, the robust control is at the cost of performance so that the robust controller is a little conservative and has low performance for AFS control. In this paper, a generalized internal model robust control (GIMC) that can overcome the contradiction between performance and stability is used in the AFS control. In GIMC, the Youla parameterization is used in an improved way. And GIMC controller includes two sections: a high performance controller designed for the nominal vehicle model and a robust controller compensating the vehicle parameters' uncertainties and some external disturbances. Simulations of double lane change (DLC) maneuver and that of braking on split- µ road are conducted to compare the performance and stability of the GIMC control, the nominal performance PID controller and the H ∞ controller. Simulation results show that the high nominal performance PID controller will be unstable under some extreme situations because of large vehicle's parameters variations, H ∞ controller is conservative so that the performance is a little low, and only the GIMC controller overcomes the contradiction between performance and robustness, which can both ensure the stability of the AFS controller and guarantee the high performance of the AFS controller. Therefore, the GIMC method proposed for AFS can overcome some disadvantages of control methods used by current AFS system, that is, can solve the instability of PID or LQP control methods and the low performance of the standard H ∞ controller.

  2. A new robust adaptive controller for vibration control of active engine mount subjected to large uncertainties

    International Nuclear Information System (INIS)

    Fakhari, Vahid; Choi, Seung-Bok; Cho, Chang-Hyun

    2015-01-01

    This work presents a new robust model reference adaptive control (MRAC) for vibration control caused from vehicle engine using an electromagnetic type of active engine mount. Vibration isolation performances of the active mount associated with the robust controller are evaluated in the presence of large uncertainties. As a first step, an active mount with linear solenoid actuator is prepared and its dynamic model is identified via experimental test. Subsequently, a new robust MRAC based on the gradient method with σ-modification is designed by selecting a proper reference model. In designing the robust adaptive control, structured (parametric) uncertainties in the stiffness of the passive part of the mount and in damping ratio of the active part of the mount are considered to investigate the robustness of the proposed controller. Experimental and simulation results are presented to evaluate performance focusing on the robustness behavior of the controller in the face of large uncertainties. The obtained results show that the proposed controller can sufficiently provide the robust vibration control performance even in the presence of large uncertainties showing an effective vibration isolation. (paper)

  3. Design and implementation of robust controllers for a gait trainer.

    Science.gov (United States)

    Wang, F C; Yu, C H; Chou, T Y

    2009-08-01

    This paper applies robust algorithms to control an active gait trainer for children with walking disabilities. Compared with traditional rehabilitation procedures, in which two or three trainers are required to assist the patient, a motor-driven mechanism was constructed to improve the efficiency of the procedures. First, a six-bar mechanism was designed and constructed to mimic the trajectory of children's ankles in walking. Second, system identification techniques were applied to obtain system transfer functions at different operating points by experiments. Third, robust control algorithms were used to design Hinfinity robust controllers for the system. Finally, the designed controllers were implemented to verify experimentally the system performance. From the results, the proposed robust control strategies are shown to be effective.

  4. Designing robust control-based HIV-treatment

    Directory of Open Access Journals (Sweden)

    Fredy Andrés Olarte Dussán

    2008-05-01

    Full Text Available Designing a robust control-based treatment for human immunodeficiency virus (HIV-infected patients was studied. The dynamics of the immune system’s response to infection was modelled using a 5th order nonlinear model with separate efficacy coefficients for protease inhibitor (PIs and reverse transcriptase inhibitors (RTIs. The immune res-ponse has been represented as an uncertain system due to errors in parameter estimation and the existence of un-modelled dynamics. A polytopic system was constructed incorporating all possible system parameter values. A con-trol system was designed using robust pole location techniques stabilising the polytopic system around an equilibrium point having a low viral load. Numerical simulation results (including the organism’s pharmacokinetical response to anti-retroviral drugs showed that the control law could lead to long-term stable conditions, even in extreme cases.

  5. Robust hopping based on virtual pendulum posture control

    International Nuclear Information System (INIS)

    Sharbafi, Maziar A; Ahmadabadi, Majid Nili; Yazdanpanah, Mohammad J; Maufroy, Christophe; Seyfarth, Andre

    2013-01-01

    A new control approach to achieve robust hopping against perturbations in the sagittal plane is presented in this paper. In perturbed hopping, vertical body alignment has a significant role for stability. Our approach is based on the virtual pendulum concept, recently proposed, based on experimental findings in human and animal locomotion. In this concept, the ground reaction forces are pointed to a virtual support point, named virtual pivot point (VPP), during motion. This concept is employed in designing the controller to balance the trunk during the stance phase. New strategies for leg angle and length adjustment besides the virtual pendulum posture control are proposed as a unified controller. This method is investigated by applying it on an extension of the spring loaded inverted pendulum (SLIP) model. Trunk, leg mass and damping are added to the SLIP model in order to make the model more realistic. The stability is analyzed by Poincaré map analysis. With fixed VPP position, stability, disturbance rejection and moderate robustness are achieved, but with a low convergence speed. To improve the performance and attain higher robustness, an event-based control of the VPP position is introduced, using feedback of the system states at apexes. Discrete linear quartic regulator is used to design the feedback controller. Considerable enhancements with respect to stability, convergence speed and robustness against perturbations and parameter changes are achieved. (paper)

  6. Maximizing Function through Intelligent Robot Actuator Control

    Data.gov (United States)

    National Aeronautics and Space Administration — Maximizing Function through Intelligent Robot Actuator Control Successful missions to Mars and beyond will only be possible with the support of high-performance...

  7. A robust model predictive control strategy for improving the control performance of air-conditioning systems

    International Nuclear Information System (INIS)

    Huang Gongsheng; Wang Shengwei; Xu Xinhua

    2009-01-01

    This paper presents a robust model predictive control strategy for improving the supply air temperature control of air-handling units by dealing with the associated uncertainties and constraints directly. This strategy uses a first-order plus time-delay model with uncertain time-delay and system gain to describe air-conditioning process of an air-handling unit usually operating at various weather conditions. The uncertainties of the time-delay and system gain, which imply the nonlinearities and the variable dynamic characteristics, are formulated using an uncertainty polytope. Based on this uncertainty formulation, an offline LMI-based robust model predictive control algorithm is employed to design a robust controller for air-handling units which can guarantee a good robustness subject to uncertainties and constraints. The proposed robust strategy is evaluated in a dynamic simulation environment of a variable air volume air-conditioning system in various operation conditions by comparing with a conventional PI control strategy. The robustness analysis of both strategies under different weather conditions is also presented.

  8. Robust digital controllers for uncertain chaotic systems: A digital redesign approach

    Energy Technology Data Exchange (ETDEWEB)

    Ababneh, Mohammad [Department of Controls, FMC Kongsberg Subsea, FMC Energy Systems, Houston, TX 77067 (United States); Barajas-Ramirez, Juan-Gonzalo [CICESE, Depto. De Electronica y Telecomunicaciones, Ensenada, BC, 22860 (Mexico); Chen Guanrong [Centre for Chaos Control and Synchronization, Department of Electronic Engineering, City University of Hong Kong (China); Shieh, Leang S. [Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77204-4005 (United States)

    2007-03-15

    In this paper, a new and systematic method for designing robust digital controllers for uncertain nonlinear systems with structured uncertainties is presented. In the proposed method, a controller is designed in terms of the optimal linear model representation of the nominal system around each operating point of the trajectory, while the uncertainties are decomposed such that the uncertain nonlinear system can be rewritten as a set of local linear models with disturbed inputs. Applying conventional robust control techniques, continuous-time robust controllers are first designed to eliminate the effects of the uncertainties on the underlying system. Then, a robust digital controller is obtained as the result of a digital redesign of the designed continuous-time robust controller using the state-matching technique. The effectiveness of the proposed controller design method is illustrated through some numerical examples on complex nonlinear systems--chaotic systems.

  9. F-15 Intelligent Flight Control System and Aeronautics Research at NASA Dryden

    Science.gov (United States)

    Brown, Nelson A.

    2009-01-01

    This viewgraph presentation reviews the F-15 Intelligent Flight Control System and Aeronautics including Autonomous Aerial Refueling Demonstrations, X-48B Blended Wing Body, F-15 Quiet Spike, and NF-15 Intelligent Flight Controls.

  10. Robust and optimal control a two-port framework approach

    CERN Document Server

    Tsai, Mi-Ching

    2014-01-01

    A Two-port Framework for Robust and Optimal Control introduces an alternative approach to robust and optimal controller synthesis procedures for linear, time-invariant systems, based on the two-port system widespread in electrical engineering. The novel use of the two-port system in this context allows straightforward engineering-oriented solution-finding procedures to be developed, requiring no mathematics beyond linear algebra. A chain-scattering description provides a unified framework for constructing the stabilizing controller set and for synthesizing H2 optimal and H∞ sub-optimal controllers. Simple yet illustrative examples explain each step. A Two-port Framework for Robust and Optimal Control  features: ·         a hands-on, tutorial-style presentation giving the reader the opportunity to repeat the designs presented and easily to modify them for their own programs; ·         an abundance of examples illustrating the most important steps in robust and optimal design; and ·   �...

  11. Intelligent system for lighting control in smart cities

    OpenAIRE

    de Paz Santana, Juan F.; Bajo Pérez, Javier; Rodríguez González, Sara; Villarrubia González, Gabriel; Corchado Rodríguez, Juan M.

    2017-01-01

    This paper presents an adaptive architecture that centralizes the control of public lighting and intelligent management to economize lighting and maintain maximum visual comfort in illuminated areas. To carry out this management, the architecture merges various techniques of artificial intelligence (AI) and statistics such as artificial neural networks (ANN), multi-agent systems (MAS), EM algorithm, methods based on ANOVA, and a Service Oriented Approach (SOA). It achieves optimization in ter...

  12. Robust motion control of oscillatory-base manipulators h∞-control and sliding-mode-control-based approaches

    CERN Document Server

    Toda, Masayoshi

    2016-01-01

    This book provides readers with alternative robust approaches to control design for an important class of systems characteristically associated with ocean-going vessels and structures. These systems, which include crane vessels, on-board cranes, radar gimbals, and a conductivity temperature and depth winch, are modelled as manipulators with oscillating bases. One design approach is based on the H-infinity control framework exploiting an effective combination of PD control, an extended matrix polytope and a robust stability analysis method with a state-dependent coefficient form. The other is based on sliding-mode control using some novel nonlinear sliding surfaces. The model demonstrates how successful motion control can be achieved by suppressing base oscillations and in the presence of uncertainties. This is important not only for ocean engineering systems in which the problems addressed here originate but more generally as a benchmark platform for robust motion control with disturbance rejection. Researche...

  13. Robust Output Model Predictive Control of an Unstable Rijke Tube

    Directory of Open Access Journals (Sweden)

    Fabian Jarmolowitz

    2012-01-01

    Full Text Available This work investigates the active control of an unstable Rijke tube using robust output model predictive control (RMPC. As internal model a polytopic linear system with constraints is assumed to account for uncertainties. For guaranteed stability, a linear state feedback controller is designed using linear matrix inequalities and used within a feedback formulation of the model predictive controller. For state estimation a robust gain-scheduled observer is developed. It is shown that the proposed RMPC ensures robust stability under constraints over the considered operating range.

  14. Artificial intelligence approach to accelerator control systems

    International Nuclear Information System (INIS)

    Schultz, D.E.; Hurd, J.W.; Brown, S.K.

    1987-01-01

    An experiment was recently started at LAMPF to evaluate the power and limitations of using artificial intelligence techniques to solve problems in accelerator control and operation. A knowledge base was developed to describe the characteristics and the relationships of the first 30 devices in the LAMPF H+ beam line. Each device was categorized and pertinent attributes for each category defined. Specific values were assigned in the knowledge base to represent each actual device. Relationships between devices are modeled using the artificial intelligence techniques of rules, active values, and object-oriented methods. This symbolic model, built using the Knowledge Engineering Environment (KEE) system, provides a framework for analyzing faults, tutoring trainee operators, and offering suggestions to assist in beam tuning. Based on information provided by the domain expert responsible for tuning this portion of the beam line, additional rules were written to describe how he tunes, how he analyzes what is actually happening, and how he deals with failures. Initial results have shown that artificial intelligence techniques can be a useful adjunct to traditional methods of numerical simulation. Successful and efficient operation of future accelerators may depend on the proper merging of symbolic reasoning and conventional numerical control algorithms

  15. Optimal control of quantum systems: Origins of inherent robustness to control field fluctuations

    International Nuclear Information System (INIS)

    Rabitz, Herschel

    2002-01-01

    The impact of control field fluctuations on the optimal manipulation of quantum dynamics phenomena is investigated. The quantum system is driven by an optimal control field, with the physical focus on the evolving expectation value of an observable operator. A relationship is shown to exist between the system dynamics and the control field fluctuations, wherein the process of seeking optimal performance assures an inherent degree of system robustness to such fluctuations. The presence of significant field fluctuations breaks down the evolution of the observable expectation value into a sequence of partially coherent robust steps. Robustness occurs because the optimization process reduces sensitivity to noise-driven quantum system fluctuations by taking advantage of the observable expectation value being bilinear in the evolution operator and its adjoint. The consequences of this inherent robustness are discussed in the light of recent experiments and numerical simulations on the optimal control of quantum phenomena. The analysis in this paper bodes well for the future success of closed-loop quantum optimal control experiments, even in the presence of reasonable levels of field fluctuations

  16. Business Intelligence in Process Control

    Science.gov (United States)

    Kopčeková, Alena; Kopček, Michal; Tanuška, Pavol

    2013-12-01

    The Business Intelligence technology, which represents a strong tool not only for decision making support, but also has a big potential in other fields of application, is discussed in this paper. Necessary fundamental definitions are offered and explained to better understand the basic principles and the role of this technology for company management. Article is logically divided into five main parts. In the first part, there is the definition of the technology and the list of main advantages. In the second part, an overview of the system architecture with the brief description of separate building blocks is presented. Also, the hierarchical nature of the system architecture is shown. The technology life cycle consisting of four steps, which are mutually interconnected into a ring, is described in the third part. In the fourth part, analytical methods incorporated in the online analytical processing and data mining used within the business intelligence as well as the related data mining methodologies are summarised. Also, some typical applications of the above-mentioned particular methods are introduced. In the final part, a proposal of the knowledge discovery system for hierarchical process control is outlined. The focus of this paper is to provide a comprehensive view and to familiarize the reader with the Business Intelligence technology and its utilisation.

  17. Robust Model Predictive Control of a Wind Turbine

    DEFF Research Database (Denmark)

    Mirzaei, Mahmood; Poulsen, Niels Kjølstad; Niemann, Hans Henrik

    2012-01-01

    In this work the problem of robust model predictive control (robust MPC) of a wind turbine in the full load region is considered. A minimax robust MPC approach is used to tackle the problem. Nonlinear dynamics of the wind turbine are derived by combining blade element momentum (BEM) theory...... of the uncertain system is employed and a norm-bounded uncertainty model is used to formulate a minimax model predictive control. The resulting optimization problem is simplified by semidefinite relaxation and the controller obtained is applied on a full complexity, high fidelity wind turbine model. Finally...... and first principle modeling of the turbine flexible structure. Thereafter the nonlinear model is linearized using Taylor series expansion around system operating points. Operating points are determined by effective wind speed and an extended Kalman filter (EKF) is employed to estimate this. In addition...

  18. Fatigue distribution optimization for offshore wind farms using intelligent agent control

    DEFF Research Database (Denmark)

    Zhao, Rongyong; Shen, Wen Zhong; Knudsen, Torben

    2012-01-01

    with its neighbouring downwind turbines and organizes them adaptively into a wind delivery group along the wind direction. The agent attributes and the event structure are designed on the basis of the intelligent agent theory by using the unified modelling language. The control strategy of the intelligent......A novel control approach is proposed to optimize the fatigue distribution of wind turbines in a large‐scale offshore wind farm on the basis of an intelligent agent theory. In this approach, each wind turbine is considered to be an intelligent agent. The turbine at the farm boundary communicates...... coefficient for every wind turbine. The optimization is constrained such that the average fatigue for every turbine is smaller than what would be achieved by conventional dispatch and such that the total power loss of the wind farm is restricted to a few percent of the total power. This intelligent agent...

  19. Intelligent and robust prediction of short term wind power using genetic programming based ensemble of neural networks

    International Nuclear Information System (INIS)

    Zameer, Aneela; Arshad, Junaid; Khan, Asifullah; Raja, Muhammad Asif Zahoor

    2017-01-01

    Highlights: • Genetic programming based ensemble of neural networks is employed for short term wind power prediction. • Proposed predictor shows resilience against abrupt changes in weather. • Genetic programming evolves nonlinear mapping between meteorological measures and wind-power. • Proposed approach gives mathematical expressions of wind power to its independent variables. • Proposed model shows relatively accurate and steady wind-power prediction performance. - Abstract: The inherent instability of wind power production leads to critical problems for smooth power generation from wind turbines, which then requires an accurate forecast of wind power. In this study, an effective short term wind power prediction methodology is presented, which uses an intelligent ensemble regressor that comprises Artificial Neural Networks and Genetic Programming. In contrast to existing series based combination of wind power predictors, whereby the error or variation in the leading predictor is propagated down the stream to the next predictors, the proposed intelligent ensemble predictor avoids this shortcoming by introducing Genetical Programming based semi-stochastic combination of neural networks. It is observed that the decision of the individual base regressors may vary due to the frequent and inherent fluctuations in the atmospheric conditions and thus meteorological properties. The novelty of the reported work lies in creating ensemble to generate an intelligent, collective and robust decision space and thereby avoiding large errors due to the sensitivity of the individual wind predictors. The proposed ensemble based regressor, Genetic Programming based ensemble of Artificial Neural Networks, has been implemented and tested on data taken from five different wind farms located in Europe. Obtained numerical results of the proposed model in terms of various error measures are compared with the recent artificial intelligence based strategies to demonstrate the

  20. Robust sampled-data control of hydraulic flight control actuators

    OpenAIRE

    Kliffken, Markus Gustav

    1997-01-01

    In todays flight-by-wire systems the primary flight control surfaces of modern commercial and transport aircraft are driven by electro hydraulic linear actuators. Changing flight conditions as well as nonlinear actuator dynamics may be interpreted as parameter uncertainties of the linear actuator model. This demands a robust design for the controller. Here the parameter space design is used for the direct sampled-data controller synthesis. Therefore, a static output controller is choosen, the...

  1. The Intelligent Control System and Experiments for an Unmanned Wave Glider.

    Science.gov (United States)

    Liao, Yulei; Wang, Leifeng; Li, Yiming; Li, Ye; Jiang, Quanquan

    2016-01-01

    The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the "Ocean Rambler" UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the line-of sight method(LOS), a self-adapting PID guidance law is proposed to compensate the steady state error in path following of UWG caused by marine environment disturbance especially current. Based on S-surface control method, an improved S-surface heading controller is proposed to solve the heading control problem of the weak maneuvering carrier under large disturbance. Finally, the simulation experiments were carried out and the UWG completed autonomous path following and marine environment monitoring in sea trials. The simulation experiments and sea trial results prove that the proposed intelligent control system, guidance law, controller have favorable control performance, and the feasibility and reliability of the designed intelligent control system of UWG are verified.

  2. The Intelligent Control System and Experiments for an Unmanned Wave Glider

    Science.gov (United States)

    Liao, Yulei; Wang, Leifeng; Li, Yiming; Li, Ye; Jiang, Quanquan

    2016-01-01

    The control system designing of Unmanned Wave Glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. Meanwhile, to complete marine environment monitoring in long time scale and large spatial scale autonomously, UWG asks high requirements of intelligence and reliability. This paper focuses on the “Ocean Rambler” UWG. First, the intelligent control system architecture is designed based on the cerebrum basic function combination zone theory and hierarchic control method. The hardware and software designing of the embedded motion control system are mainly discussed. A motion control system based on rational behavior model of four layers is proposed. Then, combining with the line-of sight method(LOS), a self-adapting PID guidance law is proposed to compensate the steady state error in path following of UWG caused by marine environment disturbance especially current. Based on S-surface control method, an improved S-surface heading controller is proposed to solve the heading control problem of the weak maneuvering carrier under large disturbance. Finally, the simulation experiments were carried out and the UWG completed autonomous path following and marine environment monitoring in sea trials. The simulation experiments and sea trial results prove that the proposed intelligent control system, guidance law, controller have favorable control performance, and the feasibility and reliability of the designed intelligent control system of UWG are verified. PMID:28005956

  3. Optimization of robustness of interdependent network controllability by redundant design.

    Directory of Open Access Journals (Sweden)

    Zenghu Zhang

    Full Text Available Controllability of complex networks has been a hot topic in recent years. Real networks regarded as interdependent networks are always coupled together by multiple networks. The cascading process of interdependent networks including interdependent failure and overload failure will destroy the robustness of controllability for the whole network. Therefore, the optimization of the robustness of interdependent network controllability is of great importance in the research area of complex networks. In this paper, based on the model of interdependent networks constructed first, we determine the cascading process under different proportions of node attacks. Then, the structural controllability of interdependent networks is measured by the minimum driver nodes. Furthermore, we propose a parameter which can be obtained by the structure and minimum driver set of interdependent networks under different proportions of node attacks and analyze the robustness for interdependent network controllability. Finally, we optimize the robustness of interdependent network controllability by redundant design including node backup and redundancy edge backup and improve the redundant design by proposing different strategies according to their cost. Comparative strategies of redundant design are conducted to find the best strategy. Results shows that node backup and redundancy edge backup can indeed decrease those nodes suffering from failure and improve the robustness of controllability. Considering the cost of redundant design, we should choose BBS (betweenness-based strategy or DBS (degree based strategy for node backup and HDF(high degree first for redundancy edge backup. Above all, our proposed strategies are feasible and effective at improving the robustness of interdependent network controllability.

  4. Application of Artificial Intelligence Techniques in Unmanned Aerial Vehicle Flight

    Science.gov (United States)

    Bauer, Frank H. (Technical Monitor); Dufrene, Warren R., Jr.

    2003-01-01

    This paper describes the development of an application of Artificial Intelligence for Unmanned Aerial Vehicle (UAV) control. The project was done as part of the requirements for a class in Artificial Intelligence (AI) at Nova southeastern University and as an adjunct to a project at NASA Goddard Space Flight Center's Wallops Flight Facility for a resilient, robust, and intelligent UAV flight control system. A method is outlined which allows a base level application for applying an AI method, Fuzzy Logic, to aspects of Control Logic for UAV flight. One element of UAV flight, automated altitude hold, has been implemented and preliminary results displayed. A low cost approach was taken using freeware, gnu, software, and demo programs. The focus of this research has been to outline some of the AI techniques used for UAV flight control and discuss some of the tools used to apply AI techniques. The intent is to succeed with the implementation of applying AI techniques to actually control different aspects of the flight of an UAV.

  5. Model predictive control classical, robust and stochastic

    CERN Document Server

    Kouvaritakis, Basil

    2016-01-01

    For the first time, a textbook that brings together classical predictive control with treatment of up-to-date robust and stochastic techniques. Model Predictive Control describes the development of tractable algorithms for uncertain, stochastic, constrained systems. The starting point is classical predictive control and the appropriate formulation of performance objectives and constraints to provide guarantees of closed-loop stability and performance. Moving on to robust predictive control, the text explains how similar guarantees may be obtained for cases in which the model describing the system dynamics is subject to additive disturbances and parametric uncertainties. Open- and closed-loop optimization are considered and the state of the art in computationally tractable methods based on uncertainty tubes presented for systems with additive model uncertainty. Finally, the tube framework is also applied to model predictive control problems involving hard or probabilistic constraints for the cases of multiplic...

  6. New development thoughts on the bio-inspired intelligence based control for unmanned combat aerial vehicle

    Institute of Scientific and Technical Information of China (English)

    2010-01-01

    Bio-inspired intelligence is in the spotlight in the field of international artificial intelligence,and unmanned combat aerial vehicle(UCAV),owing to its potential to perform dangerous,repetitive tasks in remote and hazardous,is very promising for the technological leadership of the nation and essential for improving the security of society.On the basis of introduction of bioinspired intelligence and UCAV,a series of new development thoughts on UCAV control are proposed,including artificial brain based high-level autonomous control for UCAV,swarm intelligence based cooperative control for multiple UCAVs,hy-brid swarm intelligence and Bayesian network based situation assessment under complicated combating environments, bio-inspired hardware based high-level autonomous control for UCAV,and meta-heuristic intelligence based heterogeneous cooperative control for multiple UCAVs and unmanned combat ground vehicles(UCGVs).The exact realization of the proposed new development thoughts can enhance the effectiveness of combat,while provide a series of novel breakthroughs for the intelligence,integration and advancement of future UCAV systems.

  7. Integrated direct/indirect adaptive robust motion trajectory tracking control of pneumatic cylinders

    Science.gov (United States)

    Meng, Deyuan; Tao, Guoliang; Zhu, Xiaocong

    2013-09-01

    This paper studies the precision motion trajectory tracking control of a pneumatic cylinder driven by a proportional-directional control valve. An integrated direct/indirect adaptive robust controller is proposed. The controller employs a physical model based indirect-type parameter estimation to obtain reliable estimates of unknown model parameters, and utilises a robust control method with dynamic compensation type fast adaptation to attenuate the effects of parameter estimation errors, unmodelled dynamics and disturbances. Due to the use of projection mapping, the robust control law and the parameter adaption algorithm can be designed separately. Since the system model uncertainties are unmatched, the recursive backstepping technology is adopted to design the robust control law. Extensive comparative experimental results are presented to illustrate the effectiveness of the proposed controller and its performance robustness to parameter variations and sudden disturbances.

  8. Research and development of intelligent controller for high-grade sanitary ware

    Science.gov (United States)

    Bao, Kongjun; Shen, Qingping

    2013-03-01

    With the social and economic development and people's living standards improve, more and more emphasis on modern society, people improve the quality of family life, the use of intelligent controller applications in high-grade sanitary ware physiotherapy students. Analysis of high-grade sanitary ware physiotherapy common functions pointed out in the production and use of the possible risks, proposed implementation of the system hardware and matching, given the system software implementation process. High-grade sanitary ware physiotherapy intelligent controller not only to achieve elegant and beautiful, simple, physical therapy, water power, deodorant, multi-function, intelligent control, to meet the consumers, the high-end sanitary ware market, strong demand, Accelerate the enterprise product Upgrade and improve the competitiveness of enterprises.

  9. Multivariable robust adaptive controller using reduced-order model

    Directory of Open Access Journals (Sweden)

    Wei Wang

    1990-04-01

    Full Text Available In this paper a multivariable robust adaptive controller is presented for a plant with bounded disturbances and unmodeled dynamics due to plant-model order mismatches. The robust stability of the closed-loop system is achieved by using the normalization technique and the least squares parameter estimation scheme with dead zones. The weighting polynomial matrices are incorporated into the control law, so that the open-loop unstable or/and nonminimum phase plants can be handled.

  10. Density control in ITER: an iterative learning control and robust control approach

    Science.gov (United States)

    Ravensbergen, T.; de Vries, P. C.; Felici, F.; Blanken, T. C.; Nouailletas, R.; Zabeo, L.

    2018-01-01

    Plasma density control for next generation tokamaks, such as ITER, is challenging because of multiple reasons. The response of the usual gas valve actuators in future, larger fusion devices, might be too slow for feedback control. Both pellet fuelling and the use of feedforward-based control may help to solve this problem. Also, tight density limits arise during ramp-up, due to operational limits related to divertor detachment and radiative collapses. As the number of shots available for controller tuning will be limited in ITER, in this paper, iterative learning control (ILC) is proposed to determine optimal feedforward actuator inputs based on tracking errors, obtained in previous shots. This control method can take the actuator and density limits into account and can deal with large actuator delays. However, a purely feedforward-based density control may not be sufficient due to the presence of disturbances and shot-to-shot differences. Therefore, robust control synthesis is used to construct a robustly stabilizing feedback controller. In simulations, it is shown that this combined controller strategy is able to achieve good tracking performance in the presence of shot-to-shot differences, tight constraints, and model mismatches.

  11. Intelligent control systems: an introduction with examples

    National Research Council Canada - National Science Library

    Hangos, K. M; Lakner, Rozália; Gerzson, Miklós

    2001-01-01

    ... The structure of the knowledge base 1.2 The reasoning algorithm 1.3 Conflict resolution 31 31 32 33 36 viiviii INTELLIGENT CONTROL SYSTEMS 2. 3. 4. 5. 1.4 Explanation of the reasoning Forward r...

  12. Using H∞ to design robust POD controllers for wind power plants

    DEFF Research Database (Denmark)

    Mehmedalic, Jasmin; Knüppel, Thyge; Østergaard, Jacob

    2012-01-01

    Large wind power plants (WPPs) can help to improve small signal stability by increasing the damping of electromechanical modes of oscillation. This can be done by adding a power system oscillation damping (POD) controller to the wind power plants, similar to power system stabilizer (PSS......) controllers on conventional generation. Here two different design methods are evaluated for their suitability in producing a robust power system oscillation damping controller for wind power plants with full-load converter wind turbine generators (WTGs). Controllers are designed using classic PSS design and H......∞ methods and the designed controllers evaluated on both performance and robustness. It is found that the choice of control signal has a large influence on the robustness of the controllers, and the best performance and robustness is found when the converter active power command is used as control signal...

  13. Robust control of time-delay chaotic systems

    International Nuclear Information System (INIS)

    Hua Changchun; Guan Xinping

    2003-01-01

    Robust control problem of nonlinear time-delay chaotic systems is investigated. For such uncertain systems, we propose adaptive feedback controller and novel nonlinear feedback controller. They are both independent of the time delay and can render the corresponding closed-loop systems globally uniformly ultimately bounded stable. The simulations on controlling logistic system are made and the results show the controllers are feasible

  14. Robust fast controller design via nonlinear fractional differential equations.

    Science.gov (United States)

    Zhou, Xi; Wei, Yiheng; Liang, Shu; Wang, Yong

    2017-07-01

    A new method for linear system controller design is proposed whereby the closed-loop system achieves both robustness and fast response. The robustness performance considered here means the damping ratio of closed-loop system can keep its desired value under system parameter perturbation, while the fast response, represented by rise time of system output, can be improved by tuning the controller parameter. We exploit techniques from both the nonlinear systems control and the fractional order systems control to derive a novel nonlinear fractional order controller. For theoretical analysis of the closed-loop system performance, two comparison theorems are developed for a class of fractional differential equations. Moreover, the rise time of the closed-loop system can be estimated, which facilitates our controller design to satisfy the fast response performance and maintain the robustness. Finally, numerical examples are given to illustrate the effectiveness of our methods. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Robust entry guidance using linear covariance-based model predictive control

    Directory of Open Access Journals (Sweden)

    Jianjun Luo

    2017-02-01

    Full Text Available For atmospheric entry vehicles, guidance design can be accomplished by solving an optimal issue using optimal control theories. However, traditional design methods generally focus on the nominal performance and do not include considerations of the robustness in the design process. This paper proposes a linear covariance-based model predictive control method for robust entry guidance design. Firstly, linear covariance analysis is employed to directly incorporate the robustness into the guidance design. The closed-loop covariance with the feedback updated control command is initially formulated to provide the expected errors of the nominal state variables in the presence of uncertainties. Then, the closed-loop covariance is innovatively used as a component of the cost function to guarantee the robustness to reduce its sensitivity to uncertainties. After that, the models predictive control is used to solve the optimal problem, and the control commands (bank angles are calculated. Finally, a series of simulations for different missions have been completed to demonstrate the high performance in precision and the robustness with respect to initial perturbations as well as uncertainties in the entry process. The 3σ confidence region results in the presence of uncertainties which show that the robustness of the guidance has been improved, and the errors of the state variables are decreased by approximately 35%.

  16. Intelligent distributed control for nuclear power plants

    International Nuclear Information System (INIS)

    Klevans, E.H.

    1992-01-01

    This project was initiated in September 1989 as a three year project to develop and demonstrate Intelligent Distributed Control (IDC) for Nuclear Power Plants. The body of this Third Annual Technical Progress report summarizes the period from September 1991 to October 1992. There were two primary goals of this research project. The first goal was to combine diagnostics and control to achieve a highly automated power plant as described by M.A. Schultz. His philosophy, is to improve public perception of the safety of nuclear power plants by incorporating a high degree of automation where a greatly simplified operator control console minimizes the possibility of human error in power plant operations. To achieve this goal, a hierarchically distributed control system with automated responses to plant upset conditions was pursued in this research. The second goal was to apply this research to develop a prototype demonstration on an actual power plant system, the EBR-2 stem plant. Emphasized in this Third Annual Technical Progress Report is the continuing development of the in-plant intelligent control demonstration for the final project milestone and includes: simulation validation and the initial approach to experiment formulation

  17. Optimal robust control strategy of a solid oxide fuel cell system

    Science.gov (United States)

    Wu, Xiaojuan; Gao, Danhui

    2018-01-01

    Optimal control can ensure system safe operation with a high efficiency. However, only a few papers discuss optimal control strategies for solid oxide fuel cell (SOFC) systems. Moreover, the existed methods ignore the impact of parameter uncertainty on system instantaneous performance. In real SOFC systems, several parameters may vary with the variation of operation conditions and can not be identified exactly, such as load current. Therefore, a robust optimal control strategy is proposed, which involves three parts: a SOFC model with parameter uncertainty, a robust optimizer and robust controllers. During the model building process, boundaries of the uncertain parameter are extracted based on Monte Carlo algorithm. To achieve the maximum efficiency, a two-space particle swarm optimization approach is employed to obtain optimal operating points, which are used as the set points of the controllers. To ensure the SOFC safe operation, two feed-forward controllers and a higher-order robust sliding mode controller are presented to control fuel utilization ratio, air excess ratio and stack temperature afterwards. The results show the proposed optimal robust control method can maintain the SOFC system safe operation with a maximum efficiency under load and uncertainty variations.

  18. VAR control in distribution systems by using artificial intelligence techniques

    Energy Technology Data Exchange (ETDEWEB)

    Golkar, M.A. [Curtin Univ. of Technology, Sarawak (Malaysia). School of Engineering and Science

    2005-07-01

    This paper reviewed artificial intelligence techniques used in VAR control systems. Reactive power controls in distribution systems were also reviewed. While artificial intelligence methods are widely used in power control systems, the techniques require extensive human knowledge bases and experiences in order to operate correctly. Expert systems use knowledge and interface procedures to solve problems that often require human expertise. Expert systems often cause knowledge bottlenecks as they are unable to learn or adopt to new situations. While neural networks possess learning ability, they are computationally expensive. However, test results in recent neural network studies have demonstrated that they work well in a variety of loading conditions. Fuzzy logic techniques are used to accurately represent the operational constraints of power systems. Fuzzy logic has an advantage over other artificial intelligence techniques as it is able to remedy uncertainties in data. Evolutionary computing algorithms use probabilistic transition rules which can search complicated data to determine optimal constraints and parameters. Over 95 per cent of all papers published on power systems use genetic algorithms. It was concluded that hybrid systems using various artificial intelligence techniques are now being used by researchers. 69 refs.

  19. Intelligent control of a planning system for astronaut training.

    Science.gov (United States)

    Ortiz, J; Chen, G

    1999-07-01

    This work intends to design, analyze and solve, from the systems control perspective, a complex, dynamic, and multiconstrained planning system for generating training plans for crew members of the NASA-led International Space Station. Various intelligent planning systems have been developed within the framework of artificial intelligence. These planning systems generally lack a rigorous mathematical formalism to allow a reliable and flexible methodology for their design, modeling, and performance analysis in a dynamical, time-critical, and multiconstrained environment. Formulating the planning problem in the domain of discrete-event systems under a unified framework such that it can be modeled, designed, and analyzed as a control system will provide a self-contained theory for such planning systems. This will also provide a means to certify various planning systems for operations in the dynamical and complex environments in space. The work presented here completes the design, development, and analysis of an intricate, large-scale, and representative mathematical formulation for intelligent control of a real planning system for Space Station crew training. This planning system has been tested and used at NASA-Johnson Space Center.

  20. Greenhouse intelligent control system based on microcontroller

    Science.gov (United States)

    Zhang, Congwei

    2018-04-01

    As one of the hallmarks of agricultural modernization, intelligent greenhouse has the advantages of high yield, excellent quality, no pollution and continuous planting. Taking AT89S52 microcontroller as the main controller, the greenhouse intelligent control system uses soil moisture sensor, temperature and humidity sensors, light intensity sensor and CO2 concentration sensor to collect measurements and display them on the 12864 LCD screen real-time. Meantime, climate parameter values can be manually set online. The collected measured values are compared with the set standard values, and then the lighting, ventilation fans, warming lamps, water pumps and other facilities automatically start to adjust the climate such as light intensity, CO2 concentration, temperature, air humidity and soil moisture of the greenhouse parameter. So, the state of the environment in the greenhouse Stabilizes and the crop grows in a suitable environment.

  1. Theoretical analysis and real time implementation of a classical controller with intelligent properties

    Directory of Open Access Journals (Sweden)

    Essam Hendawi

    2018-05-01

    Full Text Available This paper presents theoretical analysis and experimental implementation of a classical controller with intelligent properties. The controller has constant parameters, but it performs as an intelligent controller. The controller design mimics the fuzzy logic controller in a classical form and combines the advantages of classical controllers and properties of intelligent controllers. The designed controller parameters force the controlled variable to behave such as a first order system with a desired time constant. DC motor practical system is used to demonstrate the effectiveness of the presented controller. Root locus and frequency response using Bode diagram are used to help the design of the controller parameters. Simulation and experimental results verify the high performance of the presented controller. Keywords: Classical controller, DC motor, Root locus, Frequency response, Arduino microcontroller

  2. Emotional intelligence in patients with posttraumatic stress disorder, borderline personality disorder and healthy controls.

    Science.gov (United States)

    Janke, Katrin; Driessen, Martin; Behnia, Behnoush; Wingenfeld, Katja; Roepke, Stefan

    2018-06-01

    Emotional intelligence as a part of social cognition has, to our knowledge, never been investigated in patients with Posttraumatic Stress Disorder (PTSD), though the disorder is characterized by aspects of emotional dysfunctioning. PTSD often occurs with Borderline Personality Disorder (BPD) as a common comorbidity. Studies about social cognition and emotional intelligence in patients with BPD propose aberrant social cognition, but produced inconsistent results regarding emotional intelligence. The present study aims to assess emotional intelligence in patients with PTSD without comorbid BPD, PTSD with comorbid BPD, and BPD patients without comorbid PTSD, as well as in healthy controls. 71 patients with PTSD (41 patients with PTSD without comorbid BPD, 30 patients with PTSD with comorbid BPD), 56 patients with BPD without PTSD, and 63 healthy controls filled in the Test of Emotional Intelligence (TEMINT). Patients with PTSD without comorbid BPD showed impairments in emotional intelligence compared to patients with BPD without PTSD, and compared to healthy controls. These impairments were not restricted to specific emotions. Patients with BPD did not differ significantly from healthy controls. This study provides evidence for an impaired emotional intelligence in PTSD without comorbid BPD compared to BPD and healthy controls, affecting a wide range of emotions. Copyright © 2018 Elsevier B.V. All rights reserved.

  3. Robust Adaptive Speed Control of Induction Motor Drives

    DEFF Research Database (Denmark)

    Bidstrup, N.

    , (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... adaptive speed control of the CVC drive. A direct truly adaptive speed controller has been implemented. The adaptive controller is a moving Average Self-Tuning Regulator which is abbreviated MASTR throughout the thesis. Two practical implementations of this controller were proposed. They were denoted MASTR...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...

  4. Fuzzy gain scheduling of velocity PI controller with intelligent learning algorithm for reactor control

    International Nuclear Information System (INIS)

    Kim, Dong Yun

    1997-02-01

    In this research, we propose a fuzzy gain scheduler (FGS) with an intelligent learning algorithm for a reactor control. In the proposed algorithm, the gradient descent method is used in order to generate the rule bases of a fuzzy algorithm by learning. These rule bases are obtained by minimizing an objective function, which is called a performance cost function. The objective of the FGS with an intelligent learning algorithm is to generate adequate gains, which minimize the error of system. The proposed algorithm can reduce the time and efforts required for obtaining the fuzzy rules through the intelligent learning function. The evolutionary programming algorithm is modified and adopted as the method in order to find the optimal gains which are used as the initial gains of FGS with learning function. It is applied to reactor control of nuclear power plant (NPP), and the results are compared with those of a conventional PI controller with fixed gains. As a result, it is shown that the proposed algorithm is superior to the conventional PI controller

  5. Intelligent Control Wheelchair Using a New Visual Joystick

    Directory of Open Access Journals (Sweden)

    Yassine Rabhi

    2018-01-01

    Full Text Available A new control system of a hand gesture-controlled wheelchair (EWC is proposed. This smart control device is suitable for a large number of patients who cannot manipulate a standard joystick wheelchair. The movement control system uses a camera fixed on the wheelchair. The patient’s hand movements are recognized using a visual recognition algorithm and artificial intelligence software; the derived corresponding signals are thus used to control the EWC in real time. One of the main features of this control technique is that it allows the patient to drive the wheelchair with a variable speed similar to that of a standard joystick. The designed device “hand gesture-controlled wheelchair” is performed at low cost and has been tested on real patients and exhibits good results. Before testing the proposed control device, we have created a three-dimensional environment simulator to test its performances with extreme security. These tests were performed on real patients with diverse hand pathologies in Mohamed Kassab National Institute of Orthopedics, Physical and Functional Rehabilitation Hospital of Tunis, and the validity of this intelligent control system had been proved.

  6. Smart Collision Avoidance and Hazard Routing Mechanism for Intelligent Transport Network

    Science.gov (United States)

    Singh, Gurpreet; Gupta, Pooja; Wahab, Mohd Helmy Abd

    2017-08-01

    The smart vehicular ad-hoc network is the network that consists of vehicles for smooth movement and better management of the vehicular connectivity across the given network. This research paper aims to propose a set of solution for the VANETs consisting of the automatic driven vehicles, also called as the autonomous car. Such vehicular networks are always prone to collision due to the natural or un-natural reasons which must be solved before the large-scale deployment of the autonomous transport systems. The newly designed intelligent transport movement control mechanism is based upon the intelligent data propagation along with the vehicle collision and traffic jam prevention schema [8], which may help the future designs of smart cities to become more robust and less error-prone. In the proposed model, the focus is on designing a new dynamic and robust hazard routing protocol for intelligent vehicular networks for improvement of the overall performance in various aspects. It is expected to improve the overall transmission delay as well as the number of collisions or adversaries across the vehicular network zone.

  7. When intelligence is in control

    Energy Technology Data Exchange (ETDEWEB)

    Bellman, K.L.

    1996-12-31

    Each time a discipline redefines itself, I look at it as a sign of growth, because often such redefinition means that there is new theory, new methods, or new {open_quotes}disciples{close_quote} from other disciplines who are stretching, enlarging, and deepening the field. Such is the case with semiotics. Deeply entwined with the concepts of {open_quotes}intelligent systems{close_quotes}, {open_quotes}intelligent control{close_quotes}, and complex systems theory, semiotics struggles to develop representations, notations (systems of representations), and models (functionally-oriented sets of related representations) to study systems that may or may not be usefully described as employing representations, notations, and models themselves. That last, of course, is the main problem that semiotics faces. Semiotics, like psychology, philosophy, or any other self-referential discipline, is burdened by the eye attempting to study the eye or the mind studying the mind, or more to the point here, the modeler studying the modeling acts of others.

  8. Application of artificial intelligence in load frequency control of ...

    African Journals Online (AJOL)

    This paper presents the use of artificial intelligence to study the load frequency control of interconnected power system. In the proposed scheme, a control methodology is developed using Artificial Neural Network (ANN) and Fuzzy Logic controller (FLC) for interconnected hydro-thermal power system. The control strategies ...

  9. 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.

  10. Intelligent control of HVAC systems. Part I: Modeling and synthesis

    Directory of Open Access Journals (Sweden)

    Adrian TOADER

    2013-03-01

    Full Text Available This is the first part of a work on intelligent type control of Heating, Ventilating and Air-Conditioning (HVAC systems. The study is performed from the perspective of giving a unitary control method to ensure high energy efficiency and air quality improving. To illustrate the proposed HVAC control technique, in this first part it is considered as benchmark problem a single thermal space HVAC system. The construction of the mathematical model is performed only with a view to obtain a framework of HVAC intelligent control validation by numerical simulations. The latter will be reported in a second part of the study.

  11. Robust model predictive control for constrained continuous-time nonlinear systems

    Science.gov (United States)

    Sun, Tairen; Pan, Yongping; Zhang, Jun; Yu, Haoyong

    2018-02-01

    In this paper, a robust model predictive control (MPC) is designed for a class of constrained continuous-time nonlinear systems with bounded additive disturbances. The robust MPC consists of a nonlinear feedback control and a continuous-time model-based dual-mode MPC. The nonlinear feedback control guarantees the actual trajectory being contained in a tube centred at the nominal trajectory. The dual-mode MPC is designed to ensure asymptotic convergence of the nominal trajectory to zero. This paper extends current results on discrete-time model-based tube MPC and linear system model-based tube MPC to continuous-time nonlinear model-based tube MPC. The feasibility and robustness of the proposed robust MPC have been demonstrated by theoretical analysis and applications to a cart-damper springer system and a one-link robot manipulator.

  12. A collision model for safety evaluation of autonomous intelligent cruise control.

    Science.gov (United States)

    Touran, A; Brackstone, M A; McDonald, M

    1999-09-01

    This paper describes a general framework for safety evaluation of autonomous intelligent cruise control in rear-end collisions. Using data and specifications from prototype devices, two collision models are developed. One model considers a train of four cars, one of which is equipped with autonomous intelligent cruise control. This model considers the car in front and two cars following the equipped car. In the second model, none of the cars is equipped with the device. Each model can predict the possibility of rear-end collision between cars under various conditions by calculating the remaining distance between cars after the front car brakes. Comparing the two collision models allows one to evaluate the effectiveness of autonomous intelligent cruise control in preventing collisions. The models are then subjected to Monte Carlo simulation to calculate the probability of collision. Based on crash probabilities, an expected value is calculated for the number of cars involved in any collision. It is found that given the model assumptions, while equipping a car with autonomous intelligent cruise control can significantly reduce the probability of the collision with the car ahead, it may adversely affect the situation for the following cars.

  13. Multivariable robust control of an air-handling unit: A comparison between pole-placement and H∞ controllers

    International Nuclear Information System (INIS)

    Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid

    2012-01-01

    Highlights: ► Robust control of a multivariable air-handling unit (AHU). ► Controllers designed based on pole-placement and μ-synthesis. ► Robust performance in the presence of model uncertainties. ► Achievement of various tracking objectives in temperature and relative humidity. ► Comfort conditions in buildings with low energy consumption and operation cost. - Abstract: Control of air-conditioner units is essential to achieve satisfactory comfort conditions in buildings while keeping low energy consumption and operation costs. In this paper, a nonlinear multiinput and multioutput model (MIMO) of an air-handling unit (AHU) is considered. After linearization of the state equations around the operating points, an observer and a regulator are designed for the estimation of state variables and disturbance rejection, respectively. A realistic uncertain model is considered which constitutes various uncertainties associated with complex nonlinear model of AHU. In the presence of model uncertainties, a H ∞ -robust controller is designed to guarantee robust performance of the air-handling unit. In addition, a simple controller based on pole-placement approach is developed. Indoor temperature and relative humidity are controlled via manipulation of valve positions of air and cold water flow rates. Achievement of tracking objectives is investigated through various desired commands of indoor temperature and relative humidity (including a sequence of steps and ramps-steps). According to results, the H ∞ -robust controller guarantees the robust performance of the AHU in tracking of desired set-paths (while using the simple pole-placement controller leads to high oscillatory behavior of the output variables and control efforts). Moreover, using H ∞ -robust controller results in less energy consumption in comparison with the pole-placement controller.

  14. An application of artificial intelligence theory to reconfigurable flight control

    Science.gov (United States)

    Handelman, David A.

    1987-01-01

    Artificial intelligence techniques were used along with statistical hpyothesis testing and modern control theory, to help the pilot cope with the issues of information, knowledge, and capability in the event of a failure. An intelligent flight control system is being developed which utilizes knowledge of cause and effect relationships between all aircraft components. It will screen the information available to the pilots, supplement his knowledge, and most importantly, utilize the remaining flight capability of the aircraft following a failure. The list of failure types the control system will accommodate includes sensor failures, actuator failures, and structural failures.

  15. Fractional order differentiation and robust control design crone, h-infinity and motion control

    CERN Document Server

    Sabatier, Jocelyn; Melchior, Pierre; Oustaloup, Alain

    2015-01-01

    This monograph collates the past decade’s work on fractional models and fractional systems in the fields of analysis, robust control and path tracking. Themes such as PID control, robust path tracking design and motion control methodologies involving fractional differentiation are amongst those explored. It juxtaposes recent theoretical results at the forefront in the field, and applications that can be used as exercises that will help the reader to assimilate the proposed methodologies. The first part of the book deals with fractional derivative and fractional model definitions, as well as recent results for stability analysis, fractional model physical interpretation, controllability, and H-infinity norm computation. It also presents a critical point of view on model pseudo-state and “real state”, tackling the problem of fractional model initialization. Readers will find coverage of PID, Fractional PID and robust control in the second part of the book, which rounds off with an extension of H-infinity ...

  16. Robust control of an industrial boiler system; a comparison between two approaches: Sliding mode control and H∞ technique

    International Nuclear Information System (INIS)

    Moradi, Hamed; Bakhtiari-Nejad, Firooz; Saffar-Avval, Majid

    2009-01-01

    To achieve a good performance of the utility boiler, dynamic variables such as drum pressure, steam temperature and water level of drum must be controlled. In this paper, a linear time invariant (LTI) model of a boiler system is considered in which the input variables are feed-water and fuel mass rates. However this dynamic model may associate with uncertainties. With considering the uncertainties of the dynamic model, a sliding mode controller is designed. After representation of the uncertain dynamic system in general control configuration and modelling the parametric uncertainties, nominal performance, robust stability and robust performance are analyzed by the concept of structured singular value μ. Using an algorithm for μ-analysis and applying an inversed-base controller, robust stability and nominal performance are guaranteed but robust performance is not satisfied. Finally, an optimal robust controller is designed based on μ-synthesis with DK-iteration algorithm. Both optimal robust and sliding mode controllers guarantee robust performance of the system against the uncertainties and result in desired time responses of the output variables. By applying H ∞ robust control, system tracks the desire reference inputs in a less time and with smoother time responses. However, less control efforts, feedwater and fuel mass rates, are needed when the sliding mode controller is applied.

  17. Effect of interaction strength on robustness of controlling edge dynamics in complex networks

    Science.gov (United States)

    Pang, Shao-Peng; Hao, Fei

    2018-05-01

    Robustness plays a critical role in the controllability of complex networks to withstand failures and perturbations. Recent advances in the edge controllability show that the interaction strength among edges plays a more important role than network structure. Therefore, we focus on the effect of interaction strength on the robustness of edge controllability. Using three categories of all edges to quantify the robustness, we develop a universal framework to evaluate and analyze the robustness in complex networks with arbitrary structures and interaction strengths. Applying our framework to a large number of model and real-world networks, we find that the interaction strength is a dominant factor for the robustness in undirected networks. Meanwhile, the strongest robustness and the optimal edge controllability in undirected networks can be achieved simultaneously. Different from the case of undirected networks, the robustness in directed networks is determined jointly by the interaction strength and the network's degree distribution. Moreover, a stronger robustness is usually associated with a larger number of driver nodes required to maintain full control in directed networks. This prompts us to provide an optimization method by adjusting the interaction strength to optimize the robustness of edge controllability.

  18. Controlled grafting of vinylic monomers on polyolefins: a robust mathematical modeling approach.

    Science.gov (United States)

    Saeb, Mohammad Reza; Rezaee, Babak; Shadman, Alireza; Formela, Krzysztof; Ahmadi, Zahed; Hemmati, Farkhondeh; Kermaniyan, Tayebeh Sadat; Mohammadi, Yousef

    2017-01-01

    Experimental and mathematical modeling analyses were used for controlling melt free-radical grafting of vinylic monomers on polyolefins and, thereby, reducing the disturbance of undesired cross-linking of polyolefins. Response surface, desirability function, and artificial intelligence methodologies were blended to modeling/optimization of grafting reaction in terms of vinylic monomer content, peroxide initiator concentration, and melt-processing time. An in-house code was developed based on artificial neural network that learns and mimics processing torque and grafting of glycidyl methacrylate (GMA) typical vinylic monomer on high-density polyethylene (HDPE). Application of response surface and desirability function enabled concurrent optimization of processing torque and GMA grafting on HDPE, through which we quantified for the first time competition between parallel reactions taking place during melt processing: (i) desirable grafting of GMA on HDPE; (ii) undesirable cross-linking of HDPE. The proposed robust mathematical modeling approach can precisely learn the behavior of grafting reaction of vinylic monomers on polyolefins and be placed into practice in finding exact operating condition needed for efficient grafting of reactive monomers on polyolefins.

  19. Alignment Condition-Based Robust Adaptive Iterative Learning Control of Uncertain Robot System

    Directory of Open Access Journals (Sweden)

    Guofeng Tong

    2014-04-01

    Full Text Available This paper proposes an adaptive iterative learning control strategy integrated with saturation-based robust control for uncertain robot system in presence of modelling uncertainties, unknown parameter, and external disturbance under alignment condition. An important merit is that it achieves adaptive switching of gain matrix both in conventional PD-type feedforward control and robust adaptive control in the iteration domain simultaneously. The analysis of convergence of proposed control law is based on Lyapunov's direct method under alignment initial condition. Simulation results demonstrate the faster learning rate and better robust performance with proposed algorithm by comparing with other existing robust controllers. The actual experiment on three-DOF robot manipulator shows its better practical effectiveness.

  20. Robust Tracking Control for a Piezoelectric Actuator

    National Research Council Canada - National Science Library

    Salah, M; McIntyre, M; Dawson, D; Wagner, J

    2006-01-01

    In this paper, a hysteresis model-based nonlinear robust controller is developed for a piezoelectric actuator, utilizing a Lyapunov-based stability analysis, which ensures that a desired displacement...

  1. Dynamic vulnerability assessment and intelligent control for sustainable power systems

    CERN Document Server

    Gonzalez-Longatt, Francisco

    2018-01-01

    Identifying, assessing, and mitigating electric power grid vulnerabilities is a growing focus in short-term operational planning of power systems. Through illustrated application, this important guide surveys state-of-the-art methodologies for the assessment and enhancement of power system security in short-term operational planning and real-time operation. The methodologies employ advanced methods from probabilistic theory, data mining, artificial intelligence, and optimization, to provide knowledge-based support for monitoring, control (preventive and corrective), and decision making tasks. Key features: Introduces behavioural recognition in wide-area monitoring and security constrained optimal power flow for intelligent control and protection and optimal grid management. Provides in-depth understanding of risk-based reliability and security assessment, dynamic vulnerability as essment methods, supported by the underpinning mathematics. Develops expertise in mitigation techniques using intelligent protect...

  2. Interated Intelligent Industrial Process Sensing and Control: Applied to and Demonstrated on Cupola Furnaces

    Energy Technology Data Exchange (ETDEWEB)

    Mohamed Abdelrahman; roger Haggard; Wagdy Mahmoud; Kevin Moore; Denis Clark; Eric Larsen; Paul King

    2003-02-12

    The final goal of this project was the development of a system that is capable of controlling an industrial process effectively through the integration of information obtained through intelligent sensor fusion and intelligent control technologies. The industry of interest in this project was the metal casting industry as represented by cupola iron-melting furnaces. However, the developed technology is of generic type and hence applicable to several other industries. The system was divided into the following four major interacting components: 1. An object oriented generic architecture to integrate the developed software and hardware components @. Generic algorithms for intelligent signal analysis and sensor and model fusion 3. Development of supervisory structure for integration of intelligent sensor fusion data into the controller 4. Hardware implementation of intelligent signal analysis and fusion algorithms

  3. Remote Control of an Inverted Pendulum System for Intelligent Control Education

    Directory of Open Access Journals (Sweden)

    Seul Jung

    2011-08-01

    Full Text Available This paper presents a remote control task of an inverted pendulum system for intelligent control education. The inverted pendulum moving on the guided rail is required to maintain balancing while it follows the desired trajectory commanded remotely by a joystick operated by a user. Position commands for the inverted pendulum system are given by a joystick through the network. The inverted pendulum system is controlled by a neural network control method. The corresponding control results are confirmed through experimental studies.

  4. Robust Adaptive Speed Control of Induction Motor Drives

    DEFF Research Database (Denmark)

    Bidstrup, N.

    This thesis concerns speed control of current vector controlled induction motor drives (CVC drives). The CVC drive is an existing prototype drive developed by Danfoss A/S, Transmission Division. Practical tests have revealed that the open loop dynamical properties of the CVC drive are highly......, (LS) identification and generalized predictive control (GPC) has been implemented and tested on the CVC drive. Allthough GPC is a robust control method, it was not possible to maintain specified controller performance in the entire operating range. This was the main reason for investigating truly...... and measurement noise in general, were the major reasons for the drifting parameters. Two approaches was proposed to robustify MASTR2 against the output noise. The first approach consists of filtering the output. Output filtering had a significant effect in simulations, but the robustness against the output noise...

  5. An artificial intelligence approach to accelerator control systems

    International Nuclear Information System (INIS)

    Schultz, D.E.; Hurd, J.W.; Brown, S.K.

    1987-01-01

    An experiment was recently started at LAMPF to evaluate the power and limitations of using artificial intelligence techniques to solve problems in accelerator control and operation. A knowledge base was developed to describe the characteristics and the relationships of the first 30 devices in the LAMPF H+ beam line. Each device was categorized and pertinent attributes for each category defined. Specific values were assigned in the knowledge base to represent each actual device. Relationships between devices are modeled using the artificial intelligence techniques of rules, active values, and object-oriented methods. This symbolic model, built using the Knowledge Engineering Environment (KEE) system, provides a framework for analyzing faults, tutoring trainee operators, and offering suggestions to assist in beam tuning. Based on information provided by the domain expert responsible for tuning this portion of the beam line, additional rules were written to describe how he tunes, how he analyzes what is actually happening, and how he deals with failures. Initial results have shown that artificial intelligence techniques can be a useful adjunct to traditional methods of numerical simulation. Successful and efficient operation of future accelerators may depend on the proper merging of symbolic reasoning and conventional numerical control algorithms

  6. LMI–based robust controller design approach in aircraft multidisciplinary design optimization problem

    Directory of Open Access Journals (Sweden)

    Qinghua Zeng

    2015-07-01

    Full Text Available This article proposes a linear matrix inequality–based robust controller design approach to implement the synchronous design of aircraft control discipline and other disciplines, in which the variation in design parameters is treated as equivalent perturbations. Considering the complicated mapping relationships between the coefficient arrays of aircraft motion model and the aircraft design parameters, the robust controller designed is directly based on the variation in these coefficient arrays so conservative that the multidisciplinary design optimization problem would be too difficult to solve, or even if there is a solution, the robustness of design result is generally poor. Therefore, this article derives the uncertainty model of disciplinary design parameters based on response surface approximation, converts the design problem of the robust controller into a problem of solving a standard linear matrix inequality, and theoretically gives a less conservative design method of the robust controller which is based on the variation in design parameters. Furthermore, the concurrent subspace approach is applied to the multidisciplinary system with this kind of robust controller in the design loop. A multidisciplinary design optimization of a tailless aircraft as example is shown that control discipline can be synchronous optimal design with other discipline, especially this method will greatly reduce the calculated amount of multidisciplinary design optimization and make multidisciplinary design optimization results more robustness of flight performance.

  7. Intelligent Power Control of DC Microgrid

    DEFF Research Database (Denmark)

    Hajizadeh, Amin; N. Soltani, Mohsen; Norum, Lars

    2017-01-01

    In this paper, an intelligent power management strategy is proposed for hybrid DC microgrid, including wind turbine, fuel cell and battery energy storage. The considered wind turbine has a permanent magnet synchronous generator (PMSG). In the considered structure, wind turbine operates as the main...... condition and fuel cell will not generate excessive power. The proposed control scheme is based on the fuzzy algorithm. All simulations in variant operational modes are performed by MATLAB/Simulink and results show the effectiveness of the proposed control strategy....

  8. New Concepts and Theories For Intelligent Control of Cellular Manufacturing Systems

    DEFF Research Database (Denmark)

    Langer, Gilad

    1996-01-01

    This paper will present some new theories such as biological manufacturing system, the fractal factory theory, holonic manufacturing systems, agile manufacturing, object orientation, multi-agent theory, artificial intelligence, and artificial life in the context of manufacturing systems....... The paper tries to encapsulate the main area of my Ph.D. thesis research which will evolve around the idea of integrating intelligent elements into the control systems of the manufacturing systems. Furthermore it intends to show how the curriculum and discussions of the IPS Ph.D. course will and have...... contributed to my research. The research will concentrate on integration of manufacturing units by use of intelligent control mechanisms, information technology and the material handling as the key integrators....

  9. Plug and Play Robust Distributed Control with Ellipsoidal Parametric Uncertainty System

    Directory of Open Access Journals (Sweden)

    Hong Wang-jian

    2016-01-01

    Full Text Available We consider a continuous linear time invariant system with ellipsoidal parametric uncertainty structured into subsystems. Since the design of a local controller uses only information on a subsystem and its neighbours, we combine the plug and play idea and robust distributed control to propose one distributed control strategy for linear system with ellipsoidal parametric uncertainty. Firstly for linear system with ellipsoidal parametric uncertainty, a necessary and sufficient condition for robust state feedback control is proposed by means of linear matrix inequality. If this necessary and sufficient condition is satisfied, this robust state feedback gain matrix can be easily derived to guarantee robust stability and prescribed closed loop performance. Secondly the plug and play idea is introduced in the design process. Finally by one example of aircraft flutter model parameter identification, the efficiency of the proposed control strategy can be easily realized.

  10. Adaptive Distributed Intelligent Control Architecture for Future Propulsion Systems (Preprint)

    National Research Council Canada - National Science Library

    Behbahani, Alireza R

    2007-01-01

    .... Distributed control is potentially an enabling technology for advanced intelligent propulsion system concepts and is one of the few control approaches that is able to provide improved component...

  11. Robust sawtooth period control based on adaptive online optimization

    International Nuclear Information System (INIS)

    Bolder, J.J.; Witvoet, G.; De Baar, M.R.; Steinbuch, M.; Van de Wouw, N.; Haring, M.A.M.; Westerhof, E.; Doelman, N.J.

    2012-01-01

    The systematic design of a robust adaptive control strategy for the sawtooth period using electron cyclotron current drive (ECCD) is presented. Recent developments in extremum seeking control (ESC) are employed to derive an optimized controller structure and offer practical tuning guidelines for its parameters. In this technique a cost function in terms of the desired sawtooth period is optimized online by changing the ECCD deposition location based on online estimations of the gradient of the cost function. The controller design does not require a detailed model of the sawtooth instability. Therefore, the proposed ESC is widely applicable to any sawtoothing plasma or plasma simulation and is inherently robust against uncertainties or plasma variations. Moreover, it can handle a broad class of disturbances. This is demonstrated by time-domain simulations, which show successful tracking of time-varying sawtooth period references throughout the whole operating space, even in the presence of variations in plasma parameters, disturbances and slow launcher mirror dynamics. Due to its simplicity and robustness the proposed ESC is a valuable sawtooth control candidate for any experimental tokamak plasma, and may even be applicable to other fusion-related control problems. (paper)

  12. Intelligent energy management control of vehicle air conditioning system coupled with engine

    International Nuclear Information System (INIS)

    Khayyam, Hamid; Abawajy, Jemal; Jazar, Reza N.

    2012-01-01

    Vehicle Air Conditioning (AC) systems consist of an engine powered compressor activated by an electrical clutch. The AC system imposes an extra load to the vehicle's engine increasing the vehicle fuel consumption and emissions. Energy management control of the vehicle air conditioning is a nonlinear dynamic system, influenced by uncertain disturbances. In addition, the vehicle energy management control system interacts with different complex systems, such as engine, air conditioning system, environment, and driver, to deliver fuel consumption improvements. In this paper, we describe the energy management control of vehicle AC system coupled with vehicle engine through an intelligent control design. The Intelligent Energy Management Control (IEMC) system presented in this paper includes an intelligent algorithm which uses five exterior units and three integrated fuzzy controllers to produce desirable internal temperature and air quality, improved fuel consumption, low emission, and smooth driving. The three fuzzy controllers include: (i) a fuzzy cruise controller to adapt vehicle cruise speed via prediction of the road ahead using a Look-Ahead system, (ii) a fuzzy air conditioning controller to produce desirable temperature and air quality inside vehicle cabin room via a road information system, and (iii) a fuzzy engine controller to generate the required engine torque to move the vehicle smoothly on the road. We optimised the integrated operation of the air conditioning and the engine under various driving patterns and performed three simulations. Results show that the proposed IEMC system developed based on Fuzzy Air Conditioning Controller with Look-Ahead (FAC-LA) method is a more efficient controller for vehicle air conditioning system than the previously developed Coordinated Energy Management Systems (CEMS). - Highlights: ► AC interacts: vehicle, environment, driver components, and the interrelationships between them. ► Intelligent AC algorithm which uses

  13. Robust synergetic control design under inputs and states constraints

    Science.gov (United States)

    Rastegar, Saeid; Araújo, Rui; Sadati, Jalil

    2018-03-01

    In this paper, a novel robust-constrained control methodology for discrete-time linear parameter-varying (DT-LPV) systems is proposed based on a synergetic control theory (SCT) approach. It is shown that in DT-LPV systems without uncertainty, and for any unmeasured bounded additive disturbance, the proposed controller accomplishes the goal of stabilising the system by asymptotically driving the error of the controlled variable to a bounded set containing the origin and then maintaining it there. Moreover, given an uncertain DT-LPV system jointly subject to unmeasured and constrained additive disturbances, and constraints in states, input commands and reference signals (set points), then invariant set theory is used to find an appropriate polyhedral robust invariant region in which the proposed control framework is guaranteed to robustly stabilise the closed-loop system. Furthermore, this is achieved even for the case of varying non-zero control set points in such uncertain DT-LPV systems. The controller is characterised to have a simple structure leading to an easy implementation, and a non-complex design process. The effectiveness of the proposed method and the implications of the controller design on feasibility and closed-loop performance are demonstrated through application examples on the temperature control on a continuous-stirred tank reactor plant, on the control of a real-coupled DC motor plant, and on an open-loop unstable system example.

  14. A robust H∞ control-based hierarchical mode transition control system for plug-in hybrid electric vehicle

    Science.gov (United States)

    Yang, Chao; Jiao, Xiaohong; Li, Liang; Zhang, Yuanbo; Chen, Zheng

    2018-01-01

    To realize a fast and smooth operating mode transition process from electric driving mode to engine-on driving mode, this paper presents a novel robust hierarchical mode transition control method for a plug-in hybrid electric bus (PHEB) with pre-transmission parallel hybrid powertrain. Firstly, the mode transition process is divided into five stages to clearly describe the powertrain dynamics. Based on the dynamics models of powertrain and clutch actuating mechanism, a hierarchical control structure including two robust H∞ controllers in both upper layer and lower layer is proposed. In upper layer, the demand clutch torque can be calculated by a robust H∞controller considering the clutch engaging time and the vehicle jerk. While in lower layer a robust tracking controller with L2-gain is designed to perform the accurate position tracking control, especially when the parameters uncertainties and external disturbance occur in the clutch actuating mechanism. Simulation and hardware-in-the-loop (HIL) test are carried out in a traditional driving condition of PHEB. Results show that the proposed hierarchical control approach can obtain the good control performance: mode transition time is greatly reduced with the acceptable jerk. Meanwhile, the designed control system shows the obvious robustness with the uncertain parameters and disturbance. Therefore, the proposed approach may offer a theoretical reference for the actual vehicle controller.

  15. Enhanced situation awareness and decision making for an intelligent reconfigurable reactor power controller

    International Nuclear Information System (INIS)

    Kenney, S.J.; Edwards, R.M.

    1996-01-01

    A Learning Automata based intelligent reconfigurable controller has been adapted for use as a reactor power controller to achieve improved reactor temperature performance. The intelligent reconfigurable controller is capable of enforcing either a classical or an optimal reactor power controller based on control performance feedback. Four control performance evaluation measures: dynamically estimated average quadratic temperature error, power, rod reactivity and rod reactivity rate were developed to provide feedback to the control decision component of the intelligent reconfigurable controller. Fuzzy Logic and Neural Network controllers have been studied for inclusion in the bank of controllers that form the intermediate level of an enhanced intelligent reconfigurable reactor power controller (IRRPC). The increased number of alternatives available to the supervisory level of the IRRPC requires enhanced situation awareness. Additional performance measures have been designed and a method for synthesizing them into a single indication of the overall performance of the currently enforced reactor power controller has been conceptualized. Modification of the reward/penalty scheme implemented in the existing IRRPC to increase the quality of the supervisory level decision process has been studied. The logogen model of human memory (Morton, 1969) and individual controller design information could be used to allocate reward to the most appropriate controller. Methods for allocating supervisory level attention were also studied with the goal of maximizing learning rate

  16. An Intelligent Propulsion Control Architecture to Enable More Autonomous Vehicle Operation

    Science.gov (United States)

    Litt, Jonathan S.; Sowers, T. Shane; Simon, Donald L.; Owen, A. Karl; Rinehart, Aidan W.; Chicatelli, Amy K.; Acheson, Michael J.; Hueschen, Richard M.; Spiers, Christopher W.

    2018-01-01

    This paper describes an intelligent propulsion control architecture that coordinates with the flight control to reduce the amount of pilot intervention required to operate the vehicle. Objectives of the architecture include the ability to: automatically recognize the aircraft operating state and flight phase; configure engine control to optimize performance with knowledge of engine condition and capability; enhance aircraft performance by coordinating propulsion control with flight control; and recognize off-nominal propulsion situations and to respond to them autonomously. The hierarchical intelligent propulsion system control can be decomposed into a propulsion system level and an individual engine level. The architecture is designed to be flexible to accommodate evolving requirements, adapt to technology improvements, and maintain safety.

  17. Robust Temperature Control of a Thermoelectric Cooler via μ -Synthesis

    Science.gov (United States)

    Kürkçü, Burak; Kasnakoğlu, Coşku

    2018-02-01

    In this work robust temperature control of a thermoelectric cooler (TEC) via μ -synthesis is studied. An uncertain dynamical model for the TEC that is suitable for robust control methods is derived. The model captures variations in operating point due to current, load and temperature changes. A temperature controller is designed utilizing μ -synthesis, a powerful method guaranteeing robust stability and performance. For comparison two well-known control methods, namely proportional-integral-derivative (PID) and internal model control (IMC), are also realized to benchmark the proposed approach. It is observed that the stability and performance on the nominal model are satisfactory for all cases. On the other hand, under perturbations the responses of PID and IMC deteriorate and even become unstable. In contrast, the μ -synthesis controller succeeds in keeping system stability and achieving good performance under all perturbations within the operating range, while at the same time providing good disturbance rejection.

  18. Observer-Based Robust Control for Spacecraft Rendezvous with Thrust Saturation

    Directory of Open Access Journals (Sweden)

    Neng Wan

    2014-01-01

    Full Text Available This paper proposes an observer-based robust guaranteed cost control method for thrust-limited rendezvous in near-circular orbits. Treating the noncircularity of the target orbit as a parametric uncertainty, a linearized motion model derived from the two-body problem is adopted as the controlled plant. Based on this model, a robust guaranteed cost observer-controller is synthesized with a less conservative saturation control law, and sufficient condition for the existence of this observer-based rendezvous controller is derived. Finally, an illustrative example with immeasurable velocity states is presented to demonstrate the advantages and effectiveness of the control scheme.

  19. Matlab as a robust control design tool

    Science.gov (United States)

    Gregory, Irene M.

    1994-01-01

    This presentation introduces Matlab as a tool used in flight control research. The example used to illustrate some of the capabilities of this software is a robust controller designed for a single stage to orbit air breathing vehicles's ascent to orbit. The global requirements of the controller are to stabilize the vehicle and follow a trajectory in the presence of atmospheric disturbances and strong dynamic coupling between airframe and propulsion.

  20. Robust Geometric Control of a Distillation Column

    DEFF Research Database (Denmark)

    Kymmel, Mogens; Andersen, Henrik Weisberg

    1987-01-01

    A frequency domain method, which makes it possible to adjust multivariable controllers with respect to both nominal performance and robustness, is presented. The basic idea in the approach is that the designer assigns objectives such as steady-state tracking, maximum resonance peaks, bandwidth, m...... is used to examine and improve geometric control of a binary distillation column....

  1. Robust nonlinear control of nuclear reactors under model uncertainty

    International Nuclear Information System (INIS)

    Park, Moon Ghu

    1993-02-01

    A nonlinear model-based control method is developed for the robust control of a nuclear reactor. The nonlinear plant model is used to design a unique control law which covers a wide operating range. The robustness is a crucial factor for the fully automatic control of reactor power due to time-varying, uncertain parameters, and state estimation error, or unmodeled dynamics. A variable structure control (VSC) method is introduced which consists of an adaptive performance specification (fime control) after the tracking error reaches the narrow boundary-layer by a time-optimal control (coarse control). Variable structure control is a powerful method for nonlinear system controller design which has inherent robustness to parameter variations or external disturbances using the known uncertainty bounds, and it requires very low computational efforts. In spite of its desirable properties, conventional VSC presents several important drawbacks that limit its practical applicability. One of the most undesirable phenomena is chattering, which implies extremely high control activity and may excite high-frequency unmodeled dynamics. This problem is due to the neglected actuator time-delay or sampling effects. The problem was partially remedied by replacing chattering control by a smooth control inter-polation in a boundary layer neighnboring a time-varying sliding surface. But, for the nuclear reactor systems which has very fast dynamic response, the sampling effect may destroy the narrow boundary layer when a large uncertainty bound is used. Due to the very short neutron life time, large uncertainty bound leads to the high gain in feedback control. To resolve this problem, a derivative feedback is introduced that gives excellent performance by reducing the uncertainty bound. The stability of tracking error dynamics is guaranteed by the second method of Lyapunov using the two-level uncertainty bounds that are obtained from the knowledge of uncertainty bound and the estimated

  2. An intelligent remote control system for ECEI on EAST

    Science.gov (United States)

    Chen, Dongxu; Zhu, Yilun; Zhao, Zhenling; Qu, Chengming; Liao, Wang; Xie, Jinlin; Liu, Wandong

    2017-08-01

    An intelligent remote control system based on a power distribution unit (PDU) and Arduino has been designed for the electron cyclotron emission imaging (ECEI) system on Experimental Advanced Superconducting Tokamak (EAST). This intelligent system has three major functions: ECEI system reboot, measurement region adjustment and signal amplitude optimization. The observation region of ECEI can be modified for different physics proposals by remotely tuning the optical and electronics systems. Via the remote adjustment of the attenuation level, the ECEI intermediate frequency signal amplitude can be efficiently optimized. The remote control system provides a feasible and reliable solution for the improvement of signal quality and the efficiency of the ECEI diagnostic system, which is also valuable for other diagnostic systems.

  3. Intelligent control for braking-induced longitudinal vibration responses of floating-type railway bridges

    Science.gov (United States)

    Qu, Wei-Lian; Qin, Shun-Quan; Tu, Jian-Weia; Liu, Jia; Zhou, Qiang; Cheng, Haibin; Pi, Yong-Lin

    2009-12-01

    This paper presents an intelligent control method and its engineering application in the control of braking-induced longitudinal vibration of floating-type railway bridges. Equations of motion for the controlled floating-type railway bridges have been established based on the analysis of the longitudinal vibration responses of floating-type railway bridges to train braking and axle-loads of moving trains. For engineering applications of the developed theory, a full-scale 500 kN smart magnetorheologic (MR) damper has been designed, fabricated and used to carry out experiments on the intelligent control of braking-induced longitudinal vibration. The procedure for using the developed intelligent method in conjunction with the full-scale 500 kN MR dampers has been proposed and used to control the longitudinal vibration responses of the deck of floating-type railway bridges induced by train braking and axle-loads of moving trains. This procedure has been applied to the longitudinal vibration control of the Tian Xingzhou highway and railway cable-stayed bridge over the Yangtze River in China. The simulated results have shown that the intelligent control system using the smart MR dampers can effectively control the longitudinal response of the floating-type railway bridge under excitations of braking and axle-loads of moving trains.

  4. Intelligent control for braking-induced longitudinal vibration responses of floating-type railway bridges

    International Nuclear Information System (INIS)

    Qu, Wei-Lian; Tu, Jian-Weia; Liu, Jia; Zhou, Qiang; Qin, Shun-Quan; Cheng, Haibin; Pi, Yong-Lin

    2009-01-01

    This paper presents an intelligent control method and its engineering application in the control of braking-induced longitudinal vibration of floating-type railway bridges. Equations of motion for the controlled floating-type railway bridges have been established based on the analysis of the longitudinal vibration responses of floating-type railway bridges to train braking and axle-loads of moving trains. For engineering applications of the developed theory, a full-scale 500 kN smart magnetorheologic (MR) damper has been designed, fabricated and used to carry out experiments on the intelligent control of braking-induced longitudinal vibration. The procedure for using the developed intelligent method in conjunction with the full-scale 500 kN MR dampers has been proposed and used to control the longitudinal vibration responses of the deck of floating-type railway bridges induced by train braking and axle-loads of moving trains. This procedure has been applied to the longitudinal vibration control of the Tian Xingzhou highway and railway cable-stayed bridge over the Yangtze River in China. The simulated results have shown that the intelligent control system using the smart MR dampers can effectively control the longitudinal response of the floating-type railway bridge under excitations of braking and axle-loads of moving trains

  5. Robustness-tracking control based on sliding mode and H∞ theory for linear servo system

    Institute of Scientific and Technical Information of China (English)

    TIAN Yan-feng; GUO Qing-ding

    2005-01-01

    A robustness-tracking control scheme based on combining H∞ robust control and sliding mode control is proposed for a direct drive AC permanent-magnet linear motor servo system to solve the conflict between tracking and robustness of the linear servo system. The sliding mode tracking controller is designed to ensure the system has a fast tracking characteristic to the command, and the H∞ robustness controller suppresses the disturbances well within the close loop( including the load and the end effect force of linear motor etc. ) and effectively minimizes the chattering of sliding mode control which influences the steady state performance of the system. Simulation results show that this control scheme enhances the track-command-ability and the robustness of the linear servo system, and in addition, it has a strong robustness to parameter variations and resistance disturbances.

  6. Robust Distributed Model Predictive Load Frequency Control of Interconnected Power System

    Directory of Open Access Journals (Sweden)

    Xiangjie Liu

    2013-01-01

    Full Text Available Considering the load frequency control (LFC of large-scale power system, a robust distributed model predictive control (RDMPC is presented. The system uncertainty according to power system parameter variation alone with the generation rate constraints (GRC is included in the synthesis procedure. The entire power system is composed of several control areas, and the problem is formulated as convex optimization problem with linear matrix inequalities (LMI that can be solved efficiently. It minimizes an upper bound on a robust performance objective for each subsystem. Simulation results show good dynamic response and robustness in the presence of power system dynamic uncertainties.

  7. Adaptive integral robust control and application to electromechanical servo systems.

    Science.gov (United States)

    Deng, Wenxiang; Yao, Jianyong

    2017-03-01

    This paper proposes a continuous adaptive integral robust control with robust integral of the sign of the error (RISE) feedback for a class of uncertain nonlinear systems, in which the RISE feedback gain is adapted online to ensure the robustness against disturbances without the prior bound knowledge of the additive disturbances. In addition, an adaptive compensation integrated with the proposed adaptive RISE feedback term is also constructed to further reduce design conservatism when the system also exists parametric uncertainties. Lyapunov analysis reveals the proposed controllers could guarantee the tracking errors are asymptotically converging to zero with continuous control efforts. To illustrate the high performance nature of the developed controllers, numerical simulations are provided. At the end, an application case of an actual electromechanical servo system driven by motor is also studied, with some specific design consideration, and comparative experimental results are obtained to verify the effectiveness of the proposed controllers. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  8. Effect of emotional intelligence in glycemic control in patients with type II diabetes

    Directory of Open Access Journals (Sweden)

    Monireh Mehdizadeh

    2017-11-01

    Full Text Available Diabetes, in addition to adverse physical effects, is associated with many psychological problems. The correlation between physical health and emotional intelligence are acceptable. The aim of this study was to determine the effect of emotional intelligence training in glycemic control in patients with type II diabetes. The present study was a quasi-experimental research, which was conducted in Mashhad city, Iran. The participants included 20 patients referring to the diabetic centers. They were selected through convenience sampling and randomly divided into two groups of experiment (n=10 and control (n=10. To measure blood glucose, the level of HbA1c in patients was measured before and after training. The experimental group attended in a period of emotional intelligence training. The training sessions were held as group discussion during 8 weeks, one session of 120-min per week. The findings suggest that emotional intelligence training significantly reduced the level of blood glucose (HbA1c in the test group compared to the control group. Based on the results, emotional intelligence training, as a psychological intervention, by affecting understanding, interpretation, regulation and efficient use of excitement, is effective along with medication therapy in controlling blood glucose in type II diabetic patients.

  9. Reconfigurable Robust Routing for Mobile Outreach Network

    Science.gov (United States)

    Lin, Ching-Fang

    2010-01-01

    The Reconfigurable Robust Routing for Mobile Outreach Network (R3MOO N) provides advanced communications networking technologies suitable for the lunar surface environment and applications. The R3MOON techn ology is based on a detailed concept of operations tailored for luna r surface networks, and includes intelligent routing algorithms and wireless mesh network implementation on AGNC's Coremicro Robots. The product's features include an integrated communication solution inco rporating energy efficiency and disruption-tolerance in a mobile ad h oc network, and a real-time control module to provide researchers an d engineers a convenient tool for reconfiguration, investigation, an d management.

  10. Robust reconfigurable control for parametric and additive faults with FDI uncertainties

    DEFF Research Database (Denmark)

    Stoustrup, Jakob; Yang, Zhenyu

    2000-01-01

    From the system recoverable point of view, this paper discusses robust reconfigurable control synthesis for LTI systems and a class of nonlinear control systems with parametric and additive faults as well as derivations generated by FDI algorithms. By following the model-matching strategy......, an augmented optimal control problem is constructed based on the considered faulty and fictitious nominal systems, such that the robust control design techniques, such as H-infinity control and mu synthesis, can be employed for the reconfigurable control design....

  11. Robust control of flexible space vehicles with minimum structural excitation: On-off pulse control of flexible space vehicles

    Science.gov (United States)

    Wie, Bong; Liu, Qiang

    1992-01-01

    Both feedback and feedforward control approaches for uncertain dynamical systems (in particular, with uncertainty in structural mode frequency) are investigated. The control objective is to achieve a fast settling time (high performance) and robustness (insensitivity) to plant uncertainty. Preshaping of an ideal, time optimal control input using a tapped-delay filter is shown to provide a fast settling time with robust performance. A robust, non-minimum-phase feedback controller is synthesized with particular emphasis on its proper implementation for a non-zero set-point control problem. It is shown that a properly designed, feedback controller performs well, as compared with a time optimal open loop controller with special preshaping for performance robustness. Also included are two separate papers by the same authors on this subject.

  12. Application of robust fuzzy control in power control of nuclear reactor

    International Nuclear Information System (INIS)

    Liu Lei; Luan Xiuchun; Jin Guangyuan; Yu Tao; Rao Su

    2013-01-01

    Robust-fuzzy controller based on T-S fuzzy model was designed for real-time controlling of nuclear reactor power and adapting to the load changing of power grid. Local controller was designed by means of state feedback technique, and the global controller was designed by parallel distributed compensation (PDC) method. The result of solving linear matrix inequalities (LMI) proves that this controller is stable. The simulation shows that the nuclear power can be well controlled in three typical conditions by this controller. (authors)

  13. An Optimized Version of a New Absolute Linear Encoder Dedicated to Intelligent Transportation Systems

    DEFF Research Database (Denmark)

    Argeseanu, Alin; Ritchie, Ewen; Leban, Krisztina Monika

    2009-01-01

    made in the coding algorithm, in the ruler topology and in the dedicated software. The optimized ALE is a robust device able to work in industrial environment, with a high level of vibrations. By this reason it is ideal for the transport system control in automating manufacturing processes, intelligent...

  14. Intelligent Mechatronics Systems for Transport Climate Parameters Optimization Using Fuzzy Logic Control

    OpenAIRE

    Beinarts, I; Ļevčenkovs, A; Kuņicina, N

    2007-01-01

    In article interest is concentrated on the climate parameters optimization in passengers’ salon of public electric transportation vehicles. The article presents mathematical problem for using intelligent agents in mechatronics problems for climate parameters optimal control. Idea is to use fuzzy logic and intelligent algorithms to create coordination mechanism for climate parameters control to save electrical energy, and it increases the level of comfort for passengers. A special interest for...

  15. Design And Implementation of Dsp-Based Intelligent Controller For Automobile Braking System

    OpenAIRE

    S.N. Sidek and M.J.E. Salami

    2012-01-01

    An intelligent braking system has great potential applications especially, in developed countries where research on smart vehicle and intelligent highways are receiving ample attention. The system when integrated with other subsystems like automatic traction control, intelligent throttle, and auto cruise systems, etc will result in smart vehicle maneuver. The driver at the end of the day will become the passenger, safety accorded the highest priority and the journey optimized in term of time ...

  16. Robust Tracking Control for Rendezvous in Near-Circular Orbits

    Directory of Open Access Journals (Sweden)

    Neng Wan

    2013-01-01

    Full Text Available This paper investigates a robust guaranteed cost tracking control problem for thrust-limited spacecraft rendezvous in near-circular orbits. Relative motion model is established based on the two-body problem with noncircularity of the target orbit described as a parameter uncertainty. A guaranteed cost tracking controller with input saturation is designed via a linear matrix inequality (LMI method, and sufficient conditions for the existence of the robust tracking controller are derived, which is more concise and less conservative compared with the previous works. Numerical examples are provided for both time-invariant and time-variant reference signals to illustrate the effectiveness of the proposed control scheme when applied to the terminal rendezvous and other astronautic missions with scheduled states signal.

  17. Integrated environmental control and monitoring in the intelligent workplace. Final report

    Energy Technology Data Exchange (ETDEWEB)

    NONE

    1997-12-31

    This project involved the design and engineering of the control and monitoring of environmental quality - visual, thermal, air - in the Intelligent Workplace. The research objectives were to study the performance of the individual systems, to study the integration issues related to each system, to develop a control plan, and to implement and test the integrated systems in a real setting. In this project, a control strategy with related algorithms for distributed sensors, actuators, and controllers for negotiating central and individual control of HVAC, lighting, and enclosure was developed in order to maximize user comfort, and energy and environmental effectiveness. The goal of the control system design in the Intelligent Workplace is the integration of building systems for optimization of occupant satisfaction, organizational flexibility, energy efficiency and environmental effectiveness. The task of designing this control system involves not only the research, development and demonstration of state-of-the-art mechanical and electrical systems, but also their integration. The ABSIC research team developed functional requirements for the environmental systems considering the needs of both facility manager and the user. There are three levels of control for the environmental systems: scheduled control, sensor control, and user control. The challenges are to achieve the highest possible levels of energy effectiveness simultaneously with the highest levels of user satisfaction. The report describes the components of each system, their implementation in the Intelligent Workplace and related control and monitoring issues.

  18. Intelligent control of PV system on the basis of the fuzzy recurrent neuronet*

    Science.gov (United States)

    Engel, E. A.; Kovalev, I. V.; Engel, N. E.

    2016-04-01

    This paper presents the fuzzy recurrent neuronet for PV system’s control. Based on the PV system’s state, the fuzzy recurrent neural net tracks the maximum power point under random perturbations. The validity and advantages of the proposed intelligent control of PV system are demonstrated by numerical simulations. The simulation results show that the proposed intelligent control of PV system achieves real-time control speed and competitive performance, as compared to a classical control scheme on the basis of the perturbation & observation algorithm.

  19. Robust H∞ Control for Spacecraft Rendezvous with a Noncooperative Target

    Directory of Open Access Journals (Sweden)

    Shu-Nan Wu

    2013-01-01

    Full Text Available The robust H∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H∞ performance and finite time performance are proposed, and a robust H∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.

  20. Kinematically Optimal Robust Control of Redundant Manipulators

    Science.gov (United States)

    Galicki, M.

    2017-12-01

    This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.

  1. Intelligent robust control law for induction motors based on field-oriented control theory

    Energy Technology Data Exchange (ETDEWEB)

    Barambones, O.; Alcorta, P.; Sevillano, G.; Garrido, A.; Garrido, I. [Univ. del Pais Vasco, Bilbao (Spain). Dpto. Ingenieri a de Sistemas y Automatica

    2009-07-01

    A sensorless adaptive control law was developed to improve the trajectory tracking performance of induction motors. The law used an integral sliding mode algorithm to avoid the necessity of calculating an upper bound for system uncertainties. The vector control theory was used to develop the induction motor drives. The sliding mode control law incorporated an adaptive switching gain and included a method of estimating rotor speeds. Rotor speed estimation errors were presented as a first order simple function based on the difference between real stator currents and estimated stator currents. The Lyapunov stability theory was used to analyze the controller under different load disturbances and parameter uncertainties. Results of the study showed that the control signal of the scheme was smaller than signals obtained using traditional variable structure control schemes. It was concluded that speed tracking objectives can be obtained under various parameter and torque uncertainties. 9 refs., 7 figs.

  2. A Robust Practical Generalized Predictive Control for BoilerSuper Heater Temperature Control

    OpenAIRE

    Zaki Maki Mohialdeen

    2015-01-01

    A practical method of robust generalized predictive controller (GPC) application is developed using a combination of Ziegler-Nichols type functions relating the GPC controller parameters to a first order with time delay process parameters and a model matching controller. The GPC controller and the model matching controller are used in a master/slave configuration, with the GPC as the master controller and the model matching controller as the slave controlle...

  3. Design and Validation of Optimized Feedforward with Robust Feedback Control of a Nuclear Reactor

    International Nuclear Information System (INIS)

    Shaffer, Roman; He Weidong; Edwards, Robert M.

    2004-01-01

    Design applications for robust feedback and optimized feedforward control, with confirming results from experiments conducted on the Pennsylvania State University TRIGA reactor, are presented. The combination of feedforward and feedback control techniques complement each other in that robust control offers guaranteed closed-loop stability in the presence of uncertainties, and optimized feedforward offers an approach to achieving performance that is sometimes limited by overly conservative robust feedback control. The design approach taken in this work combines these techniques by first designing robust feedback control. Alternative methods for specifying a low-order linear model and uncertainty specifications, while seeking as much performance as possible, are discussed and evaluated. To achieve desired performance characteristics, the optimized feedforward control is then computed by using the nominal nonlinear plant model that incorporates the robust feedback control

  4. Robust output feedback H-infinity control and filtering for uncertain linear systems

    CERN Document Server

    Chang, Xiao-Heng

    2014-01-01

    "Robust Output Feedback H-infinity Control and Filtering for Uncertain Linear Systems" discusses new and meaningful findings on robust output feedback H-infinity control and filtering for uncertain linear systems, presenting a number of useful and less conservative design results based on the linear matrix inequality (LMI) technique. Though primarily intended for graduate students in control and filtering, the book can also serve as a valuable reference work for researchers wishing to explore the area of robust H-infinity control and filtering of uncertain systems. Dr. Xiao-Heng Chang is a Professor at the College of Engineering, Bohai University, China.

  5. The strategy for intelligent integrated instrumentation and control system development

    International Nuclear Information System (INIS)

    Kwon, Kee Choon; Ham, Chang Shik

    1995-01-01

    All of the nuclear power plants in Korea are operating with analog instrumentation and control ( I and C) equipment which are increasingly faced with frequent troubles, obsolescence and high maintenance expenses. Electrical and computer technology has improved rapidly in recent years and has been applied to other industries. So it is strongly recommended we adopt modern digital and computer technology to improve plant safety and availability. The advanced I and C system, namely, Integrated Intelligent Instrumentation and Control System (I 3 Cs) will be developed for beyond the next generation nuclear power plant. I 3 CS consists of three major parts, the advanced compact workstation, distributed digital control and protection system including Automatic Start-up/Shutdown Intelligent Control System (ASICS) and the computer-based alarm processing and operator support system, namely, Diagnosis, Response, and operator Aid Management System (DREAMS)

  6. Robust PID Controller for a Pneumatic Actuator

    Directory of Open Access Journals (Sweden)

    Skarpetis Michael G.

    2016-01-01

    Full Text Available In this paper the position control pneumatic actuator using a robust PID controller is presented. The parameters of the PID controller are computed using a Hurwitz invariability technique enriched with a Simulated Annealing Algorithm. The nonlinear model involves uncertain parameters due to linearization of the servo valve, variations of the initial volume of the cylinder and variation of the external load. The problem is proven to be solvable and the controller parameters are chosen to provide a suboptimal solution for tracking error minimization. Simulation results are presented for the nonlinear model.

  7. [An object-oriented intelligent engineering design approach for lake pollution control].

    Science.gov (United States)

    Zou, Rui; Zhou, Jing; Liu, Yong; Zhu, Xiang; Zhao, Lei; Yang, Ping-Jian; Guo, Huai-Cheng

    2013-03-01

    Regarding the shortage and deficiency of traditional lake pollution control engineering techniques, a new lake pollution control engineering approach was proposed in this study, based on object-oriented intelligent design (OOID) from the perspective of intelligence. It can provide a new methodology and framework for effectively controlling lake pollution and improving water quality. The differences between the traditional engineering techniques and the OOID approach were compared. The key points for OOID were described as object perspective, cause and effect foundation, set points into surface, and temporal and spatial optimization. The blue algae control in lake was taken as an example in this study. The effect of algae control and water quality improvement were analyzed in details from the perspective of object-oriented intelligent design based on two engineering techniques (vertical hydrodynamic mixer and pumping algaecide recharge). The modeling results showed that the traditional engineering design paradigm cannot provide scientific and effective guidance for engineering design and decision-making regarding lake pollution. Intelligent design approach is based on the object perspective and quantitative causal analysis in this case. This approach identified that the efficiency of mixers was much higher than pumps in achieving the goal of low to moderate water quality improvement. However, when the objective of water quality exceeded a certain value (such as the control objective of peak Chla concentration exceeded 100 microg x L(-1) in this experimental water), the mixer cannot achieve this goal. The pump technique can achieve the goal but with higher cost. The efficiency of combining the two techniques was higher than using one of the two techniques alone. Moreover, the quantitative scale control of the two engineering techniques has a significant impact on the actual project benefits and costs.

  8. Robust chaotic control of Lorenz system by backstepping design

    International Nuclear Information System (INIS)

    Peng, C.-C.; Chen, C.-L.

    2008-01-01

    This work presents a robust chaotic control strategy for the Lorenz chaos via backstepping design. Backstepping technique is a systematic tool of control law design to provide Lyapunov stability. The concept of extended system is used such that a continuous sliding mode control (SMC) effort is generated using backstepping scheme. In the proposed control algorithm, an adaptation law is applied to estimate the system parameter and the SMC offers the robustness to model uncertainties and external disturbances so that the asymptotical convergence of tracking error can be achieved. Regarding the SMC, an equivalent control algorithm is chosen based on the selection of Lyapunov stability criterion during backstepping approach. The converging rate of error state is relative to the corresponding dynamics of sliding surface. Numerical simulations demonstrate its advantages to a regulation problem and an orbit tracking problem of the Lorenz chaos

  9. A new robust control for minirotorcraft unmanned aerial vehicles.

    Science.gov (United States)

    Mokhtari, M Rida; Cherki, Brahim

    2015-05-01

    This paper presents a new robust control based on finite-time Lyapunov stability controller and proved with backstepping method for the position and the attitude of a small rotorcraft unmanned aerial vehicle subjected to bounded uncertainties and disturbances. The dynamical motion equations are obtained by the Newton-Euler formalism. The proposed controller combines the advantage of the backstepping approach with finite-time convergence techniques to generate a control laws to guarantee the faster convergence of the state variables to their desired values in short time and compensate for the bounded disturbances. A formal proof of the closed-loop stability and finite-time convergence of tracking errors is derived using the Lyapunov function technique. Simulation results are presented to corroborate the effectiveness and the robustness of the proposed control method. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  10. A Survey on Evolutionary Algorithm Based Hybrid Intelligence in Bioinformatics

    Directory of Open Access Journals (Sweden)

    Shan Li

    2014-01-01

    Full Text Available With the rapid advance in genomics, proteomics, metabolomics, and other types of omics technologies during the past decades, a tremendous amount of data related to molecular biology has been produced. It is becoming a big challenge for the bioinformatists to analyze and interpret these data with conventional intelligent techniques, for example, support vector machines. Recently, the hybrid intelligent methods, which integrate several standard intelligent approaches, are becoming more and more popular due to their robustness and efficiency. Specifically, the hybrid intelligent approaches based on evolutionary algorithms (EAs are widely used in various fields due to the efficiency and robustness of EAs. In this review, we give an introduction about the applications of hybrid intelligent methods, in particular those based on evolutionary algorithm, in bioinformatics. In particular, we focus on their applications to three common problems that arise in bioinformatics, that is, feature selection, parameter estimation, and reconstruction of biological networks.

  11. Design of intelligent comfort control system with human learning and minimum power control strategies

    International Nuclear Information System (INIS)

    Liang, J.; Du, R.

    2008-01-01

    This paper presents the design of an intelligent comfort control system by combining the human learning and minimum power control strategies for the heating, ventilating and air conditioning (HVAC) system. In the system, the predicted mean vote (PMV) is adopted as the control objective to improve indoor comfort level by considering six comfort related variables, whilst a direct neural network controller is designed to overcome the nonlinear feature of the PMV calculation for better performance. To achieve the highest comfort level for the specific user, a human learning strategy is designed to tune the user's comfort zone, and then, a VAV and minimum power control strategy is proposed to minimize the energy consumption further. In order to validate the system design, a series of computer simulations are performed based on a derived HVAC and thermal space model. The simulation results confirm the design of the intelligent comfort control system. In comparison to the conventional temperature controller, this system can provide a higher comfort level and better system performance, so it has great potential for HVAC applications in the future

  12. Observer-Based Robust Control of Uncertain Switched Fuzzy Systems with Combined Switching Controller

    Directory of Open Access Journals (Sweden)

    Hong Yang

    2013-01-01

    Full Text Available The observer-based robust control for a class of switched fuzzy (SF time-delay systems involving uncertainties and external disturbances is investigated in this paper. A switched fuzzy system, which differs from existing ones, is firstly employed to describe a nonlinear system. Next, a combined switching controller is proposed. The designed controller based on the observer instead of the state information integrates the advantages of both the switching controllers and the supplementary controllers but eliminates their disadvantages. The proposed controller provides good performance during the transient period, and the chattering effect is removed when the system state approaches the origin. Sufficient condition for the solvability of the robust control problem is given for the case that the state of system is not available. Since convex combination techniques are used to derive the delay-independent criteria, some subsystems are allowed to be unstable. Finally, various comparisons of the elaborated examples are conducted to demonstrate the effectiveness of the proposed control design approach.

  13. Robust control investigations for equipment loaded panels

    DEFF Research Database (Denmark)

    Aglietti, G.S.; Langley, R.S.; Rogers, E.

    1998-01-01

    This paper develops a modelling technique for equipment load panels which directly produces (adequate) models of the underlying dynamics on which to base robust controller design/evaluations. This technique is based on the use of the Lagrange's equations of motion and the resulting models...

  14. Robust balance shift control with posture optimization

    NARCIS (Netherlands)

    Kavafoglu, Z.; Kavafoglu, Ersan; Egges, J.

    2015-01-01

    In this paper we present a control framework which creates robust and natural balance shifting behaviours during standing. Given high-level features such as the position of the center of mass projection and the foot configurations, a kinematic posture satisfying these features is synthesized using

  15. Robust Model Predictive Control of Networked Control Systems under Input Constraints and Packet Dropouts

    Directory of Open Access Journals (Sweden)

    Deyin Yao

    2014-01-01

    Full Text Available This paper deals with the problem of robust model predictive control (RMPC for a class of linear time-varying systems with constraints and data losses. We take the polytopic uncertainties into account to describe the uncertain systems. First, we design a robust state observer by using the linear matrix inequality (LMI constraints so that the original system state can be tracked. Second, the MPC gain is calculated by minimizing the upper bound of infinite horizon robust performance objective in terms of linear matrix inequality conditions. The method of robust MPC and state observer design is illustrated by a numerical example.

  16. A novel optimized hybrid fuzzy logic intelligent PID controller for an interconnected multi-area power system with physical constraints and boiler dynamics.

    Science.gov (United States)

    Gomaa Haroun, A H; Li, Yin-Ya

    2017-11-01

    In the fast developing world nowadays, load frequency control (LFC) is considered to be a most significant role for providing the power supply with good quality in the power system. To deliver a reliable power, LFC system requires highly competent and intelligent control technique. Hence, in this article, a novel hybrid fuzzy logic intelligent proportional-integral-derivative (FLiPID) controller has been proposed for LFC of interconnected multi-area power systems. A four-area interconnected thermal power system incorporated with physical constraints and boiler dynamics is considered and the adjustable parameters of the FLiPID controller are optimized using particle swarm optimization (PSO) scheme employing an integral square error (ISE) criterion. The proposed method has been established to enhance the power system performances as well as to reduce the oscillations of uncertainties due to variations in the system parameters and load perturbations. The supremacy of the suggested method is demonstrated by comparing the simulation results with some recently reported heuristic methods such as fuzzy logic proportional-integral (FLPI) and intelligent proportional-integral-derivative (PID) controllers for the same electrical power system. the investigations showed that the FLiPID controller provides a better dynamic performance and outperform compared to the other approaches in terms of the settling time, and minimum undershoots of the frequency as well as tie-line power flow deviations following a perturbation, in addition to perform appropriate settlement of integral absolute error (IAE). Finally, the sensitivity analysis of the plant is inspected by varying the system parameters and operating load conditions from their nominal values. It is observed that the suggested controller based optimization algorithm is robust and perform satisfactorily with the variations in operating load condition, system parameters and load pattern. Copyright © 2017 ISA. Published by

  17. Intelligent control for large-scale variable speed variable pitch wind turbines

    Institute of Scientific and Technical Information of China (English)

    Xinfang ZHANG; Daping XU; Yibing LIU

    2004-01-01

    Large-scale wind turbine generator systems have strong nonlinear multivariable characteristics with many uncertain factors and disturbances.Automatic control is crucial for the efficiency and reliability of wind turbines.On the basis of simplified and proper model of variable speed variable pitch wind turbines,the effective wind speed is estimated using extended Kalman filter.Intelligent control schemes proposed in the paper include two loops which operate in synchronism with each other.At below-rated wind speed,the inner loop adopts adaptive fuzzy control based on variable universe for generator torque regulation to realize maximum wind energy capture.At above-rated wind speed, a controller based on least square support vector machine is proposed to adjust pitch angle and keep rated output power.The simulation shows the effectiveness of the intelligent control.

  18. Evolving intelligent vehicle control using multi-objective NEAT

    NARCIS (Netherlands)

    Willigen, W.H. van; Haasdijk, E.; Kester, L.J.H.M.

    2013-01-01

    The research in this paper is inspired by a vision of intelligent vehicles that autonomously move along motorways: they join and leave trains of vehicles (platoons), overtake other vehicles, etc. We propose a multi-objective algorithm based on NEAT and SPEA2 that evolves controllers for such

  19. INTELLIGENT AUTOMATED SYSTEM OF CONTROL OF KNOWLEDGE: LINGUISTIC SUBSYSTEM

    Directory of Open Access Journals (Sweden)

    I. Katerynchuk

    2010-08-01

    Full Text Available A flowchart linguistic structure (morfological, syntactical, semantic and pragmatic analysis of sentences of the automated system of control of intellectual knowledge. The model of artificial intelligence recognition and evaluation of textual answers.

  20. IT-tool Concept for Design and Intelligent Motion Control

    DEFF Research Database (Denmark)

    Conrad, Finn; Hansen, Poul Erik; Sørensen, Torben

    2000-01-01

    The paper presents results obtained from a Danish mechatronic research program focusing on intelligent motion control as well as results from the Esprit project SWING on IT-tools for rapid prototyping of fluid power components and systems. A mechatronic test facility with digital controllers for ....... Furthermore, a developed IT-tool concept for controller and system design utilising the ISO 10303 STEP Standard is proposed....

  1. F-15 837 IFCS Intelligent Flight Control System Project

    Science.gov (United States)

    Bosworth, John T.

    2007-01-01

    This viewgraph presentation reviews the use of Intelligent Flight Control System (IFCS) for the F-15. The goals of the project are: (1) Demonstrate Revolutionary Control Approaches that can Efficiently Optimize Aircraft Performance in both Normal and Failure Conditions (2) Advance Neural Network-Based Flight Control Technology for New Aerospace Systems Designs. The motivation for the development are to reduce the chance and skill required for survival.

  2. Driving the brain towards creativity and intelligence: A network control theory analysis.

    Science.gov (United States)

    Kenett, Yoed N; Medaglia, John D; Beaty, Roger E; Chen, Qunlin; Betzel, Richard F; Thompson-Schill, Sharon L; Qiu, Jiang

    2018-01-04

    High-level cognitive constructs, such as creativity and intelligence, entail complex and multiple processes, including cognitive control processes. Recent neurocognitive research on these constructs highlight the importance of dynamic interaction across neural network systems and the role of cognitive control processes in guiding such a dynamic interaction. How can we quantitatively examine the extent and ways in which cognitive control contributes to creativity and intelligence? To address this question, we apply a computational network control theory (NCT) approach to structural brain imaging data acquired via diffusion tensor imaging in a large sample of participants, to examine how NCT relates to individual differences in distinct measures of creative ability and intelligence. Recent application of this theory at the neural level is built on a model of brain dynamics, which mathematically models patterns of inter-region activity propagated along the structure of an underlying network. The strength of this approach is its ability to characterize the potential role of each brain region in regulating whole-brain network function based on its anatomical fingerprint and a simplified model of node dynamics. We find that intelligence is related to the ability to "drive" the brain system into easy to reach neural states by the right inferior parietal lobe and lower integration abilities in the left retrosplenial cortex. We also find that creativity is related to the ability to "drive" the brain system into difficult to reach states by the right dorsolateral prefrontal cortex (inferior frontal junction) and higher integration abilities in sensorimotor areas. Furthermore, we found that different facets of creativity-fluency, flexibility, and originality-relate to generally similar but not identical network controllability processes. We relate our findings to general theories on intelligence and creativity. Copyright © 2018 Elsevier Ltd. All rights reserved.

  3. Robust approximation-free prescribed performance control for nonlinear systems and its application

    Science.gov (United States)

    Sun, Ruisheng; Na, Jing; Zhu, Bin

    2018-02-01

    This paper presents a robust prescribed performance control approach and its application to nonlinear tail-controlled missile systems with unknown dynamics and uncertainties. The idea of prescribed performance function (PPF) is incorporated into the control design, such that both the steady-state and transient control performance can be strictly guaranteed. Unlike conventional PPF-based control methods, we further tailor a recently proposed systematic control design procedure (i.e. approximation-free control) using the transformed tracking error dynamics, which provides a proportional-like control action. Hence, the function approximators (e.g. neural networks, fuzzy systems) that are widely used to address the unknown nonlinearities in the nonlinear control designs are not needed. The proposed control design leads to a robust yet simplified function approximation-free control for nonlinear systems. The closed-loop system stability and the control error convergence are all rigorously proved. Finally, comparative simulations are conducted based on nonlinear missile systems to validate the improved response and the robustness of the proposed control method.

  4. A COMPARISON OF SOME ROBUST BIVARIATE CONTROL CHARTS FOR INDIVIDUAL OBSERVATIONS

    Directory of Open Access Journals (Sweden)

    Moustafa Omar Ahmed Abu - Shawiesh

    2014-06-01

    Full Text Available This paper proposed and considered some bivariate control charts to monitor individual observations from a statistical process control. Usual control charts which use mean and variance-covariance estimators are sensitive to outliers. We consider the following robust alternatives to the classical Hoteling's T2: T2MedMAD, T2MCD, T2MVE a simulation study has been conducted to compare the performance of these control charts. Two real life data are analyzed to illustrate the application of these robust alternatives.

  5. Integrated robust controller for vehicle path following

    Energy Technology Data Exchange (ETDEWEB)

    Mashadi, Behrooz; Ahmadizadeh, Pouyan, E-mail: p-ahmadizadeh@iust.ac.ir; Majidi, Majid, E-mail: m-majidi@iust.ac.ir [Iran University of Science and Technology, School of Automotive Engineering (Iran, Islamic Republic of); Mahmoodi-Kaleybar, Mehdi, E-mail: m-mahmoodi-k@iust.ac.ir [Iran University of Science and Technology, School of Mechanical Engineering (Iran, Islamic Republic of)

    2015-02-15

    The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties.

  6. Integrated robust controller for vehicle path following

    International Nuclear Information System (INIS)

    Mashadi, Behrooz; Ahmadizadeh, Pouyan; Majidi, Majid; Mahmoodi-Kaleybar, Mehdi

    2015-01-01

    The design of an integrated 4WS+DYC control system to guide a vehicle on a desired path is presented. The lateral dynamics of the path follower vehicle is formulated by considering important parameters. To reduce the effect of uncertainties in vehicle parameters, a robust controller is designed based on a μ-synthesis approach. Numerical simulations are performed using a nonlinear vehicle model in MATLAB environment in order to investigate the effectiveness of the designed controller. Results of simulations show that the controller has a profound ability to making the vehicle track the desired path in the presence of uncertainties

  7. Robust control technique for nuclear power plants

    International Nuclear Information System (INIS)

    Murphy, G.V.; Bailey, J.M.

    1989-03-01

    This report summarizes the linear quadratic Guassian (LQG) design technique with loop transfer recovery (LQG/LTR) for design of control systems. The concepts of return ratio, return difference, inverse return difference, and singular values are summarized. The LQG/LTR design technique allows the synthesis of a robust control system. To illustrate the LQG/LTR technique, a linearized model of a simple process has been chosen. The process has three state variables, one input, and one output. Three control system design methods are compared: LQG, LQG/LTR, and a proportional plus integral controller (PI). 7 refs., 20 figs., 6 tabs

  8. Set-Membership Identification for Robust Control Design

    Science.gov (United States)

    1993-04-28

    Clauifica lion) ( U) Set-Memnbership Identification for Robust Control Design ___________________ 1. PERSONAL A UTHOR(SI Dr. Robert L. Kosul. Final Report...Shalom, E.Tse "Caution, probing, and the value of information in the control of un- certain systems", Annals of Economic and Social Measurement, 5/3, pp...knowing a bound on I the impulse response is quantitative. A similar clasoitication can be made regarding signal charateristics . Knowing that a signal is

  9. Enhanced robust fractional order proportional-plus-integral controller based on neural network for velocity control of permanent magnet synchronous motor.

    Science.gov (United States)

    Zhang, Bitao; Pi, YouGuo

    2013-07-01

    The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.

  10. Robust reactor power control system design by genetic algorithm

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)

    1998-12-31

    The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)

  11. Robust reactor power control system design by genetic algorithm

    Energy Technology Data Exchange (ETDEWEB)

    Lee, Yoon Joon; Cho, Kyung Ho; Kim, Sin [Cheju National University, Cheju (Korea, Republic of)

    1997-12-31

    The H{sub {infinity}} robust controller for the reactor power control system is designed by use of the mixed weight sensitivity. The system is configured into the typical two-port model with which the weight functions are augmented. Since the solution depends on the weighting functions and the problem is of nonconvex, the genetic algorithm is used to determine the weighting functions. The cost function applied in the genetic algorithm permits the direct control of the power tracking performances. In addition, the actual operating constraints such as rod velocity and acceleration can be treated as design parameters. Compared with the conventional approach, the controller designed by the genetic algorithm results in the better performances with the realistic constraints. Also, it is found that the genetic algorithm could be used as an effective tool in the robust design. 4 refs., 6 figs. (Author)

  12. Microgrid Stability Controller Based on Adaptive Robust Total SMC

    DEFF Research Database (Denmark)

    Su, Xiaoling; Han, Minxiao; Guerrero, Josep M.

    2015-01-01

    This paper presents a microgrid stability controller (MSC) in order to provide existing DGs the additional functionality of working in islanding mode without changing their control strategies in grid-connected mode and to enhance the stability of the microgrid. Microgrid operating characteristics....... The MSC provides fast dynamic response and robustness to the microgrid. When the system is operating in grid-connected mode, it is able to improve the controllability of the exchanged power between the microgrid and the utility grid, while smoothing DG’s output power. When the microgrid is operating...... and mathematical models of the MSC indicate that the system is inherently nonlinear and time-variable. Therefore, this paper proposes an adaptive robust total sliding-mode control (ARTSMC) system for the MSC. It is proved that the ARTSMC system is insensitive to parametric uncertainties and external disturbances...

  13. Robust Backstepping Control for Cold Rolling Main Drive System with Nonlinear Uncertainties

    Directory of Open Access Journals (Sweden)

    Xu Yang

    2013-01-01

    Full Text Available The nonlinear model of main drive system in cold rolling process, which considers the influence with parameter uncertainties such as clearance and variable friction coefficient, as well as external disturbance by roll eccentricity and variation of strip material quality, is built. By transformation, the lower triangular structure form of main drive system is obtained. The backstepping algorithm based on signal compensation is proposed to design a linear time-invariant (LTI robust controller, including a nominal controller and a robust compensator. A comparison with PI controller shows that the controller has better disturbance attenuation performance and tracking behaviors. Meanwhile, according to its LTI characteristic, the robust controller can be realized easily; therefore it is also appropriated to high speed dynamic rolling process.

  14. Robust controller with adaptation within the boundary layer: application to nuclear underwater inspection robot

    International Nuclear Information System (INIS)

    Park, Gee Yong; Yoon, Ji Sup; Hong, Dong Hee; Jeong, Jae Hoo

    2002-01-01

    In this paper, the robust control scheme with the improved control performance within the boundary layer is proposed. In the control scheme, the robust controller based on the traditional variable structure control method is modified to have the adaptation within the boundary layer. From this controller, the width of the boundary layer where the robust control input is smoothened out can be given by an appropriate value. But the improve control performance within the boundary layer can be achieved without the so-called control chattering because the role of adaptive control is to compensate for the uncovered portions of the robust control occurred from the continuous approximation within the boundary layer. Simulation tests for circular navigation of an underwater wall-ranging robot developed for inspection of wall surfaces in the research reactor, TRIGA MARK III, confirm the performance improvement

  15. Quasipolynomial Approach to Simultaneous Robust Control of Time-Delay Systems

    Directory of Open Access Journals (Sweden)

    Nikolaj Semenič

    2014-01-01

    Full Text Available A control law for retarded time-delay systems is considered, concerning infinite closed-loop spectrum assignment. An algebraic method for spectrum assignment is presented with a unique optimization algorithm for minimization of spectral abscissa and effective shaping of the chains of infinitely many closed-loop poles. Uncertainty of plant delays of a certain structure is considered in a sense of a robust simultaneous stabilization. Robust performance is achieved using mixed sensitivity design, which is incorporated into the addressed control law.

  16. Lane changing trajectory planning and tracking control for intelligent vehicle on curved road.

    Science.gov (United States)

    Wang, Lukun; Zhao, Xiaoying; Su, Hao; Tang, Gongyou

    2016-01-01

    This paper explores lane changing trajectory planning and tracking control for intelligent vehicle on curved road. A novel arcs trajectory is planned for the desired lane changing trajectory. A kinematic controller and a dynamics controller are designed to implement the trajectory tracking control. Firstly, the kinematic model and dynamics model of intelligent vehicle with non-holonomic constraint are established. Secondly, two constraints of lane changing on curved road in practice (LCCP) are proposed. Thirdly, two arcs with same curvature are constructed for the desired lane changing trajectory. According to the geometrical characteristics of arcs trajectory, equations of desired state can be calculated. Finally, the backstepping method is employed to design a kinematic trajectory tracking controller. Then the sliding-mode dynamics controller is designed to ensure that the motion of the intelligent vehicle can follow the desired velocity generated by kinematic controller. The stability of control system is proved by Lyapunov theory. Computer simulation demonstrates that the desired arcs trajectory and state curves with B-spline optimization can meet the requirements of LCCP constraints and the proposed control schemes can make tracking errors to converge uniformly.

  17. Neuro-Fuzzy DC Motor Speed Control Using Particle Swarm Optimization

    Directory of Open Access Journals (Sweden)

    Boumediene ALLAOUA

    2009-12-01

    Full Text Available This paper presents an application of Adaptive Neuro-Fuzzy Inference System (ANFIS control for DC motor speed optimized with swarm collective intelligence. First, the controller is designed according to Fuzzy rules such that the systems are fundamentally robust. Secondly, an adaptive Neuro-Fuzzy controller of the DC motor speed is then designed and simulated; the ANFIS has the advantage of expert knowledge of the Fuzzy inference system and the learning capability of neural networks. Finally, the ANFIS is optimized by Swarm Intelligence. Digital simulation results demonstrate that the deigned ANFIS-Swarm speed controller realize a good dynamic behavior of the DC motor, a perfect speed tracking with no overshoot, give better performance and high robustness than those obtained by the ANFIS alone.

  18. Robust multi-model control of an autonomous wind power system

    Energy Technology Data Exchange (ETDEWEB)

    Cutululis, Nicolas Antonio; Hansen, Anca Daniela; Soerensen, Poul [Risoe National Lab., Wind Energy Dept., Roskilde (Denmark); Ceanga, Emil [' Dunarea de Jos' Univ., Faculty of Electrical Engineering, Galati (Romania)

    2006-07-01

    This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. (Author)

  19. Robust multi-model control of an autonomous wind power system

    Science.gov (United States)

    Cutululis, Nicolas Antonio; Ceanga, Emil; Hansen, Anca Daniela; Sørensen, Poul

    2006-09-01

    This article presents a robust multi-model control structure for a wind power system that uses a variable speed wind turbine (VSWT) driving a permanent magnet synchronous generator (PMSG) connected to a local grid. The control problem consists in maximizing the energy captured from the wind for varying wind speeds. The VSWT-PMSG linearized model analysis reveals the resonant nature of its dynamic at points on the optimal regimes characteristic (ORC). The natural frequency of the system and the damping factor are strongly dependent on the operating point on the ORC. Under these circumstances a robust multi-model control structure is designed. The simulation results prove the viability of the proposed control structure. Copyright

  20. Nonlinear robust control of hypersonic aircrafts with interactions between flight dynamics and propulsion systems.

    Science.gov (United States)

    Li, Zhaoying; Zhou, Wenjie; Liu, Hao

    2016-09-01

    This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Intelligent control of a smart walker and its performance evaluation.

    Science.gov (United States)

    Grondin, Simon L; Li, Qingguo

    2013-06-01

    Recent technological advances have allowed the development of force-dependent, intelligently controlled smart walkers that are able to provide users with enhanced mobility, support and gait assistance. The purpose of this study was to develop an intelligent rule-based controller for a smart walker to achieve a smooth interaction between the user and the walker. This study developed a rule-based mapping between the interaction force, measured by a load cell attached to the walker handle, and the acceleration of the walker. Ten young, healthy subjects were used to evaluate the performance of the proposed controller compared to a well-known admittance-based control system. There were no significant differences between the two control systems concerning their user experience, velocity profiles or average cost of transportation. However, the admittance-based control system required a 1.2N lower average interaction force to maintain the 1m/s target speed (p = 0.002). Metabolic data also indicated that smart walker-assisted gait could considerably reduce the metabolic demand of walking with a four-legged walker.

  2. ANN-PSO Integrated Optimization Methodology for Intelligent Control of MMC Machining

    Science.gov (United States)

    Chandrasekaran, Muthumari; Tamang, Santosh

    2017-08-01

    Metal Matrix Composites (MMC) show improved properties in comparison with non-reinforced alloys and have found increased application in automotive and aerospace industries. The selection of optimum machining parameters to produce components of desired surface roughness is of great concern considering the quality and economy of manufacturing process. In this study, a surface roughness prediction model for turning Al-SiCp MMC is developed using Artificial Neural Network (ANN). Three turning parameters viz., spindle speed ( N), feed rate ( f) and depth of cut ( d) were considered as input neurons and surface roughness was an output neuron. ANN architecture having 3 -5 -1 is found to be optimum and the model predicts with an average percentage error of 7.72 %. Particle Swarm Optimization (PSO) technique is used for optimizing parameters to minimize machining time. The innovative aspect of this work is the development of an integrated ANN-PSO optimization method for intelligent control of MMC machining process applicable to manufacturing industries. The robustness of the method shows its superiority for obtaining optimum cutting parameters satisfying desired surface roughness. The method has better convergent capability with minimum number of iterations.

  3. RESEARCH AREA -- ARTIFICIAL INTELLIGENCE CONTROL (AIR POLLUTION TECHNOLOGY BRANCH, AIR POLLUTION PREVENTION AND CONTROL DIVISION, NRMRL)

    Science.gov (United States)

    The Air Pollution Technology Branch (APTB) of NRMRL's Air Pollution Prevention and Control Division in Research Triangle Park, NC, has conducted several research projects for evaluating the use of artificial intelligence (AI) to improve the control of pollution control systems an...

  4. A Robust Multivariable Feedforward/Feedback Controller Design for Integrated Power Control of Boiling Water Reactor Power Plants

    International Nuclear Information System (INIS)

    Shyu, S.-S.; Edwards, Robert M.

    2002-01-01

    In this paper, a methodology for synthesizing a robust multivariable feedforward/feedback control (FF/FBC) strategy is proposed for an integrated control of turbine power, throttle pressure, and reactor water level in a nuclear power plant. In the proposed method, the FBC is synthesized by the robust control approach. The feedforward control, which is generated via nonlinear programming, is added to the robust FBC system to further improve the control performance. The plant uncertainties, including unmodeled dynamics, linearization, and model reduction, are characterized and estimated. The comparisons of simulation responses based on a nonlinear reactor model demonstrate the achievement of the proposed controller with specified performance and endurance under uncertainty. It is also important to note that all input variables are manipulated in an orchestrated manner in response to a single output's setpoint change

  5. Intelligent Control and Operation of Distribution System

    DEFF Research Database (Denmark)

    Bhattarai, Bishnu Prasad

    methodology to ensure efficient control and operation of the future distribution networks. The major scientific challenge is thus to develop control models and strategies to coordinate responses from widely distributed controllable loads and local generations. Detailed models of key Smart Grid (SG) elements...... in this direction but also benefit distribution system operators in the planning and development of the distribution network. The major contributions of this work are described in the following four stages: In the first stage, an intelligent Demand Response (DR) control architecture is developed for coordinating...... the key SG actors, namely consumers, network operators, aggregators, and electricity market entities. A key intent of the architecture is to facilitate market participation of residential consumers and prosumers. A Hierarchical Control Architecture (HCA) having primary, secondary, and tertiary control...

  6. Stability Constraints for Robust Model Predictive Control

    Directory of Open Access Journals (Sweden)

    Amanda G. S. Ottoni

    2015-01-01

    Full Text Available This paper proposes an approach for the robust stabilization of systems controlled by MPC strategies. Uncertain SISO linear systems with box-bounded parametric uncertainties are considered. The proposed approach delivers some constraints on the control inputs which impose sufficient conditions for the convergence of the system output. These stability constraints can be included in the set of constraints dealt with by existing MPC design strategies, in this way leading to the “robustification” of the MPC.

  7. Flight Test Implementation of a Second Generation Intelligent Flight Control System

    Science.gov (United States)

    Williams-Hayes, Peggy S.

    2005-01-01

    The NASA F-15 Intelligent Flight Control System project team has developed a series of flight control concepts designed to demonstrate the benefits of a neural network-based adaptive controller. The objective of the team was to develop and flight-test control systems that use neural network technology, to optimize the performance of the aircraft under nominal conditions, and to stabilize the aircraft under failure conditions. Failure conditions include locked or failed control surfaces as well as unforeseen damage that might occur to the aircraft in flight. The Intelligent Flight Control System team is currently in the process of implementing a second generation control scheme, collectively known as Generation 2 or Gen 2, for flight testing on the NASA F-15 aircraft. This report describes the Gen 2 system as implemented by the team for flight test evaluation. Simulation results are shown which describe the experiment to be performed in flight and highlight the ways in which the Gen 2 system meets the defined objectives.

  8. An intelligent simulation environment for control system design

    International Nuclear Information System (INIS)

    Robinson, J.T.

    1989-01-01

    The Oak Ridge National Laboratory is currently assisting in the development of advanced control systems for the next generation of nuclear power plants. This paper presents a prototype interactive and intelligent simulation environment being developed to support this effort. The environment combines tools from the field of Artificial Intelligence; in particular object-oriented programming, a LISP programming environment, and a direct manipulation user interface; with traditional numerical methods for simulating combined continuous/discrete processes. The resulting environment is highly interactive and easy to use. Models may be created and modified quickly through a window oriented direct manipulation interface. Models may be modified at any time, even as the simulation is running, and the results observed immediately via real-time graphics. 8 refs., 3 figs

  9. Meta-algorithmics patterns for robust, low cost, high quality systems

    CERN Document Server

    Simske, Steven J

    2013-01-01

    The confluence of cloud computing, parallelism and advanced machine intelligence approaches has created a world in which the optimum knowledge system will usually be architected from the combination of two or more knowledge-generating systems. There is a need, then, to provide a reusable, broadly-applicable set of design patterns to empower the intelligent system architect to take advantage of this opportunity. This book explains how to design and build intelligent systems that are optimized for changing system requirements (adaptability), optimized for changing system input (robustness), an

  10. Efficient robust control of first order scalar conservation laws using semi-analytical solutions

    KAUST Repository

    Li, Yanning; Canepa, Edward S.; Claudel, Christian G.

    2014-01-01

    This article presents a new robust control framework for transportation problems in which the state is modeled by a first order scalar conservation law. Using an equivalent formulation based on a Hamilton-Jacobi equation, we pose the problem of controlling the state of the system on a network link, using initial density control and boundary flow control, as a Linear Program. We then show that this framework can be extended to arbitrary control problems involving the control of subsets of the initial and boundary conditions. Unlike many previously investigated transportation control schemes, this method yields a globally optimal solution and is capable of handling shocks (i.e. discontinuities in the state of the system). We also demonstrate that the same framework can handle robust control problems, in which the uncontrollable components of the initial and boundary conditions are encoded in intervals on the right hand side of inequalities in the linear program. The lower bound of the interval which defines the smallest feasible solution set is used to solve the robust LP/MILP. Since this framework leverages the intrinsic properties of the Hamilton-Jacobi equation used to model the state of the system, it is extremely fast. Several examples are given to demonstrate the performance of the robust control solution and the trade-off between the robustness and the optimality.

  11. Distributed robust adaptive control of high order nonlinear multi agent systems.

    Science.gov (United States)

    Hashemi, Mahnaz; Shahgholian, Ghazanfar

    2018-03-01

    In this paper, a robust adaptive neural network based controller is presented for multi agent high order nonlinear systems with unknown nonlinear functions, unknown control gains and unknown actuator failures. At first, Neural Network (NN) is used to approximate the nonlinear uncertainty terms derived from the controller design procedure for the followers. Then, a novel distributed robust adaptive controller is developed by combining the backstepping method and the Dynamic Surface Control (DSC) approach. The proposed controllers are distributed in the sense that the designed controller for each follower agent only requires relative state information between itself and its neighbors. By using the Young's inequality, only few parameters need to be tuned regardless of NN nodes number. Accordingly, the problems of dimensionality curse and explosion of complexity are counteracted, simultaneously. New adaptive laws are designed by choosing the appropriate Lyapunov-Krasovskii functionals. The proposed approach proves the boundedness of all the closed-loop signals in addition to the convergence of the distributed tracking errors to a small neighborhood of the origin. Simulation results indicate that the proposed controller is effective and robust. Copyright © 2018 ISA. Published by Elsevier Ltd. All rights reserved.

  12. Fire Play: ICCARUS--Intelligent Command and Control, Acquisition and Review Using Simulation

    Science.gov (United States)

    Powell, James; Wright, Theo; Newland, Paul; Creed, Chris; Logan, Brian

    2008-01-01

    Is it possible to educate a fire officer to deal intelligently with the command and control of a major fire event he will never have experienced? The authors of this paper believe there is, and present here just one solution to this training challenge. It involves the development of an intelligent simulation based upon computer managed interactive…

  13. Intelligent control and maintenance of management integrated system based on multi-agents for coal preparation plant

    Energy Technology Data Exchange (ETDEWEB)

    Meng, F.; Wang, Y. [China University of Mining and technology, Xuzhou (China). School of Information and Electrical Engineering

    2006-06-15

    This paper discusses the progress of computer integrated processing (CIPS) of coal preparation and then presents an intelligence controlled production process, device-maintenance and production-management system of coal preparation based on multi-agents (IICMMS-CP). The construction of the IICMMS-CP, the distributed network control system based on live intelligence control stations and the strategy of implementing a distributed intelligence control system are studied in order to overcome the disadvantages brought about by the wide use of the PLC system by coal preparation plants. The software frame, based on a Multi-Agent Intelligence Control and Maintenance Management integrated system, is studied and the implementation methods of IICMMS-CP are discussed. The characteristics of distributed architecture, cooperation and parallel computing meet the needs of integrated control of coal preparation plants with large-scale spatial production distribution, densely-related processes and complex systems. Its application further improves the reliability and precision of process control, accuracy of fault identification and intelligence of production adjustment, establishes a technical basis for system integration and flexible production. The main function of the system has been tested in a coal preparation plant to good effect in stabilizing product quality, improving efficiency and reducing consumption. 17 refs., 4 figs.

  14. Robust levitation control for maglev systems with guaranteed bounded airgap.

    Science.gov (United States)

    Xu, Jinquan; Chen, Ye-Hwa; Guo, Hong

    2015-11-01

    The robust control design problem for the levitation control of a nonlinear uncertain maglev system is considered. The uncertainty is (possibly) fast time-varying. The system has magnitude limitation on the airgap between the suspended chassis and the guideway in order to prevent undesirable contact. Furthermore, the (global) matching condition is not satisfied. After a three-step state transformation, a robust control scheme for the maglev vehicle is proposed, which is able to guarantee the uniform boundedness and uniform ultimate boundedness of the system, regardless of the uncertainty. The magnitude limitation of the airgap is guaranteed, regardless of the uncertainty. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Emotional intelligence and locus of control of adult patients with ...

    African Journals Online (AJOL)

    2011-03-15

    Mar 15, 2011 ... Keywords: breast cancer, treatment, positive psychology, emotional intelligence, locus of control ... branches are organised in a hierarchy with perception of ..... Asian. Development Bank Knowledge Solutions [serial online].

  16. Robust distributed model predictive control of linear systems with structured time-varying uncertainties

    Science.gov (United States)

    Zhang, Langwen; Xie, Wei; Wang, Jingcheng

    2017-11-01

    In this work, synthesis of robust distributed model predictive control (MPC) is presented for a class of linear systems subject to structured time-varying uncertainties. By decomposing a global system into smaller dimensional subsystems, a set of distributed MPC controllers, instead of a centralised controller, are designed. To ensure the robust stability of the closed-loop system with respect to model uncertainties, distributed state feedback laws are obtained by solving a min-max optimisation problem. The design of robust distributed MPC is then transformed into solving a minimisation optimisation problem with linear matrix inequality constraints. An iterative online algorithm with adjustable maximum iteration is proposed to coordinate the distributed controllers to achieve a global performance. The simulation results show the effectiveness of the proposed robust distributed MPC algorithm.

  17. An intelligent nuclear reactor core controller for load following operations, using recurrent neural networks and fuzzy systems

    International Nuclear Information System (INIS)

    Boroushaki, M.; Ghofrani, M.B.; Lucas, C.; Yazdanpanah, M.J.

    2003-01-01

    In the last decade, the intelligent control community has paid great attention to the topic of intelligent control systems for nuclear plants (core, steam generator...). Papers mostly used approximate and simple mathematical SISO (single-input-single-output) model of nuclear plants for testing and/or tuning of the control systems. They also tried to generalize theses models to a real MIMO (multi-input-multi-output) plant, while nuclear plants are typically of complex nonlinear and multivariable nature with high interactions between their state variables and therefore, many of these proposed intelligent control systems are not appropriate for real cases. In this paper, we designed an on-line intelligent core controller for load following operations, based on a heuristic control algorithm, using a valid and updatable recurrent neural network (RNN). We have used an accurate 3-dimensional core calculation code to represent the real plant and to train the RNN. The results of simulation show that this intelligent controller can control the reactor core during load following operations, using optimum control rod groups manoeuvre and variable overlapping strategy. This methodology represents a simple and reliable procedure for controlling other complex nonlinear MIMO plants, and may improve the responses, comparing to other control systems

  18. Intelligent Control for Drag Reduction on the X-48B Vehicle

    Science.gov (United States)

    Griffin, Brian Joseph; Brown, Nelson Andrew; Yoo, Seung Yeun

    2011-01-01

    This paper focuses on the development of an intelligent control technology for in-flight drag reduction. The system is integrated with and demonstrated on the full X-48B nonlinear simulation. The intelligent control system utilizes a peak-seeking control method implemented with a time-varying Kalman filter. Performance functional coordinate and magnitude measurements, or independent and dependent parameters respectively, are used by the Kalman filter to provide the system with gradient estimates of the designed performance function which is used to drive the system toward a local minimum in a steepestdescent approach. To ensure ease of integration and algorithm performance, a single-input single-output approach was chosen. The framework, specific implementation considerations, simulation results, and flight feasibility issues related to this platform are discussed.

  19. Robust wide-range control of nuclear reactors by using the feedforward-feedback concept

    International Nuclear Information System (INIS)

    Weng, C.K.; Edwards, R.M.; Ray, A.

    1994-01-01

    A robust feedforward-feedback controller is proposed for wide-range operations of nuclear reactors. This control structure provides (a) optimized performance over a wide operating range resulting form the feedforward element and (b) guaranteed robust stability and performance resulting from the feedback element. The feedforward control law is synthesized via nonlinear programming, which generates an optimal control sequence over a finite-time horizon under specified constraints. The feedback control is synthesized via the structured singular value μ approach to guarantee robustness in the presence of disturbances and modeling uncertainties. The results of simulation experiments are presented to demonstrate efficacy of the proposed control structure for a large rapid power reduction to avoid unnecessary plant trips

  20. The Use of Intelligent Relays for the Sewer Cleaning Vehicle Control and Automation

    Directory of Open Access Journals (Sweden)

    O. Chiver

    2012-06-01

    Full Text Available The paper presents the way in which the electrical control and automation system of the 5 mc combined sewer and gully cleaning vehicle equipped by a local company was designed, using the intelligent relay of the easy 700 type of Moeller (Eaton company. The control of all the equipments is performed locally from the control panel and some of them can also by remote controlled by means of the radio waves. The program required by the intelligent relay was created, tested and implemented with the help of the dedicated software easy-soft 6, developed by the manufacturing company.

  1. Parallel Solution of Robust Nonlinear Model Predictive Control Problems in Batch Crystallization

    Directory of Open Access Journals (Sweden)

    Yankai Cao

    2016-06-01

    Full Text Available Representing the uncertainties with a set of scenarios, the optimization problem resulting from a robust nonlinear model predictive control (NMPC strategy at each sampling instance can be viewed as a large-scale stochastic program. This paper solves these optimization problems using the parallel Schur complement method developed to solve stochastic programs on distributed and shared memory machines. The control strategy is illustrated with a case study of a multidimensional unseeded batch crystallization process. For this application, a robust NMPC based on min–max optimization guarantees satisfaction of all state and input constraints for a set of uncertainty realizations, and also provides better robust performance compared with open-loop optimal control, nominal NMPC, and robust NMPC minimizing the expected performance at each sampling instance. The performance of robust NMPC can be improved by generating optimization scenarios using Bayesian inference. With the efficient parallel solver, the solution time of one optimization problem is reduced from 6.7 min to 0.5 min, allowing for real-time application.

  2. Neural network-based control of an intelligent solar Stirling pump

    International Nuclear Information System (INIS)

    Tavakolpour-Saleh, A.R.; Jokar, H.

    2016-01-01

    In this paper, an ANN (artificial neural network) control system is applied to a novel solar-powered active LTD (low temperature differential) Stirling pump. First, a mathematical description of the proposed Stirling pump is presented. Then, optimum operating frequencies of the converter corresponding to different operating conditions (i.e. different sink and source temperatures and water heads) are investigated using the proposed mathematical framework. It is found that the proposed complex mathematical scheme has a very slow convergence and thus, is not appropriate for real-time implementation of the model-based controller. Consequently, a NN (neural network) model with a lower complexity is proposed to learn the simulation data obtained from the mathematical model. The designed neural network controller is thus applied to a digital processor to effectively tune the converter frequency so that a maximum output power is acquired. Finally, the performance of the proposed mechatronic system is evaluated experimentally. The experimental results clearly demonstrate the feasibility of pumping water at low temperature difference under variable operating conditions using the proposed intelligent Stirling converter. - Highlights: • A novel intelligent solar-powered active LTD Stirling pump was introduced. • A neural network controller was used to tune the converter speed. • The intelligent converter was able to adapt itself to different operating conditions. • It was possible to excite the water column with its resonance mode. • Experimental results showed the effectiveness of the proposed converter.

  3. Robust H∞ output-feedback control for path following of autonomous ground vehicles

    Science.gov (United States)

    Hu, Chuan; Jing, Hui; Wang, Rongrong; Yan, Fengjun; Chadli, Mohammed

    2016-03-01

    This paper presents a robust H∞ output-feedback control strategy for the path following of autonomous ground vehicles (AGVs). Considering the vehicle lateral velocity is usually hard to measure with low cost sensor, a robust H∞ static output-feedback controller based on the mixed genetic algorithms (GA)/linear matrix inequality (LMI) approach is proposed to realize the path following without the information of the lateral velocity. The proposed controller is robust to the parametric uncertainties and external disturbances, with the parameters including the tire cornering stiffness, vehicle longitudinal velocity, yaw rate and road curvature. Simulation results based on CarSim-Simulink joint platform using a high-fidelity and full-car model have verified the effectiveness of the proposed control approach.

  4. Robust H(∞) control for spacecraft rendezvous with a noncooperative target.

    Science.gov (United States)

    Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang

    2013-01-01

    The robust H(∞) control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H(∞) performance and finite time performance are proposed, and a robust H(∞) controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller.

  5. 2015 Chinese Intelligent Systems Conference

    CERN Document Server

    Du, Junping; Li, Hongbo; Zhang, Weicun; CISC’15

    2016-01-01

    This book presents selected research papers from the 2015 Chinese Intelligent Systems Conference (CISC’15), held in Yangzhou, China. The topics covered include multi-agent systems, evolutionary computation, artificial intelligence, complex systems, computation intelligence and soft computing, intelligent control, advanced control technology, robotics and applications, intelligent information processing, iterative learning control, and machine learning. Engineers and researchers from academia, industry and the government can gain valuable insights into solutions combining ideas from multiple disciplines in the field of intelligent systems.

  6. Neural computing thermal comfort index PMV for the indoor environment intelligent control system

    Science.gov (United States)

    Liu, Chang; Chen, Yifei

    2013-03-01

    Providing indoor thermal comfort and saving energy are two main goals of indoor environmental control system. An intelligent comfort control system by combining the intelligent control and minimum power control strategies for the indoor environment is presented in this paper. In the system, for realizing the comfort control, the predicted mean vote (PMV) is designed as the control goal, and with chastening formulas of PMV, it is controlled to optimize for improving indoor comfort lever by considering six comfort related variables. On the other hand, a RBF neural network based on genetic algorithm is designed to calculate PMV for better performance and overcoming the nonlinear feature of the PMV calculation better. The formulas given in the paper are presented for calculating the expected output values basing on the input samples, and the RBF network model is trained depending on input samples and the expected output values. The simulation result is proved that the design of the intelligent calculation method is valid. Moreover, this method has a lot of advancements such as high precision, fast dynamic response and good system performance are reached, it can be used in practice with requested calculating error.

  7. Discrete PID Tuning Using Artificial Intelligence Techniques

    Directory of Open Access Journals (Sweden)

    Petr DOLEŽEL

    2009-06-01

    Full Text Available PID controllers are widely used in industry these days due to their useful properties such as simple tuning or robustness. While they are applicable to many control problems, they can perform poorly in some applications. Highly nonlinear system control with constrained manipulated variable can be mentioned as an example. The point of the paper is to string together convenient qualities of conventional PID control and progressive techniques based on Artificial Intelligence. Proposed control method should deal with even highly nonlinear systems. To be more specific, there is described new method of discrete PID controller tuning in this paper. This method tunes discrete PID controller parameters online through the use of genetic algorithm and neural model of controlled system in order to control successfully even highly nonlinear systems. After method description and some discussion, there is performed control simulation and comparison to one chosen conventional control method.

  8. Modelling and Intelligent Control of an Elastic Link Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Malik Loudini

    2013-01-01

    Full Text Available In this paper, precise control of the end-point position of a planar single-link elastic manipulator robot is discussed. The Timoshenko beam theory (TBT has been used to characterize the structural link elasticity including important damping mechanisms. A suitable nonlinear model is derived based on the Lagrangian assumed modes method. Elastic link manipulators are classified as systems possessing highly complex dynamics. In addition, the environment in which they operate may have a lot of disturbances. These give rise to special problems that may be solved using intelligent control techniques. The application of two advanced control strategies based on fuzzy set theory is investigated. The first closed-loop control scheme to be applied is the standard Proportional-Derivative (PD type fuzzy logic controller (FLC, also known as PD-type Mamdani's FLC (MPDFLC. Then, a genetic algorithm (GA is used to optimize the MPDFLC parameters with innovative tuning procedures. Both the MPDFLC and the GA optimized FLC (GAOFLC are implemented and tested to achieve a precise control of the manipulator end-point. The performances of the adopted closed-loop intelligent control strategies are examined via simulation experiments.

  9. Adaptive GSA-based optimal tuning of PI controlled servo systems with reduced process parametric sensitivity, robust stability and controller robustness.

    Science.gov (United States)

    Precup, Radu-Emil; David, Radu-Codrut; Petriu, Emil M; Radac, Mircea-Bogdan; Preitl, Stefan

    2014-11-01

    This paper suggests a new generation of optimal PI controllers for a class of servo systems characterized by saturation and dead zone static nonlinearities and second-order models with an integral component. The objective functions are expressed as the integral of time multiplied by absolute error plus the weighted sum of the integrals of output sensitivity functions of the state sensitivity models with respect to two process parametric variations. The PI controller tuning conditions applied to a simplified linear process model involve a single design parameter specific to the extended symmetrical optimum (ESO) method which offers the desired tradeoff to several control system performance indices. An original back-calculation and tracking anti-windup scheme is proposed in order to prevent the integrator wind-up and to compensate for the dead zone nonlinearity of the process. The minimization of the objective functions is carried out in the framework of optimization problems with inequality constraints which guarantee the robust stability with respect to the process parametric variations and the controller robustness. An adaptive gravitational search algorithm (GSA) solves the optimization problems focused on the optimal tuning of the design parameter specific to the ESO method and of the anti-windup tracking gain. A tuning method for PI controllers is proposed as an efficient approach to the design of resilient control systems. The tuning method and the PI controllers are experimentally validated by the adaptive GSA-based tuning of PI controllers for the angular position control of a laboratory servo system.

  10. Robust Control Design via Linear Programming

    Science.gov (United States)

    Keel, L. H.; Bhattacharyya, S. P.

    1998-01-01

    This paper deals with the problem of synthesizing or designing a feedback controller of fixed dynamic order. The closed loop specifications considered here are given in terms of a target performance vector representing a desired set of closed loop transfer functions connecting various signals. In general these point targets are unattainable with a fixed order controller. By enlarging the target from a fixed point set to an interval set the solvability conditions with a fixed order controller are relaxed and a solution is more easily enabled. Results from the parametric robust control literature can be used to design the interval target family so that the performance deterioration is acceptable, even when plant uncertainty is present. It is shown that it is possible to devise a computationally simple linear programming approach that attempts to meet the desired closed loop specifications.

  11. Positive polynomials and robust stabilization with fixed-order controllers

    Czech Academy of Sciences Publication Activity Database

    Henrion, Didier; Šebek, M.; Kučera, V.

    2003-01-01

    Roč. 48, č. 7 (2003), s. 1178-1186 ISSN 0018-9286 R&D Projects: GA ČR GA102/02/0709; GA MŠk ME 496 Institutional research plan: CEZ:AV0Z1075907 Keywords : fixed-order control lers * linear matrix inequality * polynomials, robust control Subject RIV: BC - Control Systems Theory Impact factor: 1.896, year: 2003

  12. Distributed sensor architecture for intelligent control that supports quality of control and quality of service.

    Science.gov (United States)

    Poza-Lujan, Jose-Luis; Posadas-Yagüe, Juan-Luis; Simó-Ten, José-Enrique; Simarro, Raúl; Benet, Ginés

    2015-02-25

    This paper is part of a study of intelligent architectures for distributed control and communications systems. The study focuses on optimizing control systems by evaluating the performance of middleware through quality of service (QoS) parameters and the optimization of control using Quality of Control (QoC) parameters. The main aim of this work is to study, design, develop, and evaluate a distributed control architecture based on the Data-Distribution Service for Real-Time Systems (DDS) communication standard as proposed by the Object Management Group (OMG). As a result of the study, an architecture called Frame-Sensor-Adapter to Control (FSACtrl) has been developed. FSACtrl provides a model to implement an intelligent distributed Event-Based Control (EBC) system with support to measure QoS and QoC parameters. The novelty consists of using, simultaneously, the measured QoS and QoC parameters to make decisions about the control action with a new method called Event Based Quality Integral Cycle. To validate the architecture, the first five Braitenberg vehicles have been implemented using the FSACtrl architecture. The experimental outcomes, demonstrate the convenience of using jointly QoS and QoC parameters in distributed control systems.

  13. Distributed Sensor Architecture for Intelligent Control that Supports Quality of Control and Quality of Service

    Directory of Open Access Journals (Sweden)

    Jose-Luis Poza-Lujan

    2015-02-01

    Full Text Available This paper is part of a study of intelligent architectures for distributed control and communications systems. The study focuses on optimizing control systems by evaluating the performance of middleware through quality of service (QoS parameters and the optimization of control using Quality of Control (QoC parameters. The main aim of this work is to study, design, develop, and evaluate a distributed control architecture based on the Data-Distribution Service for Real-Time Systems (DDS communication standard as proposed by the Object Management Group (OMG. As a result of the study, an architecture called Frame-Sensor-Adapter to Control (FSACtrl has been developed. FSACtrl provides a model to implement an intelligent distributed Event-Based Control (EBC system with support to measure QoS and QoC parameters. The novelty consists of using, simultaneously, the measured QoS and QoC parameters to make decisions about the control action with a new method called Event Based Quality Integral Cycle. To validate the architecture, the first five Braitenberg vehicles have been implemented using the FSACtrl architecture. The experimental outcomes, demonstrate the convenience of using jointly QoS and QoC parameters in distributed control systems.

  14. Robust Control for Microgravity Vibration Isolation using Fixed Order, Mixed H2/Mu Design

    Science.gov (United States)

    Whorton, Mark

    2003-01-01

    Many space-science experiments need an active isolation system to provide a sufficiently quiescent microgravity environment. Modern control methods provide the potential for both high-performance and robust stability in the presence of parametric uncertainties that are characteristic of microgravity vibration isolation systems. While H2 and H(infinity) methods are well established, neither provides the levels of attenuation performance and robust stability in a compensator with low order. Mixed H2/H(infinity), controllers provide a means for maximizing robust stability for a given level of mean-square nominal performance while directly optimizing for controller order constraints. This paper demonstrates the benefit of mixed norm design from the perspective of robustness to parametric uncertainties and controller order for microgravity vibration isolation. A nominal performance metric analogous to the mu measure, for robust stability assessment is also introduced in order to define an acceptable trade space from which different control methodologies can be compared.

  15. Robust control for constant thrust rendezvous under thrust failure

    Directory of Open Access Journals (Sweden)

    Qi Yongqiang

    2015-04-01

    Full Text Available A robust constant thrust rendezvous approach under thrust failure is proposed based on the relative motion dynamic model. Firstly, the design problem is cast into a convex optimization problem by introducing a Lyapunov function subject to linear matrix inequalities. Secondly, the robust controllers satisfying the requirements can be designed by solving this optimization problem. Then, a new algorithm of constant thrust fitting is proposed through the impulse compensation and the fuel consumption under the theoretical continuous thrust and the actual constant thrust is calculated and compared by using the method proposed in this paper. Finally, the proposed method having the advantage of saving fuel is proved and the actual constant thrust switch control laws are obtained through the isochronous interpolation method, meanwhile, an illustrative example is provided to show the effectiveness of the proposed control design method.

  16. Fuzzy gain scheduling of velocity PI controller with intelligent learning algorithm for reactor control

    International Nuclear Information System (INIS)

    Kim, Dong Yun; Seong, Poong Hyun

    1996-01-01

    In this study, we proposed a fuzzy gain scheduler with intelligent learning algorithm for a reactor control. In the proposed algorithm, we used the gradient descent method to learn the rule bases of a fuzzy algorithm. These rule bases are learned toward minimizing an objective function, which is called a performance cost function. The objective of fuzzy gain scheduler with intelligent learning algorithm is the generation of adequate gains, which minimize the error of system. The condition of every plant is generally changed as time gose. That is, the initial gains obtained through the analysis of system are no longer suitable for the changed plant. And we need to set new gains, which minimize the error stemmed from changing the condition of a plant. In this paper, we applied this strategy for reactor control of nuclear power plant (NPP), and the results were compared with those of a simple PI controller, which has fixed gains. As a result, it was shown that the proposed algorithm was superior to the simple PI controller

  17. Development of intelligent control system for X-ray streak camera in diagnostic instrument manipulator

    International Nuclear Information System (INIS)

    Pei, Chengquan; Wu, Shengli; Tian, Jinshou; Liu, Zhen; Fang, Yuman; Gao, Guilong; Liang, Lingliang; Wen, Wenlong

    2015-01-01

    An intelligent control system for an X ray streak camera in a diagnostic instrument manipulator (DIM) is proposed and implemented, which can control time delay, electric focusing, image gain adjustment, switch of sweep voltage, acquiring environment parameters etc. The system consists of 16 A/D converters and 16 D/A converters, a 32-channel general purpose input/output (GPIO) and two sensors. An isolated DC/DC converter with multi-outputs and a single mode fiber were adopted to reduce the interference generated by the common ground among the A/D, D/A and I/O. The software was designed using graphical programming language and can remotely access the corresponding instrument from a website. The entire intelligent control system can acquire the desirable data at a speed of 30 Mb/s and store it for later analysis. The intelligent system was implemented on a streak camera in a DIM and it shows a temporal resolution of 11.25 ps, spatial distortion of less than 10% and dynamic range of 279:1. The intelligent control system has been successfully used in a streak camera to verify the synchronization of multi-channel laser on the Inertial Confinement Fusion Facility

  18. Development of intelligent control system for X-ray streak camera in diagnostic instrument manipulator

    Energy Technology Data Exchange (ETDEWEB)

    Pei, Chengquan [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Wu, Shengli, E-mail: slwu@mail.xjtu.edu.cn [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Tian, Jinshou [Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); Liu, Zhen [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Fang, Yuman [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Gao, Guilong; Liang, Lingliang [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China); Xi' an Institute of Optics and Precision Mechanics, Chinese Academy of Sciences, Xi' an 710119 (China); University of the Chinese Academy of Sciences, Beijing 100039 (China); Wen, Wenlong [Key Laboratory for Physical Electronics and Devices of the Ministry of Education, Xi' an Jiaotong University, Xi' an 710049 (China)

    2015-11-01

    An intelligent control system for an X ray streak camera in a diagnostic instrument manipulator (DIM) is proposed and implemented, which can control time delay, electric focusing, image gain adjustment, switch of sweep voltage, acquiring environment parameters etc. The system consists of 16 A/D converters and 16 D/A converters, a 32-channel general purpose input/output (GPIO) and two sensors. An isolated DC/DC converter with multi-outputs and a single mode fiber were adopted to reduce the interference generated by the common ground among the A/D, D/A and I/O. The software was designed using graphical programming language and can remotely access the corresponding instrument from a website. The entire intelligent control system can acquire the desirable data at a speed of 30 Mb/s and store it for later analysis. The intelligent system was implemented on a streak camera in a DIM and it shows a temporal resolution of 11.25 ps, spatial distortion of less than 10% and dynamic range of 279:1. The intelligent control system has been successfully used in a streak camera to verify the synchronization of multi-channel laser on the Inertial Confinement Fusion Facility.

  19. Robust control of dielectric elastomer diaphragm actuator for human pulse signal tracking

    Science.gov (United States)

    Ye, Zhihang; Chen, Zheng; Asmatulu, Ramazan; Chan, Hoyin

    2017-08-01

    Human pulse signal tracking is an emerging technology that is needed in traditional Chinese medicine. However, soft actuation with multi-frequency tracking capability is needed for tracking human pulse signal. Dielectric elastomer (DE) is one type of soft actuating that has great potential in human pulse signal tracking. In this paper, a DE diaphragm actuator was designed and fabricated to track human pulse pressure signal. A physics-based and control-oriented model has been developed to capture the dynamic behavior of DE diaphragm actuator. Using the physical model, an H-infinity robust control was designed for the actuator to reject high-frequency sensing noises and disturbances. The robust control was then implemented in real-time to track a multi-frequency signal, which verified the tracking capability and robustness of the control system. In the human pulse signal tracking test, a human pulse signal was measured at the City University of Hong Kong and then was tracked using DE actuator at Wichita State University in the US. Experimental results have verified that the DE actuator with its robust control is capable of tracking human pulse signal.

  20. A robust fractional-order PID controller design based on active queue management for TCP network

    Science.gov (United States)

    Hamidian, Hamideh; Beheshti, Mohammad T. H.

    2018-01-01

    In this paper, a robust fractional-order controller is designed to control the congestion in transmission control protocol (TCP) networks with time-varying parameters. Fractional controllers can increase the stability and robustness. Regardless of advantages of fractional controllers, they are still not common in congestion control in TCP networks. The network parameters are time-varying, so the robust stability is important in congestion controller design. Therefore, we focused on the robust controller design. The fractional PID controller is developed based on active queue management (AQM). D-partition technique is used. The most important property of designed controller is the robustness to the time-varying parameters of the TCP network. The vertex quasi-polynomials of the closed-loop characteristic equation are obtained, and the stability boundaries are calculated for each vertex quasi-polynomial. The intersection of all stability regions is insensitive to network parameter variations, and results in robust stability of TCP/AQM system. NS-2 simulations show that the proposed algorithm provides a stable queue length. Moreover, simulations show smaller oscillations of the queue length and less packet drop probability for FPID compared to PI and PID controllers. We can conclude from NS-2 simulations that the average packet loss probability variations are negligible when the network parameters change.

  1. COA based robust output feedback UPFC controller design

    Energy Technology Data Exchange (ETDEWEB)

    Shayeghi, H., E-mail: hshayeghi@gmail.co [Technical Engineering Department, University of Mohaghegh Ardabili, Ardabil (Iran, Islamic Republic of); Shayanfar, H.A. [Center of Excellence for Power System Automation and Operation, Electrical Engineering Department, Iran University of Science and Technology, Tehran (Iran, Islamic Republic of); Jalilzadeh, S.; Safari, A. [Technical Engineering Department, Zanjan University, Zanjan (Iran, Islamic Republic of)

    2010-12-15

    In this paper, a novel method for the design of output feedback controller for unified power flow controller (UPFC) using chaotic optimization algorithm (COA) is developed. Chaotic optimization algorithms, which have the features of easy implementation, short execution time and robust mechanisms of escaping from the local optimum, is a promising tool for the engineering applications. The selection of the output feedback gains for the UPFC controllers is converted to an optimization problem with the time domain-based objective function which is solved by a COA based on Lozi map. Since chaotic mapping enjoys certainty, ergodicity and the stochastic property, the proposed chaotic optimization problem introduces chaos mapping using Lozi map chaotic sequences which increases its convergence rate and resulting precision. To ensure the robustness of the proposed stabilizers, the design process takes into account a wide range of operating conditions and system configurations. The effectiveness of the proposed controller for damping low frequency oscillations is tested and demonstrated through non-linear time-domain simulation and some performance indices studies. The results analysis reveals that the designed COA based output feedback UPFC damping controller has an excellent capability in damping power system low frequency oscillations and enhance greatly the dynamic stability of the power systems.

  2. Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System

    Directory of Open Access Journals (Sweden)

    Fengjiao Wu

    2016-01-01

    Full Text Available The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the designed controller has good robustness which could resist external random disturbances. Numerical simulations are employed to verify the effectiveness and superiority of the designed finite-time sliding mode control scheme. The approach proposed in this paper is simple and also provides a reference for relevant hydropower systems.

  3. Modelling traffic flows with intelligent cars and intelligent roads

    NARCIS (Netherlands)

    van Arem, Bart; Tampere, Chris M.J.; Malone, Kerry

    2003-01-01

    This paper addresses the modeling of traffic flows with intelligent cars and intelligent roads. It will describe the modeling approach MIXIC and review the results for different ADA systems: Adaptive Cruise Control, a special lane for Intelligent Vehicles, cooperative following and external speed

  4. An intelligent human-machine system based on an ecological interface design concept

    International Nuclear Information System (INIS)

    Naito, N.

    1995-01-01

    It seems both necessary and promising to develop an intelligent human-machine system, considering the objective of the human-machine system and the recent advance in cognitive engineering and artificial intelligence together with the ever-increasing importance of human factor issues in nuclear power plant operation and maintenance. It should support human operators in their knowledge-based behaviour and allow them to cope with unanticipated abnormal events, including recovery from erroneous human actions. A top-down design approach has been adopted based on cognitive work analysis, and (1) an ecological interface, (2) a cognitive model-based advisor and (3) a robust automatic sequence controller have been established. These functions have been integrated into an experimental control room. A validation test was carried out by the participation of experienced operators and engineers. The results showed the usefulness of this system in supporting the operator's supervisory plant control tasks. ((orig.))

  5. An intelligent active force control algorithm to control an upper extremity exoskeleton for motor recovery

    Science.gov (United States)

    Hasbullah Mohd Isa, Wan; Taha, Zahari; Mohd Khairuddin, Ismail; Majeed, Anwar P. P. Abdul; Fikri Muhammad, Khairul; Abdo Hashem, Mohammed; Mahmud, Jamaluddin; Mohamed, Zulkifli

    2016-02-01

    This paper presents the modelling and control of a two degree of freedom upper extremity exoskeleton by means of an intelligent active force control (AFC) mechanism. The Newton-Euler formulation was used in deriving the dynamic modelling of both the anthropometry based human upper extremity as well as the exoskeleton that consists of the upper arm and the forearm. A proportional-derivative (PD) architecture is employed in this study to investigate its efficacy performing joint-space control objectives. An intelligent AFC algorithm is also incorporated into the PD to investigate the effectiveness of this hybrid system in compensating disturbances. The Mamdani Fuzzy based rule is employed to approximate the estimated inertial properties of the system to ensure the AFC loop responds efficiently. It is found that the IAFC-PD performed well against the disturbances introduced into the system as compared to the conventional PD control architecture in performing the desired trajectory tracking.

  6. Integrating adjustable autonomy in an intelligent control framework

    Science.gov (United States)

    DeKoven, Elyon A. M.; Wood, Scott D.

    2005-10-01

    Currently, multiple humans are needed to operate a single uninhabited aerial vehicle (UAV). In the near future, combat techniques will involve single operators controlling multiple uninhabited ground and air vehicles. This situation creates both technological hurdles as well as interaction design challenges that must be addressed to support future fighters. In particular, the system will need to negotiate with the operator about proper task delegation, keeping the operator appropriately apprised of autonomous actions. This in turn implies that the system must know what the user is doing, what needs to be done in the present situation, and the comparative strengths for of the human and the system in each task. Towards building such systems, we are working on an Intelligent Control Framework (ICF) that provides a layer of intelligence to support future warfighters in complex task environments. The present paper presents the Adjustable Autonomy Module (AAM) in ICF. The AAM encapsulates some capabilities for user plan recognition, situation reasoning, and authority delegation control. The AAM has the knowledge necessary to support operator-system dialogue about autonomy changes, and it also provides the system with the ability to act on this knowledge. Combined with careful interaction design, planning and plan-execution capabilities, the AAM enables future design and development of effective human-robot teams.

  7. Automatic Synthesis of Robust and Optimal Controllers

    DEFF Research Database (Denmark)

    Cassez, Franck; Jessen, Jan Jacob; Larsen, Kim Guldstrand

    2009-01-01

    In this paper, we show how to apply recent tools for the automatic synthesis of robust and near-optimal controllers for a real industrial case study. We show how to use three different classes of models and their supporting existing tools, Uppaal-TiGA for synthesis, phaver for verification......, and Simulink for simulation, in a complementary way. We believe that this case study shows that our tools have reached a level of maturity that allows us to tackle interesting and relevant industrial control problems....

  8. CAMAC-based intelligent subsystem for ATLAS example application: cryogenic monitoring and control

    International Nuclear Information System (INIS)

    Pardo, R.; Kawarasaki, Y.; Wasniewski, K.

    1985-01-01

    A subunit of the CAMAC accelerator control system of ATLAS for monitoring and, eventually, controlling the cryogenic refrigeration and distribution facility is under development. This development is the first application of a philosophy of distributed intelligence which will be applied throughout the ATLAS control system. The control concept is that of an intelligent subunit of the existing ATLAS CAMAC control highway. A single board computer resides in an auxiliary crate controller which allows access to all devices within the crate. The local SBC can communicate to the host over the CAMAC highway via a protocol involving the use of memory in the SBC which can be accessed from the host in a DMA mode. This provides a mechanism for global communications, such as for alarm conditions, as well as allowing the cryogenic system to respond to the demands of the accelerator system

  9. Intelligent Control Framework for the Feeding System in the Biomass Power Plant

    Directory of Open Access Journals (Sweden)

    Sun Jin

    2015-01-01

    Full Text Available This paper proposes an intelligent control framework for biomass drying process with flue gases based on FLC (fuzzy logic controller and CAN (Controller Area Network bus. In the operation of a biomass drying process, in order to get the biomass with the set-point low moisture content dried by waste high temperature flue gases, it is necessary to intelligent control for the biomass flow rate. Use of an experiment with varied materials at different initial moisture contents enables acquisition of the biomass flow rates as initial setting values. Set the error between actual straw moisture content and set-point, and rate of change of error as two inputs. the biomass flow rate can be acquired by the fuzzy logic computing as the output. Since the length of dryer is more than twenty meters, the integration by the CAN bus can ensure real-time reliable data acquisition and processing. The control framework for biomass drying process can be applied to a variety of biomass, such as, cotton stalk, corn stalk, rice straw, wheat straw, sugar cane. It has strong potential for practical applications because of its advantages on intelligent providing the set-point low moisture content of biomass feedstock for power generation equipment.

  10. Putting intelligent structured intermittent auscultation (ISIA) into practice.

    Science.gov (United States)

    Maude, Robyn M; Skinner, Joan P; Foureur, Maralyn J

    2016-06-01

    Fetal monitoring guidelines recommend intermittent auscultation for the monitoring of fetal wellbeing during labour for low-risk women. However, these guidelines are not being translated into practice and low-risk women birthing in institutional maternity units are increasingly exposed to continuous cardiotocographic monitoring, both on admission to hospital and during labour. When continuous fetal monitoring becomes routinised, midwives and obstetricians lose practical skills around intermittent auscultation. To support clinical practice and decision-making around auscultation modality, the intelligent structured intermittent auscultation (ISIA) framework was developed. The purpose of this discussion paper is to describe the application of intelligent structured intermittent auscultation in practice. The intelligent structured intermittent auscultation decision-making framework is a knowledge translation tool that supports the implementation of evidence into practice around the use of intermittent auscultation for fetal heart monitoring for low-risk women during labour. An understanding of the physiology of the materno-utero-placental unit and control of the fetal heart underpin the development of the framework. Intelligent structured intermittent auscultation provides midwives with a robust means of demonstrating their critical thinking and clinical reasoning and supports their understanding of normal physiological birth. Copyright © 2015 The Authors. Published by Elsevier Ltd.. All rights reserved.

  11. Designing a Robust Nonlinear Dynamic Inversion Controller for Spacecraft Formation Flying

    Directory of Open Access Journals (Sweden)

    Inseok Yang

    2014-01-01

    Full Text Available The robust nonlinear dynamic inversion (RNDI control technique is proposed to keep the relative position of spacecrafts while formation flying. The proposed RNDI control method is based on nonlinear dynamic inversion (NDI. NDI is nonlinear control method that replaces the original dynamics into the user-selected desired dynamics. Because NDI removes nonlinearities in the model by inverting the original dynamics directly, it also eliminates the need of designing suitable controllers for each equilibrium point; that is, NDI works as self-scheduled controller. Removing the original model also provides advantages of ease to satisfy the specific requirements by simply handling desired dynamics. Therefore, NDI is simple and has many similarities to classical control. In real applications, however, it is difficult to achieve perfect cancellation of the original dynamics due to uncertainties that lead to performance degradation and even make the system unstable. This paper proposes robustness assurance method for NDI. The proposed RNDI is designed by combining NDI and sliding mode control (SMC. SMC is inherently robust using high-speed switching inputs. This paper verifies similarities of NDI and SMC, firstly. And then RNDI control method is proposed. The performance of the proposed method is evaluated by simulations applied to spacecraft formation flying problem.

  12. Robust position control of induction motor using fuzzy logic control

    International Nuclear Information System (INIS)

    Kim, Sei Chan; Kim, Duk Hun; Yang, Seung Ho; Won, Chung Yuen

    1993-01-01

    In recent years, fuzzy logic or fuzzy set theory has reveived attention of a number of researchers in the area of power electronics and motion control. The paper describes a vector-controlled induction motor position servo drive where fuzzy control is used to get robustness against parameter variation and load torque disturbance effects. Both coarse and fine control with the help of look-up rule tables are used to improve transient response and system settling time. The performance characteristics are then compared with those of proportional-integral(PI) control. The simulation results clearly indicate the superiority of fuzzy control with larger number of rules. The fuzzy controller was implemented with a 16-bit microprocessor and tested in laboratory on a 3-hp IGBT inverter induction motor drive system. The test results verify the simulation performance. (Author)

  13. Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X.

    2016-01-01

    Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research. PMID:26819582

  14. Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey.

    Science.gov (United States)

    Ni, Jianjun; Wu, Liuying; Fan, Xinnan; Yang, Simon X

    2016-01-01

    Bioinspired intelligent algorithm (BIA) is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

  15. Bioinspired Intelligent Algorithm and Its Applications for Mobile Robot Control: A Survey

    Directory of Open Access Journals (Sweden)

    Jianjun Ni

    2016-01-01

    Full Text Available Bioinspired intelligent algorithm (BIA is a kind of intelligent computing method, which is with a more lifelike biological working mechanism than other types. BIAs have made significant progress in both understanding of the neuroscience and biological systems and applying to various fields. Mobile robot control is one of the main application fields of BIAs which has attracted more and more attention, because mobile robots can be used widely and general artificial intelligent algorithms meet a development bottleneck in this field, such as complex computing and the dependence on high-precision sensors. This paper presents a survey of recent research in BIAs, which focuses on the research in the realization of various BIAs based on different working mechanisms and the applications for mobile robot control, to help in understanding BIAs comprehensively and clearly. The survey has four primary parts: a classification of BIAs from the biomimetic mechanism, a summary of several typical BIAs from different levels, an overview of current applications of BIAs in mobile robot control, and a description of some possible future directions for research.

  16. Bilinear Approximate Model-Based Robust Lyapunov Control for Parabolic Distributed Collectors

    KAUST Repository

    Elmetennani, Shahrazed

    2016-11-09

    This brief addresses the control problem of distributed parabolic solar collectors in order to maintain the field outlet temperature around a desired level. The objective is to design an efficient controller to force the outlet fluid temperature to track a set reference despite the unpredictable varying working conditions. In this brief, a bilinear model-based robust Lyapunov control is proposed to achieve the control objectives with robustness to the environmental changes. The bilinear model is a reduced order approximate representation of the solar collector, which is derived from the hyperbolic distributed equation describing the heat transport dynamics by means of a dynamical Gaussian interpolation. Using the bilinear approximate model, a robust control strategy is designed applying Lyapunov stability theory combined with a phenomenological representation of the system in order to stabilize the tracking error. On the basis of the error analysis, simulation results show good performance of the proposed controller, in terms of tracking accuracy and convergence time, with limited measurement even under unfavorable working conditions. Furthermore, the presented work is of interest for a large category of dynamical systems knowing that the solar collector is representative of physical systems involving transport phenomena constrained by unknown external disturbances.

  17. Robust Predictive Functional Control for Flight Vehicles Based on Nonlinear Disturbance Observer

    Directory of Open Access Journals (Sweden)

    Yinhui Zhang

    2015-01-01

    Full Text Available A novel robust predictive functional control based on nonlinear disturbance observer is investigated in order to address the control system design for flight vehicles with significant uncertainties, external disturbances, and measurement noise. Firstly, the nonlinear longitudinal dynamics of the flight vehicle are transformed into linear-like state-space equations with state-dependent coefficient matrices. And then the lumped disturbances are considered in the linear structure predictive model of the predictive functional control to increase the precision of the predictive output and resolve the intractable mismatched disturbance problem. As the lumped disturbances cannot be derived or measured directly, the nonlinear disturbance observer is applied to estimate the lumped disturbances, which are then introduced to the predictive functional control to replace the unknown actual lumped disturbances. Consequently, the robust predictive functional control for the flight vehicle is proposed. Compared with the existing designs, the effectiveness and robustness of the proposed flight control are illustrated and validated in various simulation conditions.

  18. Aerial robot intelligent control method based on back-stepping

    Science.gov (United States)

    Zhou, Jian; Xue, Qian

    2018-05-01

    The aerial robot is characterized as strong nonlinearity, high coupling and parameter uncertainty, a self-adaptive back-stepping control method based on neural network is proposed in this paper. The uncertain part of the aerial robot model is compensated online by the neural network of Cerebellum Model Articulation Controller and robust control items are designed to overcome the uncertainty error of the system during online learning. At the same time, particle swarm algorithm is used to optimize and fix parameters so as to improve the dynamic performance, and control law is obtained by the recursion of back-stepping regression. Simulation results show that the designed control law has desired attitude tracking performance and good robustness in case of uncertainties and large errors in the model parameters.

  19. Robust H ∞ Control for Spacecraft Rendezvous with a Noncooperative Target

    Science.gov (United States)

    Wu, Shu-Nan; Zhou, Wen-Ya; Tan, Shu-Jun; Wu, Guo-Qiang

    2013-01-01

    The robust H ∞ control for spacecraft rendezvous with a noncooperative target is addressed in this paper. The relative motion of chaser and noncooperative target is firstly modeled as the uncertain system, which contains uncertain orbit parameter and mass. Then the H ∞ performance and finite time performance are proposed, and a robust H ∞ controller is developed to drive the chaser to rendezvous with the non-cooperative target in the presence of control input saturation, measurement error, and thrust error. The linear matrix inequality technology is used to derive the sufficient condition of the proposed controller. An illustrative example is finally provided to demonstrate the effectiveness of the controller. PMID:24027446

  20. Two stage neural network modelling for robust model predictive control.

    Science.gov (United States)

    Patan, Krzysztof

    2018-01-01

    The paper proposes a novel robust model predictive control scheme realized by means of artificial neural networks. The neural networks are used twofold: to design the so-called fundamental model of a plant and to catch uncertainty associated with the plant model. In order to simplify the optimization process carried out within the framework of predictive control an instantaneous linearization is applied which renders it possible to define the optimization problem in the form of constrained quadratic programming. Stability of the proposed control system is also investigated by showing that a cost function is monotonically decreasing with respect to time. Derived robust model predictive control is tested and validated on the example of a pneumatic servomechanism working at different operating regimes. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  1. Robust, nonlinear, high angle-of-attack control design for a supermaneuverable vehicle

    Science.gov (United States)

    Adams, Richard J.

    1993-01-01

    High angle-of-attack flight control laws are developed for a supermaneuverable fighter aircraft. The methods of dynamic inversion and structured singular value synthesis are combined into an approach which addresses both the nonlinearity and robustness problems of flight at extreme operating conditions. The primary purpose of the dynamic inversion control elements is to linearize the vehicle response across the flight envelope. Structured singular value synthesis is used to design a dynamic controller which provides robust tracking to pilot commands. The resulting control system achieves desired flying qualities and guarantees a large margin of robustness to uncertainties for high angle-of-attack flight conditions. The results of linear simulation and structured singular value stability analysis are presented to demonstrate satisfaction of the design criteria. High fidelity nonlinear simulation results show that the combined dynamics inversion/structured singular value synthesis control law achieves a high level of performance in a realistic environment.

  2. Multivariable Super Twisting Based Robust Trajectory Tracking Control for Small Unmanned Helicopter

    Directory of Open Access Journals (Sweden)

    Xing Fang

    2015-01-01

    Full Text Available This paper presents a highly robust trajectory tracking controller for small unmanned helicopter with model uncertainties and external disturbances. First, a simplified dynamic model is developed, where the model uncertainties and external disturbances are treated as compounded disturbances. Then the system is divided into three interconnected subsystems: altitude subsystem, yaw subsystem, and horizontal subsystem. Second, a disturbance observer based controller (DOBC is designed based upon backstepping and multivariable super twisting control algorithm to obtain robust trajectory tracking property. A sliding mode observer works as an estimator of the compounded disturbances. In order to lessen calculative burden, a first-order exact differentiator is employed to estimate the time derivative of the virtual control. Moreover, proof of the stability of the closed-loop system based on Lyapunov method is given. Finally, simulation results are presented to illustrate the effectiveness and robustness of the proposed flight control scheme.

  3. Wireless Intelligent Monitoring and Control System of Greenhouse Temperature Based on Fuzzy-PID

    Directory of Open Access Journals (Sweden)

    Mei ZHAN

    2014-03-01

    Full Text Available Control effect is not ideal for traditional control method and wired control system, since greenhouse temperature has such characteristics as nonlinear and longtime lag. Therefore, Fuzzy- PID control method was introduced and radio frequency chip CC1110 was applied to design greenhouse wireless intelligent monitoring and control system. The design of the system, the component of nodes and the developed intelligent management software system were explained in this paper. Then describe the design of the control algorithm Fuzzy-PID. By simulating the new method in Matlab software, the results showed that Fuzzy-PID method small overshoot and better dynamic performance compared with general PID control. It has shorter settling time and no steady-state error compared with fuzzy control. It can meet requirements in greenhouse production.

  4. An Intelligent Lighting Control System (ILCS) using LabVIEW ...

    African Journals Online (AJOL)

    An Intelligent Lighting Control System (ILCS) was proposed and designed by considering ergonomic setting and energy efficiency. The integration of CompactRIO as a main hardware and National Instrument Laboratory Virtual Instrument Engineering Workbench (NI LabVIEW) 2012 as a platform to design an interactive ...

  5. Control of Series Resonant Converter with Robust Performance Against Load and Power Circuit Components Uncertainties

    Directory of Open Access Journals (Sweden)

    A. Mohammadpour

    2009-12-01

    Full Text Available Robust performance controller design for duty-cycle controlled series resonant converter (SRC is proposed in this paper. The uncertainties of the converter are analyzed with load variation and power circuit components tolerances are taken into consideration. Additionally, a nominal performance (NP controller is designed. Closed-loop system is simulated with Orcad and simulation results of robust controller are compared with nominal performance controller. Although nominal performance controller has better performance for nominal plant, the robust performance controller is advantageous in dealing with uncertainties.

  6. Experimental development of power reactor intelligent control

    International Nuclear Information System (INIS)

    Edwards, R.M.; Garcia, H.E.; Lee, K.Y.

    1992-01-01

    The US nuclear utility industry initiated an ambitious program to modernize the control systems at a minimum of ten existing nuclear power plants by the year 2000. That program addresses urgent needs to replace obsolete instrumentation and analog controls with highly reliable state-of-the-art computer-based digital systems. Large increases in functionality that could theoretically be achieved in a distributed digital control system are not an initial priority in the industry program but could be logically considered in later phases. This paper discusses the initial development of an experimental sequence for developing, testing, and verifying intelligent fault-accommodating control for commercial nuclear power plant application. The sequence includes an ultra-safe university research reactor (TRIGA) and a passively safe experimental power plant (Experimental Breeder Reactor 2)

  7. H∞ Robust Control of a Large-Piston MEMS Micromirror for Compact Fourier Transform Spectrometer Systems

    Directory of Open Access Journals (Sweden)

    Huipeng Chen

    2018-02-01

    Full Text Available Incorporating linear-scanning micro-electro-mechanical systems (MEMS micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM spectral linewidth of 96 cm−1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.

  8. H∞ Robust Control of a Large-Piston MEMS Micromirror for Compact Fourier Transform Spectrometer Systems.

    Science.gov (United States)

    Chen, Huipeng; Li, Mengyuan; Zhang, Yi; Xie, Huikai; Chen, Chang; Peng, Zhangming; Su, Shaohui

    2018-02-08

    Incorporating linear-scanning micro-electro-mechanical systems (MEMS) micromirrors into Fourier transform spectral acquisition systems can greatly reduce the size of the spectrometer equipment, making portable Fourier transform spectrometers (FTS) possible. How to minimize the tilting of the MEMS mirror plate during its large linear scan is a major problem in this application. In this work, an FTS system has been constructed based on a biaxial MEMS micromirror with a large-piston displacement of 180 μm, and a biaxial H∞ robust controller is designed. Compared with open-loop control and proportional-integral-derivative (PID) closed-loop control, H∞ robust control has good stability and robustness. The experimental results show that the stable scanning displacement reaches 110.9 μm under the H∞ robust control, and the tilting angle of the MEMS mirror plate in that full scanning range falls within ±0.0014°. Without control, the FTS system cannot generate meaningful spectra. In contrast, the FTS yields a clean spectrum with a full width at half maximum (FWHM) spectral linewidth of 96 cm -1 under the H∞ robust control. Moreover, the FTS system can maintain good stability and robustness under various driving conditions.

  9. Robust stability bounds for multi-delay networked control systems

    Science.gov (United States)

    Seitz, Timothy; Yedavalli, Rama K.; Behbahani, Alireza

    2018-04-01

    In this paper, the robust stability of a perturbed linear continuous-time system is examined when controlled using a sampled-data networked control system (NCS) framework. Three new robust stability bounds on the time-invariant perturbations to the original continuous-time plant matrix are presented guaranteeing stability for the corresponding discrete closed-loop augmented delay-free system (ADFS) with multiple time-varying sensor and actuator delays. The bounds are differentiated from previous work by accounting for the sampled-data nature of the NCS and for separate communication delays for each sensor and actuator, not a single delay. Therefore, this paper expands the knowledge base in multiple inputs multiple outputs (MIMO) sampled-data time delay systems. Bounds are presented for unstructured, semi-structured, and structured perturbations.

  10. Robust Control Mixer Method for Reconfigurable Control Design Using Model Matching Strategy

    DEFF Research Database (Denmark)

    Yang, Zhenyu; Blanke, Mogens; Verhagen, Michel

    2007-01-01

    A novel control mixer method for recon¯gurable control designs is developed. The proposed method extends the matrix-form of the conventional control mixer concept into a LTI dynamic system-form. The H_inf control technique is employed for these dynamic module designs after an augmented control...... system is constructed through a model-matching strategy. The stability, performance and robustness of the reconfigured system can be guaranteed when some conditions are satisfied. To illustrate the effectiveness of the proposed method, a robot system subjected to failures is used to demonstrate...

  11. Intelligent buildings, automatic fire alarm and fire-protection control system

    International Nuclear Information System (INIS)

    Tian Deyuan

    1999-01-01

    The author describes in brief the intelligent buildings, and the automatic fire alarm and fire-protection control system. On the basis of the four-bus, three-bus and two-bus, a new transfer technique was developed

  12. Quantification of parameter uncertainty for robust control of shape memory alloy bending actuators

    International Nuclear Information System (INIS)

    Crews, John H; McMahan, Jerry A; Smith, Ralph C; Hannen, Jennifer C

    2013-01-01

    In this paper, we employ Bayesian parameter estimation techniques to derive gains for robust control of smart materials. Specifically, we demonstrate the feasibility of utilizing parameter uncertainty estimation provided by Markov chain Monte Carlo (MCMC) methods to determine controller gains for a shape memory alloy bending actuator. We treat the parameters in the equations governing the actuator’s temperature dynamics as uncertain and use the MCMC method to construct the probability densities for these parameters. The densities are then used to derive parameter bounds for robust control algorithms. For illustrative purposes, we construct a sliding mode controller based on the homogenized energy model and experimentally compare its performance to a proportional-integral controller. While sliding mode control is used here, the techniques described in this paper provide a useful starting point for many robust control algorithms. (paper)

  13. H∞ robust control of load frequency in diesel-battery hybrid electric propulsion ship

    Directory of Open Access Journals (Sweden)

    LI Hongyue

    2017-05-01

    Full Text Available Considering the load frequency fluctuation in the shipboard integrated power system caused by such stochastic uncertainty as wind, wave and current, the battery is adopted here to compensate for the difference between diesel generator output power and ship demand power, and the secondary frequency control is used for the diesel generator to guarantee the power balance in the shipboard integrated power system and suppress the frequency fluctuation. The load frequency control problem is modeled as a state space equation, the robust controller is designed by selecting the appropriate sensitivity function and complementary sensitivity function based on the H∞ mixed sensitivity principle, and the controller is solved by the linear matrix inequality(LMIapproach. The amplitude frequency characteristics denote the reasonability of the designed controller and the design requirement is satisfied by the impact of the impulse signal. The simulation results show that, compared with the classical PI controller, the controller designed by the H∞ robust method can significantly suppress frequency fluctuation under stochastic uncertainty, and improve the power variation of the diesel generator, battery and state of charge(SOC. The robust stability and robust performance of the power system are also advanced.

  14. Robust tracking control of two-degrees-of-freedom mobile robots

    NARCIS (Netherlands)

    Oelen, W.; Oelen, W.; van Amerongen, J.

    1994-01-01

    A robust tracking controller for a mobile robot with two degrees of freedom has been developed. It is implemented and tested on a real mobile robot. Where other controllers show decreasing performance for low reference velocities, the performance of this controller depends only on the geometry of

  15. Switching robust control synthesis for teleoperation via dwell time conditions

    NARCIS (Netherlands)

    López Martínez, C.A.; van de Molengraft, M.J.G.; Steinbuch, M.; Auvray, M.; Duriez, C.

    2014-01-01

    Control design for bilateral teleoperation is still an open problem, given that it is desirable to meet a proper balance in the inherent trade-off between transparency and stability. We propose the use of switching robust control, in which smooth switching among controllers is achieved by the

  16. Intelligence and negotiating

    International Nuclear Information System (INIS)

    George, D.G.

    1990-01-01

    This paper discusses the role of US intelligence during arms control negotiations between 1982 and 1987. It also covers : the orchestration of intelligence projects; an evaluation of the performance of intelligence activities; the effect intelligence work had on actual arms negotiations; and suggestions for improvements in the future

  17. Planning and Execution: The Spirit of Opportunity for Robust Autonomous Systems

    Science.gov (United States)

    Muscettola, Nicola

    2004-01-01

    One of the most exciting endeavors pursued by human kind is the search for life in the Solar System and the Universe at large. NASA is leading this effort by designing, deploying and operating robotic systems that will reach planets, planet moons, asteroids and comets searching for water, organic building blocks and signs of past or present microbial life. None of these missions will be achievable without substantial advances in.the design, implementation and validation of autonomous control agents. These agents must be capable of robustly controlling a robotic explorer in a hostile environment with very limited or no communication with Earth. The talk focuses on work pursued at the NASA Ames Research center ranging from basic research on algorithm to deployed mission support systems. We will start by discussing how planning and scheduling technology derived from the Remote Agent experiment is being used daily in the operations of the Spirit and Opportunity rovers. Planning and scheduling is also used as the fundamental paradigm at the core of our research in real-time autonomous agents. In particular, we will describe our efforts in the Intelligent Distributed Execution Architecture (IDEA), a multi-agent real-time architecture that exploits artificial intelligence planning as the core reasoning engine of an autonomous agent. We will also describe how the issue of plan robustness at execution can be addressed by novel constraint propagation algorithms capable of giving the tightest exact bounds on resource consumption or all possible executions of a flexible plan.

  18. The Effectiveness of Yoga on Spiritual Intelligence in Air Traffic Controllers of Tehran Flight Control Center

    Science.gov (United States)

    Safara, Maryam; Ghasemi, Pejman

    2017-01-01

    The aim of this study was to evaluate the efficacy of yoga on spiritual intelligence in air traffic controllers in Tehran flight control center. This was a quasi-experimental research and the study population includes all air traffic controllers in Tehran flight control center. The sample consisted of 40 people of the study population that were…

  19. Locus of control, hardiness, and emotional intelligence as predictors of waste prevention behaviours

    Directory of Open Access Journals (Sweden)

    Abdollahi, A.

    2015-07-01

    Full Text Available Given that waste generation is an economic and environmental problem for nations and governments, it is necessary that we advance our knowledge on the etiology of waste prevention behaviours. This study aimed to investigate about the relationships between the locus of control, hardiness, emotional intelligence, and waste prevention behaviours. Four hundred and forty participants (226 females and 214 males from Universiti Putra Malaysia completed a survey questionnaire. Structural Equation Modeling (SEM estimated that individuals who were high in emotional intelligence and hardiness showed better waste prevention behaviours as well as those individuals with internal locus of control. Also, the results showed that older students tend to have better waste prevention behaviours. These findings reinforce the importance of personality traits and emotional intelligence in waste prevention behaviours.

  20. Intelligent battery energy management and control for vehicle-to-grid via cloud computing network

    International Nuclear Information System (INIS)

    Khayyam, Hamid; Abawajy, Jemal; Javadi, Bahman; Goscinski, Andrzej; Stojcevski, Alex; Bab-Hadiashar, Alireza

    2013-01-01

    Highlights: • The intelligent battery energy management substantially reduces the interactions of PEV with parking lots. • The intelligent battery energy management improves the energy efficiency. • The intelligent battery energy management predicts the road load demand for vehicles. - Abstract: Plug-in Electric Vehicles (PEVs) provide new opportunities to reduce fuel consumption and exhaust emission. PEVs need to draw and store energy from an electrical grid to supply propulsive energy for the vehicle. As a result, it is important to know when PEVs batteries are available for charging and discharging. Furthermore, battery energy management and control is imperative for PEVs as the vehicle operation and even the safety of passengers depend on the battery system. Thus, scheduling the grid power electricity with parking lots would be needed for efficient charging and discharging of PEV batteries. This paper aims to propose a new intelligent battery energy management and control scheduling service charging that utilize Cloud computing networks. The proposed intelligent vehicle-to-grid scheduling service offers the computational scalability required to make decisions necessary to allow PEVs battery energy management systems to operate efficiently when the number of PEVs and charging devices are large. Experimental analyses of the proposed scheduling service as compared to a traditional scheduling service are conducted through simulations. The results show that the proposed intelligent battery energy management scheduling service substantially reduces the required number of interactions of PEV with parking lots and grid as well as predicting the load demand calculated in advance with regards to their limitations. Also it shows that the intelligent scheduling service charging using Cloud computing network is more efficient than the traditional scheduling service network for battery energy management and control

  1. Wind turbine inverter robust loop-shaping control subject to grid interaction effects

    DEFF Research Database (Denmark)

    Gryning, Mikkel Peter Sidoroff; Wu, Qiuwei; Blanke, Mogens

    2015-01-01

    the grid and the number of wind turbines connected. Power converter based turbines inject harmonic currents, which are attenuated by passive filters. A robust high order active filter controller is proposed to complement the passive filtering. The H∞ design of the control loop enables desired tracking......An H∞ robust control of wind turbine inverters employing an LCL filter is proposed in this paper. The controller dynamics are designed for selective harmonic filtering in an offshore transmission network subject to parameter perturbations. Parameter uncertainty in the network originates from...

  2. Distributed stability control using intelligent voltage-margin relay

    Energy Technology Data Exchange (ETDEWEB)

    Wiszniewski, A.; Rebizant, W. [Wroclaw Univ. of Technology (Poland); Klimek, A. [Powertech Labs Inc., Surrey, BC (Canada)

    2010-07-01

    This paper presented an intelligent relay that operates if the load to source impedance ratio decreases to a level that is dangerously close to the stability limit, which leads to power system blackouts. The intelligent voltage-margin/difference relay installed at receiving substations automatically initiates action if the voltage stability margin drops to a dangerously low level. The relay decides if the tap changing devices are to be blocked and if under-voltage load shedding should be initiated, thereby mitigating an evolving instability. The intelligent relay has two levels of operation. At the first stage, which corresponds to the higher load to source impedance ratio, the relay initiates blocking of the tap changer. At the second stage, corresponding to the lower source to load impedance ratio, load shedding is initiated. The relay operates when the load to source impedance ratio reaches a certain predetermined level, but it does not depend either on the level of the source voltage or on the difference of source and load impedance phase angles. The algorithm for the relay is relatively simple and uses only locally available signals. Consequently, the transformer is well controlled to eliminate the cases of voltage instability. 6 refs., 7 figs.

  3. Robust PD Sway Control of a Lifted Load for a Crane Using a Genetic Algorithm

    Science.gov (United States)

    Kawada, Kazuo; Sogo, Hiroyuki; Yamamoto, Toru; Mada, Yasuhiro

    PID control schemes still continue to be widely used for most industrial control systems. This is mainly because PID controllers have simple control structures, and are simple to maintain and tune. However, it is difficult to find a set of suitable control parameters in the case of time-varying and/or nonlinear systems. For such a problem, the robust controller has been proposed.Although it is important to choose the suitable nominal model in designing the robust controller, it is not usually easy.In this paper, a new robust PD controller design scheme is proposed, which utilizes a genetic algorithm.

  4. Robust Frequency and Voltage Stability Control Strategy for Standalone AC/DC Hybrid Microgrid

    Directory of Open Access Journals (Sweden)

    Furqan Asghar

    2017-05-01

    Full Text Available The microgrid (MG concept is attracting considerable attention as a solution to energy deficiencies, especially in remote areas, but the intermittent nature of renewable sources and varying loads cause many control problems and thereby affect the quality of power within a microgrid operating in standalone mode. This might cause large frequency and voltage deviations in the system due to unpredictable output power fluctuations. Furthermore, without any main grid support, it is more complex to control and manage the system. In past, droop control and various other coordination control strategies have been presented to stabilize the microgrid frequency and voltages, but in order to utilize the available resources up to their maximum capacity in a positive way, new and robust control mechanisms are required. In this paper, a standalone microgrid is presented, which integrates renewable energy-based distributed generations and local loads. A fuzzy logic-based intelligent control technique is proposed to maintain the frequency and DC (direct current-link voltage stability for sudden changes in load or generation power. Also from a frequency control perspective, a battery energy storage system (BESS is suggested as a replacement for a synchronous generator to stabilize the nominal system frequency as a synchronous generator is unable to operate at its maximum efficiency while being controlled for stabilization purposes. Likewise, a super capacitor (SC and BESS is used to stabilize DC bus voltages even though maximum possible energy is being extracted from renewable generated sources using maximum power point tracking. This newly proposed control method proves to be effective by reducing transient time, minimizing the frequency deviations, maintaining voltages even though maximum power point tracking is working and preventing generators from exceeding their power ratings during disturbances. However, due to the BESS limited capacity, load switching

  5. 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. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  6. Design and implementation of fixed-order robust controllers for a proton exchange membrane fuel cell system

    Energy Technology Data Exchange (ETDEWEB)

    Wang, Fu-Cheng; Chen, Hsuan-Tsung [Department of Mechanical Engineering, National Taiwan University, No.1, Sec. 4, Roosevelt Road, 10617 Taipei (China)

    2009-03-15

    This paper applies fixed-order multivariable robust control strategies to a proton exchange membrane fuel cell (PEMFC) system, and implements the designed controllers on a microchip for system miniaturization. In previous studies, robust control was applied to guarantee system stability and to reduce hydrogen consumption for a PEMFC system. It was noted that for standard robust control design, the order of resulting H{sub {infinity}} controllers is dictated by the plants and weighting functions. However, for hardware implementation, controllers with lower orders are preferable in terms of computing efforts and cost. Therefore, in this paper the PEMFC is modeled as multivariable transfer matrices, then three fixed-order robust control algorithms are applied to design controllers with specified orders for a PEMFC. Finally, the designed controllers are implemented on a microchip to regulate the air and hydrogen flow rates. From the experimental results, fixed-order robust control is deemed effective in supplying steady power and reducing fuel consumption. (author)

  7. H∞ Robust Current Control for DFIG Based Wind Turbine subject to Grid Voltage Distortions

    DEFF Research Database (Denmark)

    Wang, Yun; Wu, Qiuwei; Gong, Wenming

    2016-01-01

    This paper proposes an H∞ robust current controller for doubly fed induction generator (DFIG) based wind turbines (WTs) subject to grid voltage distortions. The controller is to mitigate the impact of the grid voltage distortions on rotor currents with DFIG parameter perturbation. The grid voltage...... distortions considered include asymmetric voltage dips and grid background harmonics. An uncertain DFIG model is developed with uncertain factors originating from distorted stator voltage, and changed generator parameters due to the flux saturation effect, the skin effect, etc. Weighting functions...... are designed to efficiently track the unbalanced current components and the 5th and 7th background harmonics. The robust stability (RS) and robust performance (RP) of the proposed controller are verified by the structured singular value µ. The performance of the H∞ robust current controller was demonstrated...

  8. Microgrid Stability Controller Based on Adaptive Robust Total SMC

    Directory of Open Access Journals (Sweden)

    Xiaoling Su

    2015-03-01

    Full Text Available This paper presents a microgrid stability controller (MSC in order to provide existing distributed generation units (DGs the additional functionality of working in islanding mode without changing their control strategies in grid-connected mode and to enhance the stability of the microgrid. Microgrid operating characteristics and mathematical models of the MSC indicate that the system is inherently nonlinear and time-variable. Therefore, this paper proposes an adaptive robust total sliding-mode control (ARTSMC system for the MSC. It is proved that the ARTSMC system is insensitive to parametric uncertainties and external disturbances. The MSC provides fast dynamic response and robustness to the microgrid. When the system is operating in grid-connected mode, it is able to improve the controllability of the exchanged power between the microgrid and the utility grid, while smoothing the DGs’ output power. When the microgrid is operating in islanded mode, it provides voltage and frequency support, while guaranteeing seamless transition between the two operation modes. Simulation and experimental results show the effectiveness of the proposed approach.

  9. Robust Finite-Time Terminal Sliding Mode Control for a Francis Hydroturbine Governing System

    OpenAIRE

    Fengjiao Wu; Junling Ding; Zhengzhong Wang

    2016-01-01

    The robust finite-time control for a Francis hydroturbine governing system is investigated in this paper. Firstly, the mathematical model of a Francis hydroturbine governing system is presented and the nonlinear vibration characteristics are analyzed. Then, on the basis of finite-time control theory and terminal sliding mode scheme, a new robust finite-time terminal sliding mode control method is proposed for nonlinear vibration control of the hydroturbine governing system. Furthermore, the d...

  10. Robust Multivariable Feedback Control of Natural Gas-Diesel RCCI Combustion

    NARCIS (Netherlands)

    Indrajuana, A.; Bekdemir, C.; Luo, X.; Willems, F.P.T.

    2016-01-01

    Advanced combustion concepts such as Reactivity Controlled Compression Ignition (RCCI) demonstrate very high thermal efficiencies combined with ultra low NOx emissions. As RCCI is sensitive for operating conditions, closed-loop control is a crucial enabler for stable and robust combustion. The

  11. Attention and impulse control in children with borderline intelligence with or without conduct disorder.

    NARCIS (Netherlands)

    van der Meere, Jaap; van der Meer, Dirk-Jan; Borger, Norbert; Pirila, Silja

    2008-01-01

    This study was designed to investigate attention and impulse control in 21 boys with dual diagnoses of conduct disorder and borderline intelligence and in 19 boys with borderline intelligence only. Using the Continuous Performance Test A-not-X, it appeared that children with the dual diagnosis made

  12. Asymmetric forecasting and commitment policy in a robust control problem

    OpenAIRE

    Taro Ikeda

    2013-01-01

    This paper provides a piece of results regarding asymmetric forecasting and commitment monetary policy with a robust control algorithm. Previous studies provide no clarification of the connection between asymmetric preference and robust commitment policy. Three results emerge from general equilibrium modeling with asymmetric preference: (i) the condition for system stability implies an average inflation bias with respect to asymmetry (ii) the effect of asymmetry can be mitigated if policy mak...

  13. Approach for Autonomous Control of Unmanned Aerial Vehicle Using Intelligent Agents for Knowledge Creation

    Science.gov (United States)

    Dufrene, Warren R., Jr.

    2004-01-01

    This paper describes the development of a planned approach for Autonomous operation of an Unmanned Aerial Vehicle (UAV). A Hybrid approach will seek to provide Knowledge Generation through the application of Artificial Intelligence (AI) and Intelligent Agents (IA) for UAV control. The applications of several different types of AI techniques for flight are explored during this research effort. The research concentration is directed to the application of different AI methods within the UAV arena. By evaluating AI and biological system approaches. which include Expert Systems, Neural Networks. Intelligent Agents, Fuzzy Logic, and Complex Adaptive Systems, a new insight may be gained into the benefits of AI and CAS techniques applied to achieving true autonomous operation of these systems. Although flight systems were explored, the benefits should apply to many Unmanned Vehicles such as: Rovers. Ocean Explorers, Robots, and autonomous operation systems. A portion of the flight system is broken down into control agents that represent the intelligent agent approach used in AI. After the completion of a successful approach, a framework for applying an intelligent agent is presented. The initial results from simulation of a security agent for communication are presented.

  14. Intelligent tutors for control center operator training

    Energy Technology Data Exchange (ETDEWEB)

    Vale, Z.A. [Porto Univ. (Portugal). Dept. of Electrical and Computer Engineering; Fernandes, M.F.; Marques, A. [Electricity of Portugal, Sacavem (Portugal)

    1995-12-31

    Power systems are presently remotely operated and controlled from control centers that receive on-line information about the power system state. Control center operators have very high-demanding tasks what makes their training a key issue for the performance of the whole power system. Simulators are usually used by electrical utilities for this purpose but they are very expensive applications and their use requires the preparation of the training sessions by qualified training staff which is a very time consuming task. Due to this, these simulators are only used a few times a year. Intelligent Tutoring Systems (ITS) provide some new possibilities for control center operator training making easier its use without much assistance of the teaching staff. On the other hand, an expert system in use in a control center can be adapted to an ITS to train operators without much effort. 18 refs

  15. Intelligent CAMAC crate controller incorporating a transputer

    International Nuclear Information System (INIS)

    Saeki, T.; Ueda, I.; Anraku, K.

    1995-01-01

    A CAMAC crate controller module having a built-in transputer was developed, being named the ''Intelligent CAMAC Crate Controller (ICCC)''. Due to the transputer's architecture, multiple ICCCs can be networked by simple serial link connections. The control programs are developed in Occam or C language, which support conccurrent algorithms and their implementation in transputer networks. Each ICCC controls the front-end CAMAC modules in the crate, operates in parallel, and interpretes commands from the host computer. Data read from the modules is concurrently and autonomously processed, and then transmitted to the network where it is gathered into the host computer file system. The present paper describes the ICCC's hardware and software using a simple configuration network. Our particular device application for a balloon-borne experiment is also discussed, i.e., a data acquisition system networking twenty-seven transputers. ((orig.))

  16. Intelligent Flight Control System and Aeronautics Research at NASA Dryden

    Science.gov (United States)

    Brown, Nelson A.

    2009-01-01

    This video presentation reviews the F-15 Intelligent Flight Control System and contains clips of flight tests and aircraft performance in the areas of target tracking, takeoff and differential stabilators. Video of the APG milestone flight 1g formation is included.

  17. A Practical Tuning Method for the Robust PID Controller with Velocity Feed-Back

    Directory of Open Access Journals (Sweden)

    Emre Sariyildiz

    2015-08-01

    Full Text Available Proportional-Integral-Derivative (PID control is the most widely used control method in industrial and academic applications due to its simplicity and efficiency. Several different control methods/algorithms have been proposed to tune the gains of PID controllers. However, the conventional tuning methods do not have sufficient performance and simplicity for practical applications, such as robotics and motion control. The performance of motion control systems may significantly deteriorate by the nonlinear plant uncertainties and unknown external disturbances, such as inertia variations, friction, external loads, etc., i.e., there may be a significant discrepancy between the simulation and experiment if the robustness is not considered in the design of PID controllers. This paper proposes a novel practical tuning method for the robust PID controller with velocity feed-back for motion control systems. The main advantages of the proposed method are the simplicity and efficiency in practical applications, i.e., a high performance robust motion control system can be easily designed by properly tuning conventional PID controllers. The validity of the proposal is verified by giving simulation and experimental results.

  18. Promises in intelligent plant control systems

    International Nuclear Information System (INIS)

    Otaduy, P.J.

    1987-01-01

    The control system is the brain of a power plant. The traditional goal of control systems has been productivity. However, in nuclear power plants the potential for disaster requires safety to be the dominant concern, and the worldwide political climate demands trustworthiness for nuclear power plants. To keep nuclear generation as a viable option for power in the future, trust is the essential critical goal which encompasses all others. In most of today's nuclear plants the control system is a hybrid of analog, digital, and human components that focuses on productivity and operates under the protective umbrella of an independent engineered safety system. Operation of the plant is complex, and frequent challenges to the safety system occur which impact on their trustworthiness. Advances in nuclear reactor design, computer sciences, and control theory, and in related technological areas such as electronics and communications as well as in data storage, retrieval, display, and analysis have opened a promise for control systems with more acceptable human brain-like capabilities to pursue the required goals. This paper elaborates on the promise of futuristic nuclear power plants with intelligent control systems and addresses design requirements and implementation approaches

  19. Robust guaranteed cost tracking control of quadrotor UAV with uncertainties.

    Science.gov (United States)

    Xu, Zhiwei; Nian, Xiaohong; Wang, Haibo; Chen, Yinsheng

    2017-07-01

    In this paper, a robust guaranteed cost controller (RGCC) is proposed for quadrotor UAV system with uncertainties to address set-point tracking problem. A sufficient condition of the existence for RGCC is derived by Lyapunov stability theorem. The designed RGCC not only guarantees the whole closed-loop system asymptotically stable but also makes the quadratic performance level built for the closed-loop system have an upper bound irrespective to all admissible parameter uncertainties. Then, an optimal robust guaranteed cost controller is developed to minimize the upper bound of performance level. Simulation results verify the presented control algorithms possess small overshoot and short setting time, with which the quadrotor has ability to perform set-point tracking task well. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.

  20. 2015 Chinese Intelligent Automation Conference

    CERN Document Server

    Li, Hongbo

    2015-01-01

    Proceedings of the 2015 Chinese Intelligent Automation Conference presents selected research papers from the CIAC’15, held in Fuzhou, China. The topics include adaptive control, fuzzy control, neural network based control, knowledge based control, hybrid intelligent control, learning control, evolutionary mechanism based control, multi-sensor integration, failure diagnosis, reconfigurable control, etc. Engineers and researchers from academia, industry and the government can gain valuable insights into interdisciplinary solutions in the field of intelligent automation.

  1. Design and Research of Intelligent Remote Control Fan Based on Single Chip Microcomputer and Bluetooth Technology

    Directory of Open Access Journals (Sweden)

    Zhang Xue-Xia

    2017-01-01

    Full Text Available This paper is designed for intelligent remote control fans. The design of the microcontroller as the core, the sensor, Bluetooth and Andrews system applied to the design of intelligent remote control fan. According to the temperature sensor to achieve the indoor temperature collection, to achieve and set the temperature comparison, thus affecting the fan speed. At the same time, the system according to the infrared sensor components to detect external factors, in order to achieve the running or stopping of the fan, that is, to achieve intelligent control of the fan. In addition, the system achieve the Bluetooth and mobile phone Andrews system of effective combination, and through the software program to complete the fan remote operation and wind speed control.

  2. Neural-Network-Based Fuzzy Logic Navigation Control for Intelligent Vehicles

    Directory of Open Access Journals (Sweden)

    Ahcene Farah

    2002-06-01

    Full Text Available This paper proposes a Neural-Network-Based Fuzzy logic system for navigation control of intelligent vehicles. First, the use of Neural Networks and Fuzzy Logic to provide intelligent vehicles  with more autonomy and intelligence is discussed. Second, the system  for the obstacle avoidance behavior is developed. Fuzzy Logic improves Neural Networks (NN obstacle avoidance approach by handling imprecision and rule-based approximate reasoning. This system must make the vehicle able, after supervised learning, to achieve two tasks: 1- to make one’s way towards its target by a NN, and 2- to avoid static or dynamic obstacles by a Fuzzy NN capturing the behavior of a human expert. Afterwards, two association phases between each task and the appropriate actions are carried out by Trial and Error learning and their coordination allows to decide the appropriate action. Finally, the simulation results display the generalization and adaptation abilities of the system by testing it in new unexplored environments.

  3. Intelligent sensing and control of gas metal arc welding

    International Nuclear Information System (INIS)

    Smartt, H.B.; Johnson, J.A.

    1993-01-01

    Intelligent sensing and control is a multidisciplinary approach that attempts to build adequate sensing capability, knowledge of process physics, control capability, and welding engineering into the welding system such that the welding machine is aware of the state of the weld and knows how to make a good weld. The sensing and control technology should reduce the burden on the welder and welding engineer while providing the great adaptability needed to accommodate the variability found in the production world. This approach, accomplished with application of AI techniques, breaks the tradition of separate development of procedure and control technology

  4. Robust H(∞) positional control of 2-DOF robotic arm driven by electro-hydraulic servo system.

    Science.gov (United States)

    Guo, Qing; Yu, Tian; Jiang, Dan

    2015-11-01

    In this paper an H∞ positional feedback controller is developed to improve the robust performance under structural and parametric uncertainty disturbance in electro-hydraulic servo system (EHSS). The robust control model is described as the linear state-space equation by upper linear fractional transformation. According to the solution of H∞ sub-optimal control problem, the robust controller is designed and simplified to lower order linear model which is easily realized in EHSS. The simulation and experimental results can validate the robustness of this proposed method. The comparison result with PI control shows that the robust controller is suitable for this EHSS under the critical condition where the desired system bandwidth is higher and the external load of the hydraulic actuator is closed to its limited capability. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.

  5. Robust Economic Control Decision Method of Uncertain System on Urban Domestic Water Supply.

    Science.gov (United States)

    Li, Kebai; Ma, Tianyi; Wei, Guo

    2018-03-31

    As China quickly urbanizes, urban domestic water generally presents the circumstances of both rising tendency and seasonal cycle fluctuation. A robust economic control decision method for dynamic uncertain systems is proposed in this paper. It is developed based on the internal model principle and pole allocation method, and it is applied to an urban domestic water supply system with rising tendency and seasonal cycle fluctuation. To achieve this goal, first a multiplicative model is used to describe the urban domestic water demand. Then, a capital stock and a labor stock are selected as the state vector, and the investment and labor are designed as the control vector. Next, the compensator subsystem is devised in light of the internal model principle. Finally, by using the state feedback control strategy and pole allocation method, the multivariable robust economic control decision method is implemented. The implementation with this model can accomplish the urban domestic water supply control goal, with the robustness for the variation of parameters. The methodology presented in this study may be applied to the water management system in other parts of the world, provided all data used in this study are available. The robust control decision method in this paper is also applicable to deal with tracking control problems as well as stabilization control problems of other general dynamic uncertain systems.

  6. Future applications of artificial intelligence to Mission Control Centers

    Science.gov (United States)

    Friedland, Peter

    1991-01-01

    Future applications of artificial intelligence to Mission Control Centers are presented in the form of the viewgraphs. The following subject areas are covered: basic objectives of the NASA-wide AI program; inhouse research program; constraint-based scheduling; learning and performance improvement for scheduling; GEMPLAN multi-agent planner; planning, scheduling, and control; Bayesian learning; efficient learning algorithms; ICARUS (an integrated architecture for learning); design knowledge acquisition and retention; computer-integrated documentation; and some speculation on future applications.

  7. Robust adaptive fuzzy neural tracking control for a class of unknown ...

    Indian Academy of Sciences (India)

    In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is ... The robust controller is used to guarantee the stability and to control the per- ..... From the above analysis we have the following theorem:.

  8. Robust anti-windup control for marine cyber-physical systems

    Directory of Open Access Journals (Sweden)

    Kakanov Mikhail

    2018-01-01

    Full Text Available In this paper the robust output control with anti-windup compensation and its implementation to the robotic boat are addressed. The detailed control design and stability analysis of the closed-loop systems are provided in the work. Extensive experimental verification of the dynamic positioning system based on various modifications of the basic controller is carried out by means of robotic boat. The corresponding experimental results are presented and analysed.

  9. Study of intelligent system for control of the tokamak-ETE plasma positioning

    International Nuclear Information System (INIS)

    Barbosa, Luis Filipe de Faria Pereira Wiltgen

    2003-01-01

    The development of an intelligent neural control system of the neural type, capable to perform real time control of the plasma displacement in the experiment tokamak spheric - ETE (spherical tokamak experiment ) is presented. The ETE machine is in operation since Nov 2000, in the LAP - Plasma Associated Laboratory of the Brazilian Institute on Spatial Research (INPE) in Sao Jose dos Campos, S P, Brazil. The experiment is dedicated to study the magnetic confinement of a fusion plasma in a configuration favorable for the construction of future reactors. Nuclear fusion constitutes a renewable energy source with low environmental impact, which uses atomic energy in pacific applications for the sustainable development of humanity. One of the important questions for the attainment of fusion relates to the stability of the plasma and control of its position during the reactor operation. Therefore, the development of systems to control the plasma in tokamaks constitutes a necessary technological advance for the feasibility of nuclear fusion. In particular, the research carried out in this thesis concerns the proposal of a system to control the vertical displacement of the plasma in the ETE tokamak, aiming to obtain steady pulses in this machine. A Magnetic Levitation system (Mag Lev) was developed as part of this work, allowing to study the nonlinear behavior of a device that, from the aspect of position control, is similar (analogous) to the plasma in the ETE tokamak, This magnetic levitation system was designed, mathematically modeled and built in order to test both classical and intelligent type controllers. The results of this comparison are very promising for the use of intelligent controllers in the ETE tokamak as well as other control applications. (author)

  10. Characteristic Model-Based Robust Model Predictive Control for Hypersonic Vehicles with Constraints

    Directory of Open Access Journals (Sweden)

    Jun Zhang

    2017-06-01

    Full Text Available Designing robust control for hypersonic vehicles in reentry is difficult, due to the features of the vehicles including strong coupling, non-linearity, and multiple constraints. This paper proposed a characteristic model-based robust model predictive control (MPC for hypersonic vehicles with reentry constraints. First, the hypersonic vehicle is modeled by a characteristic model composed of a linear time-varying system and a lumped disturbance. Then, the identification data are regenerated by the accumulative sum idea in the gray theory, which weakens effects of the random noises and strengthens regularity of the identification data. Based on the regenerated data, the time-varying parameters and the disturbance are online estimated according to the gray identification. At last, the mixed H2/H∞ robust predictive control law is proposed based on linear matrix inequalities (LMIs and receding horizon optimization techniques. Using active tackling system constraints of MPC, the input and state constraints are satisfied in the closed-loop control system. The validity of the proposed control is verified theoretically according to Lyapunov theory and illustrated by simulation results.

  11. A camac-based intelligent subsystem for ATLAS example application: cryogenic monitoring and control

    International Nuclear Information System (INIS)

    Pardo, R.; Kawarasaki, Y.; Wasniewski, K.

    1985-01-01

    A subunit of the CAMAC accelerator control system of ATLAS for monitoring and, eventually, controlling the cryogenic refrigeration and distribution facility is under development. This development is the first application of a philosophy of distributed intelligence which will be applied throughout the ATLAS control system. The control concept is that of an intelligent subunit of the existing ATLAS CAMAC control highway. A single board computer resides in an auxiliary crate controller which allows access to all devices within the crate. The local SBC can communicate to the host over the CAMAC highway via a protocol involving the use of memory in the SBC which can be accessed from the host in a DMA mode. This provides a mechanism for global communications, such as for alarm conditions, as well as allowing the cryogenic system to respond to the demands of the accelerator system

  12. Robust quasi NID current and flux control of an induction motor for position control

    NARCIS (Netherlands)

    van Duijnhoven, M.; Blachuta, M.J.

    1999-01-01

    In the paper, a new control design method called Dynamic Contraction method is applied to the flux and quadrature current robust control of an induction motor operated using the field orientation principle. The resulting input-output decoupled and linearized drive is then used for time-optimal

  13. Two Reconfigurable Flight-Control Design Methods: Robust Servomechanism and Control Allocation

    Science.gov (United States)

    Burken, John J.; Lu, Ping; Wu, Zheng-Lu; Bahm, Cathy

    2001-01-01

    Two methods for control system reconfiguration have been investigated. The first method is a robust servomechanism control approach (optimal tracking problem) that is a generalization of the classical proportional-plus-integral control to multiple input-multiple output systems. The second method is a control-allocation approach based on a quadratic programming formulation. A globally convergent fixed-point iteration algorithm has been developed to make onboard implementation of this method feasible. These methods have been applied to reconfigurable entry flight control design for the X-33 vehicle. Examples presented demonstrate simultaneous tracking of angle-of-attack and roll angle commands during failures of the fight body flap actuator. Although simulations demonstrate success of the first method in most cases, the control-allocation method appears to provide uniformly better performance in all cases.

  14. Novel intelligent PID control of traveling wave ultrasonic motor.

    Science.gov (United States)

    Jingzhuo, Shi; Yu, Liu; Jingtao, Huang; Meiyu, Xu; Juwei, Zhang; Lei, Zhang

    2014-09-01

    A simple control strategy with acceptable control performance can be a good choice for the mass production of ultrasonic motor control system. In this paper, through the theoretic and experimental analyses of typical control process, a simpler intelligent PID speed control strategy of TWUM is proposed, involving only two expert rules to adjust the PID control parameters based on the current status. Compared with the traditional PID controller, this design requires less calculation and more cheap chips which can be easily involved in online performance. Experiments with different load torques and voltage amplitudes show that the proposed controller can deal with the nonlinearity and load disturbance to maintain good control performance of TWUM. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.

  15. Intelligent control of an IPMC actuated manipulator using emotional learning-based controller

    Science.gov (United States)

    Shariati, Azadeh; Meghdari, Ali; Shariati, Parham

    2008-08-01

    In this research an intelligent emotional learning controller, Takagi- Sugeno- Kang (TSK) is applied to govern the dynamics of a novel Ionic-Polymer Metal Composite (IPMC) actuated manipulator. Ionic-Polymer Metal Composites are active actuators that show very large deformation in existence of low applied voltage. In this research, a new IPMC actuator is considered and applied to a 2-dof miniature manipulator. This manipulator is designed for miniature tasks. The control system consists of a set of neurofuzzy controller whose parameters are adapted according to the emotional learning rules, and a critic with task to assess the present situation resulted from the applied control action in terms of satisfactory achievement of the control goals and provides the emotional signal (the stress). The controller modifies its characteristics so that the critic's stress decreased.

  16. Robust coordinated control of a dual-arm space robot

    Science.gov (United States)

    Shi, Lingling; Kayastha, Sharmila; Katupitiya, Jay

    2017-09-01

    Dual-arm space robots are more capable of implementing complex space tasks compared with single arm space robots. However, the dynamic coupling between the arms and the base will have a serious impact on the spacecraft attitude and the hand motion of each arm. Instead of considering one arm as the mission arm and the other as the balance arm, in this work two arms of the space robot perform as mission arms aimed at accomplishing secure capture of a floating target. The paper investigates coordinated control of the base's attitude and the arms' motion in the task space in the presence of system uncertainties. Two types of controllers, i.e. a Sliding Mode Controller (SMC) and a nonlinear Model Predictive Controller (MPC) are verified and compared with a conventional Computed-Torque Controller (CTC) through numerical simulations in terms of control accuracy and system robustness. Both controllers eliminate the need to linearly parameterize the dynamic equations. The MPC has been shown to achieve performance with higher accuracy than CTC and SMC in the absence of system uncertainties under the condition that they consume comparable energy. When the system uncertainties are included, SMC and CTC present advantageous robustness than MPC. Specifically, in a case where system inertia increases, SMC delivers higher accuracy than CTC and costs the least amount of energy.

  17. The evolution of intelligence in mammalian carnivores.

    Science.gov (United States)

    Holekamp, Kay E; Benson-Amram, Sarah

    2017-06-06

    Although intelligence should theoretically evolve to help animals solve specific types of problems posed by the environment, it is unclear which environmental challenges favour enhanced cognition, or how general intelligence evolves along with domain-specific cognitive abilities. The social intelligence hypothesis posits that big brains and great intelligence have evolved to cope with the labile behaviour of group mates. We have exploited the remarkable convergence in social complexity between cercopithecine primates and spotted hyaenas to test predictions of the social intelligence hypothesis in regard to both cognition and brain size. Behavioural data indicate that there has been considerable convergence between primates and hyaenas with respect to their social cognitive abilities. Moreover, compared with other hyaena species, spotted hyaenas have larger brains and expanded frontal cortex, as predicted by the social intelligence hypothesis. However, broader comparative study suggests that domain-general intelligence in carnivores probably did not evolve in response to selection pressures imposed specifically in the social domain. The cognitive buffer hypothesis, which suggests that general intelligence evolves to help animals cope with novel or changing environments, appears to offer a more robust explanation for general intelligence in carnivores than any hypothesis invoking selection pressures imposed strictly by sociality or foraging demands.

  18. Computer Aided Automatic Control - CAAC artificial intelligence block

    Energy Technology Data Exchange (ETDEWEB)

    Balate, J.; Chramcov, B.; Princ, M. [Brno Univ. of Technology (Czech Republic). Faculty of Technology in Zlin

    2000-07-01

    The aim of the plan to build up the system CAAC - Computer Aided Automatic Control is to create modular setup of partial computing programs including theory of automatic control, algorithms of programs for processing signals and programs of control algorithms. To approach its informative contents to students and professional public the CAAC system utilizes Internet services http in the form of WWW pages. The CAAC system is being processed at the Institute of Automation and Control Technique of the Faculty of Technology in Zlin of the Brno University of Technology and is determined particularly for pedagogic purposes. Recently also the methods of artificial intelligence have been included to the open CAAC system and that is comprised in this article. (orig.)

  19. Multivariable robust control of an integrated nuclear power reactor

    Directory of Open Access Journals (Sweden)

    A. Etchepareborda

    2002-12-01

    Full Text Available The design of the main control system of the CAREM nuclear power plant is presented. This plant is an inherently safe low-power nuclear reactor with natural convection on the primary coolant circuit and is self-pressurized with a steam dome on the top of the pressure vessel (PV. It is an integrated reactor as the whole primary coolant circuit is within the PV. The primary circuit transports the heat to the secondary circuit through once-through steam generators (SG. There is a feedwater valve at the inlet of the SG and a turbine valve at the outlet of the SG. The manipulated variables are the aperture of these valves and the reactivity of the control rods. The control target is to regulate the primary and secondary pressures and to monitor steam flow reference ramps on a range of nominal flow from 100% to 40%. The requirements for the control system are robust stability, low-order simple controllers and transient/permanent error bounding. The controller design is based on a detailed RETRAN plant model, from which linear perturbed open-loop dynamic models at different powers are identified. Two low-order nominal models with their associated uncertainties are chosen for two different power ranges. Robust controllers with acceptable performances are designed for each range. Numerical optimization based on the loop-shaping method is used for the controller design. The designed controllers are implemented in the RETRAN model and tested in simulations achieving successful results.

  20. Emotional intelligence and locus of control of adult patients with ...

    African Journals Online (AJOL)

    Background: This article investigates emotional intelligence and locus of control in an adult breast cancer population receiving treatment. Gaining insight into these constructs will contribute to improving breast cancer patients' psychological well-being and to reducing physical vulnerability to disease before and during ...

  1. Robust multi-model predictive control of multi-zone thermal plate system

    Directory of Open Access Journals (Sweden)

    Poom Jatunitanon

    2018-02-01

    Full Text Available A modern controller was designed by using the mathematical model of a multi–zone thermal plate system. An important requirement for this type of controller is that it must be able to keep the temperature set-point of each thermal zone. The mathematical model used in the design was determined through a system identification process. The results showed that when the operating condition is changed, the performance of the controller may be reduced as a result of the system parameter uncertainties. This paper proposes a weighting technique of combining the robust model predictive controller for each operating condition into a single robust multi-model predictive control. Simulation and experimental results showed that the proposed method performed better than the conventional multi-model predictive control in rise time of transient response, when used in a system designed to work over a wide range of operating conditions.

  2. Robust Control of Aeronautical Electrical Generators for Energy Management Applications

    OpenAIRE

    Giacomo Canciello; Alberto Cavallo; Beniamino Guida

    2017-01-01

    A new strategy for the control of aeronautical electrical generators via sliding manifold selection is proposed, with an associated innovative intelligent energy management strategy used for efficient power transfer between two sources providing energy to aeronautical loads, having different functionalities and priorities. Electric generators used for aeronautical application involve several machines, including a main generator and an exciter. Standard regulators (PI or PID-like) are normally...

  3. Robust Control with Enlaeged Interval of Uncertain Parameters

    Directory of Open Access Journals (Sweden)

    Marek Keresturi

    2002-01-01

    Full Text Available Robust control is advantageous for systems with defined interval of uncertain parameters. This can be substantially enlarged dividing it into a few sub-intervals. Corresponding controllers for each of them may be set after approximate identification of some uncertain plant parameters. The paper deals with application of the pole region assignment method for position control of the crane crab. The same track form is required for uncertain burden mass and approximate value of rope length. Measurement of crab position and speed is supposed, burden deviation angle is observed. Simulation results have verified feasibility of this design procedure.

  4. Robust adaptive fuzzy neural tracking control for a class of unknown ...

    Indian Academy of Sciences (India)

    In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is proposed. The proposed AFNC is comprised of a fuzzy neural controller and a robust controller. The fuzzy neural controller including a fuzzy neural network identifier (FNNI) is the principal controller. The FNNI is used for ...

  5. Robust two degree of freedom vehicle steering control satisfying mixed sensitivity constraint

    OpenAIRE

    Aksun-Güvenc, B.; Güvenc, L.; Odenthal, D.; Bünte, T.

    2001-01-01

    Robust steering control is used here for improving the yaw dynamics of a passenger car. A specific two degree of freedom control structure is adapted to the vehicle yaw dynamics problem and shown to robustly improve performance. The design study is based on six operating conditions for vehicle speed and the coefficient of friction between the tires and the road representing the operating domain of the vehicle. The relevant design specifications are formulated as attaining Hurwitz stability a...

  6. The development of advanced robotic technology. A study on the tele-existence and intelligent control of a robot system for nuclear power plants

    Energy Technology Data Exchange (ETDEWEB)

    Chung, Myung Jin; Byun, Jueng Nam; Kim, Jong Hwan; Lee, Ju Jang; Bang, Seok Won; Chu, Gil Hwan; Park, Jong Cheol; Choi, Jong Seok; Yang, Jung Min; Hong, Sun Ki [Korea Advanced Institute of Science and Technology, Taejon (Korea, Republic of)

    1995-07-01

    To increase the efficiency of human intelligence it is required to develop an intelligent monitoring and system. In this research, we develop intelligent control methods related with tele-operation, tele-existence, real-time control technique, and intelligent control technique. Those are key techniques in tele-operation, especially for the repair and maintenance of nuclear power plants. The objective of this project is to develop of the tele-existence and intelligent control system for a robot used in the nuclear power plants. (author). 20 refs.

  7. ASSESSMENT OF A WIND TURBINE INTELLIGENT CONTROLLER FOR ENHANCED ENERGY PRODUCTION AND POLLUTION REDUCTION

    Science.gov (United States)

    This study assessed the enhanced energy production which is possible when variable-speed wind turbines are electronically controlled by an intelligent controller for efficiency optimization and performance improvement. The control system consists of three fuzzy- logic controllers...

  8. Intelligent automated control of robotic systems for environmental restoration

    International Nuclear Information System (INIS)

    Harrigan, R.W.

    1992-01-01

    The US Department of Energy's Office of Technology Development (OTD) has sponsored the development of the Generic Intelligent System Controller (GISC) for application to remote system control. Of primary interest to the OTD is the development of technologies which result in faster, safer, and cheaper cleanup of hazardous waste sites than possible using conventional approaches. The objective of the GISC development project is to support these goals by developing a modular robotics control approach which reduces the time and cost of development by allowing reuse of control system software and uses computer models to improve the safety of remote site cleanup while reducing the time and life cycle costs

  9. Artificial intelligence in process control: Knowledge base for the shuttle ECS model

    Science.gov (United States)

    Stiffler, A. Kent

    1989-01-01

    The general operation of KATE, an artificial intelligence controller, is outlined. A shuttle environmental control system (ECS) demonstration system for KATE is explained. The knowledge base model for this system is derived. An experimental test procedure is given to verify parameters in the model.

  10. 1992 American Control Conference, 11th, Chicago, IL, June 24-26, 1992, Proceedings. Vols. 1-4

    International Nuclear Information System (INIS)

    Anon.

    1992-01-01

    Various papers on control are presented. The general topics addressed include: neural networks; robust stability; process control; large-scale and parallel computations in control; optimal control; mechanical and electrical control applications; identification of feedback systems; linear multivariable systems; advanced weapon control technology; numerical methods and computation; sampled data systems; l1, l2, H2, and H(infinity) control; force control; alpha-beta target tracking systems; variable structure control; robust control; stochastic systems; discrete time systems; H(infinity) control; decentralized systems; robotics; identification of multivariable systems; control of advanced aircraft; applications in nonlinear control; mixed H2/H(infinity) control; motion planning and trajectory control; aircraft flight guidance and control; model predictive control; parallel computing for power systems analysis; energy systems. Also addressed are: tracking and estimation; learning control; intelligent process control; analysis of systems with delay; spacecraft attitude dynamics and control; benchmark problems for robust control design; large power systems; fault-tolerant systems; modelling and control of distributed systems; estimation and hypothesis testing; chaotic systems; fuzzy control; intelligent control applications; identification and output error estimation; control of flexible structures; nonlinear process control; learning control and neural networks; repetitive control; discrete-event systems; interplay between identification and control design; covariance and Lyapunov-based control; robust stabilization and performance; nonlinear systems; identification and interpolation; estimation and filtering

  11. Applications Of Artificial Intelligence In Control System Analysis And Design

    Science.gov (United States)

    Birdwell, J. D.

    1987-10-01

    To date, applications of artificial intelligence in control system analysis and design are primarily associated with the design process. These applications take the form of knowledge bases incorporating expertise on a design method, such as multivariable linear controller design, or on a field such as identification. My experience has demonstrated that, while such expert systems are useful, perhaps a greater benefit will come from applications in the maintenance of technical databases, as are found in real-time data acquisition systems, and of modeling and design databases, which represent the status of a computer-aided design process for a human user. This reflects the observation that computers are best at maintaining relations about large sets of objects, whereas humans are best at maintaining knowledge of depth, as occurs when a design option involving a sequence of steps is explored. This paper will discuss some of these issues, and will provide some examples which illustrate the potential of artificial intelligence.

  12. Man-Robot Symbiosis: A Framework For Cooperative Intelligence And Control

    Science.gov (United States)

    Parker, Lynne E.; Pin, Francois G.

    1988-10-01

    The man-robot symbiosis concept has the fundamental objective of bridging the gap between fully human-controlled and fully autonomous systems to achieve true man-robot cooperative control and intelligence. Such a system would allow improved speed, accuracy, and efficiency of task execution, while retaining the man in the loop for innovative reasoning and decision-making. The symbiont would have capabilities for supervised and unsupervised learning, allowing an increase of expertise in a wide task domain. This paper describes a robotic system architecture facilitating the symbiotic integration of teleoperative and automated modes of task execution. The architecture reflects a unique blend of many disciplines of artificial intelligence into a working system, including job or mission planning, dynamic task allocation, man-robot communication, automated monitoring, and machine learning. These disciplines are embodied in five major components of the symbiotic framework: the Job Planner, the Dynamic Task Allocator, the Presenter/Interpreter, the Automated Monitor, and the Learning System.

  13. Model predictive control of hybrid systems : stability and robustness

    NARCIS (Netherlands)

    Lazar, M.

    2006-01-01

    This thesis considers the stabilization and the robust stabilization of certain classes of hybrid systems using model predictive control. Hybrid systems represent a broad class of dynamical systems in which discrete behavior (usually described by a finite state machine) and continuous behavior

  14. Identification and robust water level control of horizontal steam generators using quantitative feedback theory

    International Nuclear Information System (INIS)

    Safarzadeh, O.; Khaki-Sedigh, A.; Shirani, A.S.

    2011-01-01

    Highlights: → A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. → To design the controller, fairly accurate linear models are identified for the SG. → The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. → Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. → The proposed method is easy to apply and guarantees desired closed loop performance. - Abstract: In this paper, a robust water level control system for the horizontal steam generator (SG) using the quantitative feedback theory (QFT) method is presented. To design a robust QFT controller for the nonlinear uncertain SG, control oriented linear models are identified. Then, the nonlinear system is modeled as an uncertain linear time invariant (LTI) system. The robust designed controller is applied to the nonlinear plant model. This nonlinear model is based on a locally linear neuro-fuzzy (LLNF) model. This model is trained using the locally linear model tree (LOLIMOT) algorithm. Finally, simulation results are employed to show the effectiveness of the designed QFT level controller. It is shown that it will ensure the entire designer's water level closed loop specifications.

  15. Identification and robust water level control of horizontal steam generators using quantitative feedback theory

    Energy Technology Data Exchange (ETDEWEB)

    Safarzadeh, O., E-mail: O_Safarzadeh@sbu.ac.ir [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of); Khaki-Sedigh, A. [K. N. Toosi University of Technology, Tehran (Iran, Islamic Republic of); Shirani, A.S. [Shahid Beheshti University, P.O. Box: 19839-63113, Tehran (Iran, Islamic Republic of)

    2011-09-15

    Highlights: {yields} A robust water level controller for steam generators (SGs) is designed based on the Quantitative Feedback Theory. {yields} To design the controller, fairly accurate linear models are identified for the SG. {yields} The designed controller is verified using a developed novel global locally linear neuro-fuzzy model of the SG. {yields} Both of the linear and nonlinear models are based on the SG mathematical thermal-hydraulic model developed using the simulation computer code. {yields} The proposed method is easy to apply and guarantees desired closed loop performance. - Abstract: In this paper, a robust water level control system for the horizontal steam generator (SG) using the quantitative feedback theory (QFT) method is presented. To design a robust QFT controller for the nonlinear uncertain SG, control oriented linear models are identified. Then, the nonlinear system is modeled as an uncertain linear time invariant (LTI) system. The robust designed controller is applied to the nonlinear plant model. This nonlinear model is based on a locally linear neuro-fuzzy (LLNF) model. This model is trained using the locally linear model tree (LOLIMOT) algorithm. Finally, simulation results are employed to show the effectiveness of the designed QFT level controller. It is shown that it will ensure the entire designer's water level closed loop specifications.

  16. Relationship of emotional intelligence and health locus of control among female breast cancer patients in pakistan

    International Nuclear Information System (INIS)

    Naz, R.; Kamal, A.

    2016-01-01

    Objective: To investigate relationship between emotional intelligence and health locus of control in married women with breast cancer disease. Study Design: Cross sectional study. Place and Duration of Study: The data was collected from Nuclear Oncology and Radiology Institute (NORI Hospital) Islamabad (n=210) and from Combined Military Hospital (CMH) Rawalpindi (n=101). Data collection was completed between the period from Oct 2013 to Feb 2014. Patients and Methods: The sample was selected using non- probability sampling technique. Collected breast cancer patients sample was n= 311 whose age range was from 18-80 years. A biographical sheet that contain personal and disease information of patient, and two scales were used: Self Report Measure of Emotional Intelligence (Khan and Kamal, 2010), and Multidimensional Health Locus of Control (Wallston, Stein, and Smith, 1994) were used to assess the constructs explored in this study. Results: Results depict that there was significant positive correlation between emotional intelligence (EI), including its sub scales Emotional Self-Regulation Skills (ESRS), Emotional Self Awareness Skills (ESAS), and Interpersonal Skills Scale (ISS) with the Internal Health Locus of Control (IHLOC). Doctors Health Locus of Control (DHLOC) also have significant relationship to emotional intelligence's all sub divisions, whereas external health locus of control including Chance Health Locus of Control (CHLOC) and Powerful Other people Health Locus of Control (PHLOC) both are related to psychological distresses but it was observed in breast cancer population that chance was significantly correlated to ESAS, and ISS and powerful other people locus. Further on group comparison One Way Analysis of Variance (ANOVA) depicted no significant difference on disease stage groups. Conclusion: The strength factors of EI and HLOC are highlighted in current study. It was concluded that Emotional Intelligence (EI) and health locus of control (IHLOC, and

  17. Frequency-Domain Robust Performance Condition for Controller Uncertainty in SISO LTI Systems: A Geometric Approach

    Directory of Open Access Journals (Sweden)

    Vahid Raissi Dehkordi

    2009-01-01

    Full Text Available This paper deals with the robust performance problem of a linear time-invariant control system in the presence of robust controller uncertainty. Assuming that plant uncertainty is modeled as an additive perturbation, a geometrical approach is followed in order to find a necessary and sufficient condition for robust performance in the form of a bound on the magnitude of controller uncertainty. This frequency domain bound is derived by converting the problem into an optimization problem, whose solution is shown to be more time-efficient than a conventional structured singular value calculation. The bound on controller uncertainty can be used in controller order reduction and implementation problems.

  18. Robust state feedback controller design of STATCOM using chaotic optimization algorithm

    Directory of Open Access Journals (Sweden)

    Safari Amin

    2010-01-01

    Full Text Available In this paper, a new design technique for the design of robust state feedback controller for static synchronous compensator (STATCOM using Chaotic Optimization Algorithm (COA is presented. The design is formulated as an optimization problem which is solved by the COA. Since chaotic planning enjoys reliability, ergodicity and stochastic feature, the proposed technique presents chaos mapping using Lozi map chaotic sequences which increases its convergence rate. To ensure the robustness of the proposed damping controller, the design process takes into account a wide range of operating conditions and system configurations. The simulation results reveal that the proposed controller has an excellent capability in damping power system low frequency oscillations and enhances greatly the dynamic stability of the power systems. Moreover, the system performance analysis under different operating conditions shows that the phase based controller is superior compare to the magnitude based controller.

  19. An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

    Directory of Open Access Journals (Sweden)

    Joshué Pérez

    2010-06-01

    Full Text Available These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS. One prime example of ITS is vehicle Cruise Control (CC, which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

  20. An RFID-Based Intelligent Vehicle Speed Controller Using Active Traffic Signals

    Science.gov (United States)

    Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C.; de Pedro, Teresa

    2010-01-01

    These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver’s attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results. PMID:22219692

  1. An RFID-based intelligent vehicle speed controller using active traffic signals.

    Science.gov (United States)

    Pérez, Joshué; Seco, Fernando; Milanés, Vicente; Jiménez, Antonio; Díaz, Julio C; de Pedro, Teresa

    2010-01-01

    These days, mass-produced vehicles benefit from research on Intelligent Transportation System (ITS). One prime example of ITS is vehicle Cruise Control (CC), which allows it to maintain a pre-defined reference speed, to economize on fuel or energy consumption, to avoid speeding fines, or to focus all of the driver's attention on the steering of the vehicle. However, achieving efficient Cruise Control is not easy in roads or urban streets where sudden changes of the speed limit can happen, due to the presence of unexpected obstacles or maintenance work, causing, in inattentive drivers, traffic accidents. In this communication we present a new Infrastructure to Vehicles (I2V) communication and control system for intelligent speed control, which is based upon Radio Frequency Identification (RFID) technology for identification of traffic signals on the road, and high accuracy vehicle speed measurement with a Hall effect-based sensor. A fuzzy logic controller, based on sensor fusion of the information provided by the I2V infrastructure, allows the efficient adaptation of the speed of the vehicle to the circumstances of the road. The performance of the system is checked empirically, with promising results.

  2. Intelligent landing strategy for the small bodies: from passive bounce to active trajectory control

    Science.gov (United States)

    Cui, Pingyuan; Liu, Yanjie; Yu, Zhengshi; Zhu, Shengying; Shao, Wei

    2017-08-01

    Landing exploration is an important way to improve the understanding of small bodies. Considering the weak gravity field as well as the strict attitude constraints which make bounce a common situation and a tough issue for safe landing on small bodies, a novel active trajectory control-based intelligent landing strategy is proposed to improve the safety and reliability of mission. The scenarios of intelligent landing strategy for both safe landing and hopping exploration are introduced in detail and a potential structure for autonomous navigation and control system is presented. Furthermore, a convex optimization-based control algorithm is developed, which is the key technology fulfilling the active trajectory control. Meanwhile a novel discretization method based on the fourth-order Runge-Kutta rule is proposed to improve the accuracy. A helpful adjustment process of time-to-landing is also introduced when the feasible trajectory does not exist. Comprehensive simulations about the proposed intelligent landing strategy are performed to demonstrate the improved safety and accuracy of both landing and hopping exploration on small bodies. Meanwhile, the performance and accuracy of the proposed convex optimization-based control algorithms is also compared and discussed thoroughly. Some useful conclusions for control system design are also obtained.

  3. A new look at the robust control of discrete-time Markov jump linear systems

    Science.gov (United States)

    Todorov, M. G.; Fragoso, M. D.

    2016-03-01

    In this paper, we make a foray in the role played by a set of four operators on the study of robust H2 and mixed H2/H∞ control problems for discrete-time Markov jump linear systems. These operators appear in the study of mean square stability for this class of systems. By means of new linear matrix inequality (LMI) characterisations of controllers, which include slack variables that, to some extent, separate the robustness and performance objectives, we introduce four alternative approaches to the design of controllers which are robustly stabilising and at the same time provide a guaranteed level of H2 performance. Since each operator provides a different degree of conservatism, the results are unified in the form of an iterative LMI technique for designing robust H2 controllers, whose convergence is attained in a finite number of steps. The method yields a new way of computing mixed H2/H∞ controllers, whose conservatism decreases with iteration. Two numerical examples illustrate the applicability of the proposed results for the control of a small unmanned aerial vehicle, and for an underactuated robotic arm.

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

    International Nuclear Information System (INIS)

    Al-saedi, Mazin I.; Wu, Huapeng; Handroos, Heikki

    2014-01-01

    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

  5. 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

  6. Dynamic Intelligent Feedback Scheduling in Networked Control Systems

    Directory of Open Access Journals (Sweden)

    Hui-ying Chen

    2013-01-01

    Full Text Available For the networked control system with limited bandwidth and flexible workload, a dynamic intelligent feedback scheduling strategy is proposed. Firstly, a monitor is used to acquire the current available network bandwidth. Then, the new available bandwidth in the next interval is predicted by using LS_SVM approach. At the same time, the dynamic performance indices of all control loops are obtained with a two-dimensional fuzzy logic modulator. Finally, the predicted network bandwidth is dynamically allocated by the bandwidth manager and the priority allocator in terms of the loops' dynamic performance indices. Simulation results show that the sampling periods and priorities of control loops are adjusted timely according to the network workload condition and the dynamic performance of control loops, which make the system running in the optimal state all the time.

  7. Vision based interface system for hands free control of an intelligent wheelchair

    Directory of Open Access Journals (Sweden)

    Kim Eun

    2009-08-01

    Full Text Available Abstract Background Due to the shift of the age structure in today's populations, the necessities for developing the devices or technologies to support them have been increasing. Traditionally, the wheelchair, including powered and manual ones, is the most popular and important rehabilitation/assistive device for the disabled and the elderly. However, it is still highly restricted especially for severely disabled. As a solution to this, the Intelligent Wheelchairs (IWs have received considerable attention as mobility aids. The purpose of this work is to develop the IW interface for providing more convenient and efficient interface to the people the disability in their limbs. Methods This paper proposes an intelligent wheelchair (IW control system for the people with various disabilities. To facilitate a wide variety of user abilities, the proposed system involves the use of face-inclination and mouth-shape information, where the direction of an IW is determined by the inclination of the user's face, while proceeding and stopping are determined by the shapes of the user's mouth. Our system is composed of electric powered wheelchair, data acquisition board, ultrasonic/infra-red sensors, a PC camera, and vision system. Then the vision system to analyze user's gestures is performed by three stages: detector, recognizer, and converter. In the detector, the facial region of the intended user is first obtained using Adaboost, thereafter the mouth region is detected based on edge information. The extracted features are sent to the recognizer, which recognizes the face inclination and mouth shape using statistical analysis and K-means clustering, respectively. These recognition results are then delivered to the converter to control the wheelchair. Result & conclusion The advantages of the proposed system include 1 accurate recognition of user's intention with minimal user motion and 2 robustness to a cluttered background and the time-varying illumination

  8. Nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems

    Energy Technology Data Exchange (ETDEWEB)

    Qiang Lu; Yusong Sun; Yuanzhang Sun [Tsinghua University, Beijing (China). Dept. of Electrical Engineering; Felix F Wu; Yixin Ni [University of Hong Kong (China). Dept. of Electrical and Electronic Engineering; Yokoyama, Akihiko [University of Tokyo (Japan). Dept. of Electrical Engineering; Goto, Masuo; Konishi, Hiroo [Hitachi Ltd., Tokyo (Japan). Power System Div.

    2004-06-01

    A novel nonlinear decentralized robust governor control for hydroturbine-generator sets in multi-machine power systems is suggested in this paper. The nonelastic water hammer effect and disturbances are considered in the modeling. The advanced differential geometry theory, nonlinear robust control theory and the dynamic feedback method are combined to solve the problem. The nonlinear decentralized robust control law for the speed governor of hydroturbine-generators has been derived. The input signals to the proposed controller are all local measurements and independent to the system parameters. The derived control law guarantees the integrated system stability with disturbance attenuation, which is significant to the real power system application. Computer tests on an 8-machine, 36-bus power system show clearly the effectiveness of the new control strategy in transient stability enhancement and disturbance attenuation. The computer test results based on the suggested controller are compared favorably with those based on the conventional linear governor control. (author)

  9. Microgrid central controller development and hierarchical control implemetation in the intelligent microgrid lab of Aalborg University

    OpenAIRE

    Meng, Lexuan; Savaghebi, Mehdi; Andrade, Fabio; Vasquez Quintero, Juan Carlos; Guerrero, Josep M.; Graells Sobré, Moisès

    2015-01-01

    This paper presents the development of a microgrid central controller in an inverter-based intelligent microgrid (iMG) lab in Aalborg University, Denmark. The iMG lab aims to provide a flexible experimental platform for comprehensive studies of microgrids. The complete control system applied in this lab is based on the hierarchical control scheme for microgrids and includes primary, secondary and tertiary control. The structure of the lab, including the lab facilities, configurations and comm...

  10. Microgrid Stability Controller Based on Adaptive Robust Total SMC

    OpenAIRE

    Su, Xiaoling; Han, Minxiao; Guerrero, Josep M.; Sun, Hai

    2015-01-01

    This paper presents a microgrid stability controller (MSC) in order to provide existing distributed generation units (DGs) the additional functionality of working in islanding mode without changing their control strategies in grid-connected mode and to enhance the stability of the microgrid. Microgrid operating characteristics and mathematical models of the MSC indicate that the system is inherently nonlinear and time-variable. Therefore, this paper proposes an adaptive robust total sliding...

  11. Hybrid Robust Control Law with Disturbance Observer for High-Frequency Response Electro-Hydraulic Servo Loading System

    Directory of Open Access Journals (Sweden)

    Zhiqing Sheng

    2016-04-01

    Full Text Available Addressing the simulating issue of the helicopter-manipulating booster aerodynamic load with high-frequency dynamic load superimposed on a large static load, this paper studies the design of the robust controller for the electro-hydraulic loading system to realize the simulation of this kind of load. Firstly, the equivalent linear model of the electro-hydraulic loading system under assumed parameter uncertainty is established. Then, a hybrid control scheme is proposed for the loading system. This control scheme consists of a constant velocity feed-forward compensator, a robust inner loop compensator based on disturbance observer and a robust outer loop feedback controller. The constant velocity compensator eliminates most of the extraneous force at first, and then the double-loop cascade composition control strategy is employed to design the compensated system. The disturbance observer–based inner loop compensator further restrains the disturbances including the remaining extraneous force, and makes the actual plant tracking a nominal model approximately in a certain frequency range. The robust outer loop controller achieves the desired force-tracking performance, and guarantees system robustness in the high frequency region. The optimized low-pass filter Q(s is designed by using the H∞ mixed sensitivity optimization method. The simulation results show that the proposed hybrid control scheme and controller can effectively suppress the extraneous force and improve the robustness of the electro-hydraulic loading system.

  12. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2008-11-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion..

  13. New Intelligent Transmission Concept for Hybrid Mobile Robot Speed Control

    Directory of Open Access Journals (Sweden)

    Nazim Mir-Nasiri

    2005-09-01

    Full Text Available This paper presents a new concept of a mobile robot speed control by using two degree of freedom gear transmission. The developed intelligent speed controller utilizes a gear box which comprises of epicyclic gear train with two inputs, one coupled with the engine shaft and another with the shaft of a variable speed dc motor. The net output speed is a combination of the two input speeds and is governed by the transmission ratio of the planetary gear train. This new approach eliminates the use of a torque converter which is otherwise an indispensable part of all available automatic transmissions, thereby reducing the power loss that occurs in the box during the fluid coupling. By gradually varying the speed of the dc motor a stepless transmission has been achieved. The other advantages of the developed controller are pulling over and reversing the vehicle, implemented by intelligent mixing of the dc motor and engine speeds. This approach eliminates traditional braking system in entire vehicle design. The use of two power sources, IC engine and battery driven DC motor, utilizes the modern idea of hybrid vehicles. The new mobile robot speed controller is capable of driving the vehicle even in extreme case of IC engine failure, for example, due to gas depletion.

  14. Robust multi-objective control of hybrid renewable microgeneration systems with energy storage

    International Nuclear Information System (INIS)

    Allison, John

    2017-01-01

    Highlights: • A hybrid energy system of micro-CHP, solar PV, and battery storage is presented. • Possible to exploit synergy of systems to fulfil the thermal and electrical demands. • Can control to minimise the interaction with the local electrical network. • Three different control approaches were compared. • The nonlinear inversion-based control strategy exhibits optimum performance. - Abstract: Microgeneration technologies are positioned to address future building energy efficiency requirements and facilitate the integration of renewables into buildings to ensure a sustainable, energy-secure future. This paper explores the development of a robust multi-input multi-output (MIMO) controller applicable to the control of hybrid renewable microgeneration systems with the objective of minimising the electrical grid utilisation of a building while fulfilling the thermal demands. The controller employs the inverse dynamics of the building, servicing systems, and energy storage with a robust control methodology. These inverse dynamics provides the control system with knowledge of the complex cause and effect relationships between the system, the controlled inputs, and the external disturbances, while an outer-loop control ensures robust, stable control in the presence of modelling deficiencies/uncertainty and unknown disturbances. Variable structure control compensates for the physical limitations of the systems whereby the control strategy employed switches depending on the current utilisation and availability of the energy supplies. Preliminary results presented for a system consisting of a micro-CHP unit, solar PV, and battery storage indicate that the control strategy is effective in minimising the interaction with the local electrical network and maximising the utilisation of the available renewable energy.

  15. Intelligent Control System Taking Account of Cooperativeness Using Weighting Information on System Objective

    Directory of Open Access Journals (Sweden)

    Masaki Takahashi

    2004-08-01

    Full Text Available This study considers an intelligent control system to integrate flexibly its components by using weighted information where the system evaluation is reflected. Such system evaluates the information flowing through the components and converts them by weighting depending on the degree of importance. Integration of components based on the system evaluation enables a system consisting of them to realize various, flexible and adaptive control. In this study, the intelligent control method is applied to a swing up and stabilization control problem of a number of cart and pendulum systems on a restricted straight guide. To stabilize the pendulum in a restricted environment, each system should realize not only a swing-up and stabilization control of the pendulum, but also a position control of the cart to avoid collision or deadlock. The experiment using a real apparatus demonstrated that the controller learning light interaction acquires egoistic character, the controller learning heavy interaction behaves altruistically, and the controller equally considering self cart and another cart becomes cooperative. In other words, these autonomous decentralized controllers can acquire various characters and flexibility for cooperation.

  16. Design Sliding Mode Controller of with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator

    Directory of Open Access Journals (Sweden)

    Farzin Piltan

    2013-06-01

    Full Text Available Sliding mode controller (SMC is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chattering phenomenon, and nonlinear equivalent dynamic formulation in uncertain dynamic parameter. The nonlinear equivalent dynamic formulation problem and chattering phenomenon in uncertain system can be solved by using artificial intelligence theorem. However fuzzy logic controller is used to control complicated nonlinear dynamic systems, but it cannot guarantee stability and robustness.  In this research parallel fuzzy logic theory is used to compensate the system dynamic uncertainty.

  17. Intelligent editor/printer enhancements

    Science.gov (United States)

    Woodfill, M. C.; Pheanis, D. C.

    1983-01-01

    Microprocessor support hardware, software, and cross assemblers relating to the Motorola 6800 and 6809 process systems were developed. Pinter controller and intelligent CRT development are discussed. The user's manual, design specifications for the MC6809 version of the intelligent printer controller card, and a 132-character by 64-line intelligent CRT display system using a Motorola 6809 MPU, and a one-line assembler and disassembler are provided.

  18. Artificial intelligence as a means to moral enhancement

    OpenAIRE

    Klincewicz, Michał

    2016-01-01

    This paper critically assesses the possibility of moral enhancement with ambient intelligence technologies and artificial intelligence presented in Savulescu and Maslen (2015). The main problem with their proposal is that it is not robust enough to play a normative role in users’ behavior. A more promising approach, and the one presented in the paper, relies on an artificial moral reasoning engine, which is designed to present its users with moral arguments grounded in first-order normative t...

  19. Adaptive Robust Motion Control of Direct-Drive DC Motors with Continuous Friction Compensation

    Directory of Open Access Journals (Sweden)

    Jianyong Yao

    2013-01-01

    Full Text Available Uncertainties including the structured and unstructured, especially the nonlinear frictions, always exist in physical servo systems and degrade their tracking accuracy. In this paper, a practical method named adaptive robust controller (ARC is synthesized with a continuous differentiable friction model for high accuracy motion control of a direct-drive dc motor, which results in a continuous control input and thus is more suitable for application. To further reduce the noise sensitivity and improve the tracking accuracy, a desired compensation version of the proposed adaptive robust controller is also developed and its stability is guaranteed by a proper robust law. The proposed controllers not only account for the structured uncertainties (e.g., parametric uncertainties but also for the unstructured uncertainties (e.g., unconsidered nonlinear frictions. Furthermore, the controllers theoretically guarantee a prescribed output tracking transient performance and final tracking accuracy in both structured and unstructured uncertainties while achieving asymptotic output tracking in the absence of unstructured uncertainties, which is very important for high accuracy control of motion systems. Extensive comparative experimental results are obtained to verify the high-performance nature of the proposed control strategies.

  20. Robust control of chaos in Chua's circuit based on internal model principle

    International Nuclear Information System (INIS)

    Lee, Keum W.; Singh, Sahjendra N.

    2007-01-01

    The paper treats the question of robust control of chaos in Chua's circuit based on the internal model principle. The Chua's diode has polynomial non-linearity and it is assumed that the parameters of the circuit are not known. A robust control law for the asymptotic regulation of the output (node voltage) along constant and sinusoidal reference trajectories is derived. For the derivation of the control law, the non-linear regulator equations are solved to obtain a manifold in the state space on which the output error is zero and an internal model of the k-fold exosystem (k = 3 here) is constructed. Then a feedback control law using the optimal control theory or pole placement technique for the stabilization of the augmented system including the Chua's circuit and the internal model is derived. In the closed-loop system, robust output node voltage trajectory tracking of sinusoidal and constant reference trajectories are accomplished and in the steady state, the remaining state variables converge to periodic and constant trajectories, respectively. Simulation results are presented which show that in the closed-loop system, asymptotic trajectory control, disturbance rejection and suppression of chaotic motion in spite of uncertainties in the system are accomplished

  1. Robust fractional order sliding mode control of doubly-fed induction generator (DFIG)-based wind turbines.

    Science.gov (United States)

    Ebrahimkhani, Sadegh

    2016-07-01

    Wind power plants have nonlinear dynamics and contain many uncertainties such as unknown nonlinear disturbances and parameter uncertainties. Thus, it is a difficult task to design a robust reliable controller for this system. This paper proposes a novel robust fractional-order sliding mode (FOSM) controller for maximum power point tracking (MPPT) control of doubly fed induction generator (DFIG)-based wind energy conversion system. In order to enhance the robustness of the control system, uncertainties and disturbances are estimated using a fractional order uncertainty estimator. In the proposed method a continuous control strategy is developed to achieve the chattering free fractional order sliding-mode control, and also no knowledge of the uncertainties and disturbances or their bound is assumed. The boundedness and convergence properties of the closed-loop signals are proven using Lyapunov׳s stability theory. Simulation results in the presence of various uncertainties were carried out to evaluate the effectiveness and robustness of the proposed control scheme. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

  2. Information for the user in design of intelligent systems

    Science.gov (United States)

    Malin, Jane T.; Schreckenghost, Debra L.

    1993-01-01

    Recommendations are made for improving intelligent system reliability and usability based on the use of information requirements in system development. Information requirements define the task-relevant messages exchanged between the intelligent system and the user by means of the user interface medium. Thus, these requirements affect the design of both the intelligent system and its user interface. Many difficulties that users have in interacting with intelligent systems are caused by information problems. These information problems result from the following: (1) not providing the right information to support domain tasks; and (2) not recognizing that using an intelligent system introduces new user supervisory tasks that require new types of information. These problems are especially prevalent in intelligent systems used for real-time space operations, where data problems and unexpected situations are common. Information problems can be solved by deriving information requirements from a description of user tasks. Using information requirements embeds human-computer interaction design into intelligent system prototyping, resulting in intelligent systems that are more robust and easier to use.

  3. Advanced intelligent systems

    CERN Document Server

    Ryoo, Young; Jang, Moon-soo; Bae, Young-Chul

    2014-01-01

    Intelligent systems have been initiated with the attempt to imitate the human brain. People wish to let machines perform intelligent works. Many techniques of intelligent systems are based on artificial intelligence. According to changing and novel requirements, the advanced intelligent systems cover a wide spectrum: big data processing, intelligent control, advanced robotics, artificial intelligence and machine learning. This book focuses on coordinating intelligent systems with highly integrated and foundationally functional components. The book consists of 19 contributions that features social network-based recommender systems, application of fuzzy enforcement, energy visualization, ultrasonic muscular thickness measurement, regional analysis and predictive modeling, analysis of 3D polygon data, blood pressure estimation system, fuzzy human model, fuzzy ultrasonic imaging method, ultrasonic mobile smart technology, pseudo-normal image synthesis, subspace classifier, mobile object tracking, standing-up moti...

  4. Intelligent, Semi-Automated Procedure Aid (ISAPA) for ISS Flight Control, Phase II

    Data.gov (United States)

    National Aeronautics and Space Administration — We propose to develop the Intelligent, Semi-Automated Procedure Aid (ISAPA) intended for use by International Space Station (ISS) ground controllers to increase the...

  5. Computational intelligence applications in modeling and control

    CERN Document Server

    Vaidyanathan, Sundarapandian

    2015-01-01

    The development of computational intelligence (CI) systems was inspired by observable and imitable aspects of intelligent activity of human being and nature. The essence of the systems based on computational intelligence is to process and interpret data of various nature so that that CI is strictly connected with the increase of available data as well as capabilities of their processing, mutually supportive factors. Developed theories of computational intelligence were quickly applied in many fields of engineering, data analysis, forecasting, biomedicine and others. They are used in images and sounds processing and identifying, signals processing, multidimensional data visualization, steering of objects, analysis of lexicographic data, requesting systems in banking, diagnostic systems, expert systems and many other practical implementations. This book consists of 16 contributed chapters by subject experts who are specialized in the various topics addressed in this book. The special chapters have been brought ...

  6. A generic model for camera based intelligent road crowd control ...

    African Journals Online (AJOL)

    This research proposes a model for intelligent traffic flow control by implementing camera based surveillance and feedback system. A series of cameras are set minimum three signals ahead from the target junction. The complete software system is developed to help integrating the multiple camera on road as feedback to ...

  7. An adaptive robust controller for time delay maglev transportation systems

    Science.gov (United States)

    Milani, Reza Hamidi; Zarabadipour, Hassan; Shahnazi, Reza

    2012-12-01

    For engineering systems, uncertainties and time delays are two important issues that must be considered in control design. Uncertainties are often encountered in various dynamical systems due to modeling errors, measurement noises, linearization and approximations. Time delays have always been among the most difficult problems encountered in process control. In practical applications of feedback control, time delay arises frequently and can severely degrade closed-loop system performance and in some cases, drives the system to instability. Therefore, stability analysis and controller synthesis for uncertain nonlinear time-delay systems are important both in theory and in practice and many analytical techniques have been developed using delay-dependent Lyapunov function. In the past decade the magnetic and levitation (maglev) transportation system as a new system with high functionality has been the focus of numerous studies. However, maglev transportation systems are highly nonlinear and thus designing controller for those are challenging. The main topic of this paper is to design an adaptive robust controller for maglev transportation systems with time-delay, parametric uncertainties and external disturbances. In this paper, an adaptive robust control (ARC) is designed for this purpose. It should be noted that the adaptive gain is derived from Lyapunov-Krasovskii synthesis method, therefore asymptotic stability is guaranteed.

  8. Towards Realization of Intelligent Medical Treatment at Nanoscale by Artificial Microscopic Swarm Control Systems

    Directory of Open Access Journals (Sweden)

    Alireza Rowhanimanesh

    2017-07-01

    Full Text Available Background: In this paper, the novel concept of artificial microscopic swarm control systems is proposed as a promising approach towards realization of intelligent medical treatment at nanoscale. In this new paradigm, treatment is done autonomously at nanoscale within the patient’s body by the proposed swarm control systems.Methods: From control engineering perspective, medical treatment can be considered as a control problem, in which the ultimate goal is to find the best feasible way to change the state of diseased tissue from unhealthy to healthy in presence of uncertainty. Although a living tissue is a huge swarm of microscopic cells, nearly all of the common treatment methods are based on macroscopic centralized control paradigm. Inspired by natural microscopic swarm control systems such as nervous, endocrine and immune systems that work based on swarm control paradigm, medical treatment needs a paradigm shift from macroscopic centralized control to microscopic swarm control. An artificial microscopic swarm control system consists of a huge number of very simple autonomous microscopic agents that exploit swarm intelligence to realize sense, control (computing and actuation at nanoscale in local, distributed and decentralized manner. This control system can be designed based on mathematical analysis and computer simulation.Results: The proposed approach is used for treatment of atherosclerosis and cancer based on mathematical analysis and in-silico study.Conclusion: The notion of artificial microscopic swarm control systems opens new doors towards realization of autonomous and intelligent medical treatment at nanoscale within the patient’s body.

  9. 2013 Chinese Intelligent Automation Conference

    CERN Document Server

    Deng, Zhidong

    2013-01-01

    Proceedings of the 2013 Chinese Intelligent Automation Conference presents selected research papers from the CIAC’13, held in Yangzhou, China. The topics include e.g. adaptive control, fuzzy control, neural network based control, knowledge based control, hybrid intelligent control, learning control, evolutionary mechanism based control, multi-sensor integration, failure diagnosis, and reconfigurable control. Engineers and researchers from academia, industry, and government can gain an inside view of new solutions combining ideas from multiple disciplines in the field of intelligent automation.   Zengqi Sun and Zhidong Deng are professors at the Department of Computer Science, Tsinghua University, China.

  10. 2013 Chinese Intelligent Automation Conference

    CERN Document Server

    Deng, Zhidong

    2013-01-01

    Proceedings of the 2013 Chinese Intelligent Automation Conference presents selected research papers from the CIAC’13, held in Yangzhou, China. The topics include e.g. adaptive control, fuzzy control, neural network based control, knowledge based control, hybrid intelligent control, learning control, evolutionary mechanism based control, multi-sensor integration, failure diagnosis, and reconfigurable control. Engineers and researchers from academia, industry, and government can gain an inside view of new solutions combining ideas from multiple disciplines in the field of intelligent automation. Zengqi Sun and Zhidong Deng are professors at the Department of Computer Science, Tsinghua University, China.

  11. Automated Intelligent Monitoring and the Controlling Software System for Solar Panels

    OpenAIRE

    Nalamvar, Hitesh Sanzhay; Ivanov, Maksim Anatoljevich; Baydali, Sergey Anatolievich

    2017-01-01

    The inspection of the solar panels on a periodic basis is important to improve longevity and ensure performance of the solar system. To get the most solar potential of the photovoltaic (PV) system is possible through an intelligent monitoring & controlling system. The monitoring & controlling system has rapidly increased its popularity because of its user-friendly graphical interface for data acquisition, monitoring, controlling and measurements. In order to monitor the performance of the sys...

  12. AC machine control : robust and sensorless control by parameter independency

    Energy Technology Data Exchange (ETDEWEB)

    Samuelsen, Dag Andreas Hals

    2009-06-15

    In this thesis it is first presented how robust control can be used to give AC motor drive systems competitive dynamic performance under parameter variations. These variations are common to all AC machines, and are a result of temperature change in the machine, and imperfect machine models. This robust control is, however, dependent on sensor operation in the sense that the rotor position is needed in the control loop. Elimination of this control loop has been for many years, and still is, a main research area of AC machines control systems. An integrated PWM modulator and sampler unit has been developed and tested. The sampler unit is able to give current and voltage measurements with a reduced noise component. It is further used to give the true derivative of currents and voltages in the machine and the power converter, as an average over a PWM period, and as separate values for all states of the power converter. In this way, it can give measurements of the currents as well as the derivative of the currents, at the start and at the end of a single power inverter state. This gave a large degree of freedom in parameter and state identification during uninterrupted operation of the induction machine. The special measurement scheme of the system achieved three main goals: By avoiding the time frame where the transistors commutate and the noise in the measurement of the current is large, filtering of the current measurement is no longer needed. The true derivative of the current in the machine is can be measured with far less noise components. This was extended to give any separate derivative in all three switching states of the power converter. Using the computational resources of the FPGA, more advanced information was supplied to the control system, in order to facilitate sensor less operation, with low computational demands on the DSP. As shown in the papers, this extra information was first used to estimate some of the states of the machine, in some or all of the

  13. Mechatronic System Design and Intelligent Motion Control of Hydraulic Robots and Machines

    DEFF Research Database (Denmark)

    Conrad, Finn; Sørensen, Torben

    2003-01-01

    The paper presents an approach and concept to mechatronic system design and intelligent motion control. The Information Technology (IT) offers software and hardware for improvement of R&D Mechatronic Teams to create products and solutions for industrial applications. The latest progress in IT makes...... integration of an overall design and manufacturing IT- concept feasible and commercially attractive. An IT-tool concept for modelling, simulation and design of mechatronic products and systems is proposed in this paper. It built on results from a Danish mechatronic research program on intelligent motion...

  14. Towards Robust Predictive Fault–Tolerant Control for a Battery Assembly System

    Directory of Open Access Journals (Sweden)

    Seybold Lothar

    2015-12-01

    Full Text Available The paper deals with the modeling and fault-tolerant control of a real battery assembly system which is under implementation at the RAFI GmbH company (one of the leading electronic manufacturing service providers in Germany. To model and control the battery assembly system, a unified max-plus algebra and model predictive control framework is introduced. Subsequently, the control strategy is enhanced with fault-tolerance features that increase the overall performance of the production system being considered. In particular, it enables tolerating (up to some degree mobile robot, processing and transportation faults. The paper discusses also robustness issues, which are inevitable in real production systems. As a result, a novel robust predictive fault-tolerant strategy is developed that is applied to the battery assembly system. The last part of the paper shows illustrative examples, which clearly exhibit the performance of the proposed approach.

  15. Brain limbic system-based intelligent controller application to lane change manoeuvre

    Science.gov (United States)

    Kim, Changwon; Langari, Reza

    2011-12-01

    This paper presents the application of a novel neuromorphic control strategy for lane change manoeuvres in the highway environment. The lateral dynamics of a vehicle with and without wind disturbance are derived and utilised to implement a control strategy based on the brain limbic system. To show the robustness of the proposed controller, several disturbance conditions including wind, uncertainty in the cornering stiffness, and changes in the vehicle mass are investigated. To demonstrate the performance of the suggested strategy, simulation results of the proposed method are compared with the human driver model-based control scheme, which has been discussed in the literature. The simulation results demonstrate the superiority of the proposed controller in energy efficiency, driving comfort, and robustness.

  16. Enhanced intelligence through optimized TCPED concepts for airborne ISR

    Science.gov (United States)

    Spitzer, M.; Kappes, E.; Böker, D.

    2012-06-01

    Current multinational operations show an increased demand for high quality actionable intelligence for different operational levels and users. In order to achieve sufficient availability, quality and reliability of information, various ISR assets are orchestrated within operational theatres. Especially airborne Intelligence, Surveillance and Reconnaissance (ISR) assets provide - due to their endurance, non-intrusiveness, robustness, wide spectrum of sensors and flexibility to mission changes - significant intelligence coverage of areas of interest. An efficient and balanced utilization of airborne ISR assets calls for advanced concepts for the entire ISR process framework including the Tasking, Collection, Processing, Exploitation and Dissemination (TCPED). Beyond this, the employment of current visualization concepts, shared information bases and information customer profiles, as well as an adequate combination of ISR sensors with different information age and dynamic (online) retasking process elements provides the optimization of interlinked TCPED processes towards higher process robustness, shorter process duration, more flexibility between ISR missions and, finally, adequate "entry points" for information requirements by operational users and commands. In addition, relevant Trade-offs of distributed and dynamic TCPED processes are examined and future trends are depicted.

  17. Design of a H∞ Robust Controller with μ-Analysis for Steam Turbine Power Generation Applications

    Directory of Open Access Journals (Sweden)

    Vincenzo Iannino

    2017-07-01

    Full Text Available Concentrated Solar Power plants are complex systems subjected to quite sensitive variations of the steam production profile and external disturbances, thus advanced control techniques that ensure system stability and suitable performance criteria are required. In this work, a multi-objective H∞ robust controller is designed and applied to the power control of a Concentered Solar Power plant composed by two turbines, a gear and a generator. In order to provide robust performance and stability in presence of disturbances, not modeled plant dynamics and plant-parameter variations, the advanced features of the μ-analysis are exploited. A high order controller is obtained from the process of synthesis that makes the implementation of the controller difficult and computational more demanding for a Programmable Logic Controller. Therefore, the controller order is reduced through the Balanced Truncation method and then discretized. The obtained robust control is compared to the current Proportional Integral Derivative-based governing system in order to evaluate its performance, considering unperturbed as well as perturbed scenarios, taking into account variations of steam conditions, sensor measurement delays and power losses. The simulations results show that the proposed controller achieves better robustness and performance compared to the existing Proportional Integral Derivative controller.

  18. Advances in Intelligent Control Systems and Computer Science

    CERN Document Server

    2013-01-01

    The conception of real-time control networks taking into account, as an integrating approach, both the specific aspects of information and knowledge processing and the dynamic and energetic particularities of physical processes and of communication networks is representing one of the newest scientific and technological challenges. The new paradigm of Cyber-Physical Systems (CPS) reflects this tendency and will certainly change the evolution of the technology, with major social and economic impact. This book presents significant results in the field of process control and advanced information and knowledge processing, with applications in the fields of robotics, biotechnology, environment, energy, transportation, et al.. It introduces intelligent control concepts and strategies as well as real-time implementation aspects for complex control approaches. One of the sections is dedicated to the complex problem of designing software systems for distributed information processing networks. Problems as complexity an...

  19. Intelligent control of diesel generators using gain-scheduling

    DEFF Research Database (Denmark)

    Mai, Christian; Jepsen, Kasper; Yang, Zhenyu

    2014-01-01

    The development of an intelligent control solution for a wide range of diesel generators is discussed. Compared with most existing solutions, the advantages of the proposed solution lie in two folds: (i) The proposed control has the plug-and-play capability which is reflected by an automatic...... recognition procedure when it is plugged into a specific diesel generator, such that some extensive manual-tuning of the installed controller can be significantly reduced; (ii) The proposed control has an real-time adaptability by using the online external load estimation, such that the integrated system can...... keep a consistent performance for a wide range of operating conditions. Technically, a general nonlinear dynamic model is firstly developed based on fundamental principles of diesel generators. Then, the system parameters of this model can be identified experimentally or partially retrieved from...

  20. A Novel Intelligent Transportation Control Supported by Wireless Sensor Network

    Directory of Open Access Journals (Sweden)

    Zhe Qian

    2013-05-01

    Full Text Available With the development of wireless sensor unit, and improvement of real-time and quality of wireless communication, the intelligent transportation control system employ these technologies to realize sensing, positioning, computing, and communication for voiding collisions. This paper discusses the framework of transportation control system, and emphases TDOA positioning algorithm and the new weighted least square optimization method. The simulation result shows that, our method achieves high-accuracy of positioning, which can satisfy the need of transportation control. Finally, we outline the urgent work need to address in the future.