Search results for " systems"
showing 10 items of 9779 documents
Disturbance observer-based disturbance attenuation control for a class of stochastic systems
2016
This paper studies a class of stochastic systems with multiple disturbances which include the disturbance with partially-known information and the white noise. A disturbance observer is constructed to estimate the disturbance with partially-known information, based on which, a disturbance observer-based disturbance attenuation control (DOBDAC) scheme is proposed by combining pole placement and linear matrix inequality (LMI) methods.
Quasi-Static Displacement Self-Sensing Measurement for a 2-DOF Piezoelectric Cantilevered Actuator
2017
This paper proposes a self-sensing measurement technique to perform the precise estimation of the displacements along two axes in a two-degrees-of-freedom (2-DOF) piezoelectric actuator. For that, a new electrical circuit scheme that permits charge amplification is first proposed to match the different electrodes combination of the 2-DOF actuator. Then, a new bivariable observer that precisely estimates the displacements is calculated and implemented experimentally in a cascade with the electrical circuit to complete the self-sensing. The experimental tests and results verification with external sensors revealed that the measured displacements given by the developed self-sensing measurement…
Robust control for high performance induction motor drives based on partial state-feedback linearization
2019
This paper deals with a robust input-output feedback linearization control technique for induction motors. Indeed, classic feedback linearization presents two main disadvantages: 1) the accuracy of the dynamic model; and 2) the corresponding correct knowledge of the model parameters. To address this issue, the linear controller has been substituted with a suitably controller designed to be robust to the variations of the main parameters of the induction motor, like stator and rotor resistances, and the three-phase magnetizing inductance. The proposed controller has been tested both in numerical simulation and experimentally on a suitably designed test setup. Moreover, it has been compared w…
Enhancing tracking performance in a smartphone-based navigation system for visually impaired people
2016
In this paper we show how to enhance the tracking performance of Arianna, a low-cost augmented reality system designed to meet the needs of people with problems of orientation, people with sight impairment and blind people. For augmented reality system we mean the design of: i) a set of paths and tags to be deployed in the environment, realized in various ways depending on the context (decorative elements easily identifiable, colorful stripes, QR code, RFID, etc.); ii) an instrument of mediation between the reality and the user (typically a smartphone) to access the information disseminated in the environment by means of a camera and provide a vibration feedback signal to the users for foll…
Simulación de Plataformas Robóticas de Movimiento para Aplicaciones de Realidad Virtual Mediante Filtros Digitales
2017
[ES] El uso de plataformas robóticas de movimiento en simuladores de vehículos y aplicaciones de Realidad Virtual es relativamente habitual. Sin embargo, el ajuste de los algoritmos que controlan su funcionamiento, denominados algoritmos de washout, no es sencillo y requiere de numerosas pruebas hasta obtener una apropiada fidelidad de movimiento. Disponer de herramientas que permitan simular plataformas de movimiento puede permitir simplificar esta tarea. Es por ello que este trabajo presenta un método para la caracterización y simulación de manipuladores robóticos mediante filtros digitales de segundo orden, sencillo de implementar y ajustar a partir de una caracterización previa. El simu…
Input-Output Feedback Linearization Control with On-line MRAS Based Inductor Resistance Estimation of Linear Induction Motors Including the Dynamic E…
2016
This paper proposes the theoretical framework and the consequent application of the input–output feedback linearization (FL) control technique to linear induction motors (LIMs). LIM, additionally to rotating induction motor, presents other strong nonlinearities caused by the dynamic end effects, leading to a space-vector dynamic model with time-varying inductance and resistance terms and a braking force term. This paper, starting from a recently developed dynamic model of the LIM taking into consideration its end effects, defines a FL technique suited for LIMs, since it inherently considers its dynamic end effects. Additionally, it proposes a technique for the on-line estimation of the indu…
A unified observer for robust sensorless control of DC–DC converters
2017
Abstract Due to the large variety of converters' configurations, many different sensorless controllers are available in the literature, each one suited for a particular converter. The need for different configurations, especially on the same power supply, make it clear the advantage of having a shared control algorithm. This paper presents a unified nonlinear robust current observer for buck, boost and buck–boost converters in synchronous and asynchronous configurations. The unified observer speeds up the design, tuning and the implementation, and requires a memory cheaper code, easier to certify. Simulation and experimental results are presented to validate the approach in different scenar…
Vibration reduction on city buses: Determination of optimal position of engine mounts
2010
International audience; This study is composed of three essential parts. The first part describes an indirect semi-experimental method which is used to reconstruct the excitation force of an operating diesel engine from the acceleration data measured at the mounting points. These internal forces can not be directly measured with force sensors; they have to be derived from the dynamic deformation of the engine support, so a theoretical analysis is carried out to derive the equations for the force re-construction.The second part deals with prevention of low frequency vibration of the powertrain from spreading to the rest of the vehicle. Three uncoupling techniques are used to minimize these v…
A simulated annealing-based approach for the joint optimization of production/inventory and preventive maintenance policies
2017
Even if more reliable than the past, the performance of modern manufacturing systems is still affected by machine’s deteriorations and breakdowns. As a consequence, adequate maintenance programs must be implemented to adequately satisfy demands during manufacturing stops due to unexpected failures or preventive maintenance (PM) actions. Despite production and maintenance are closely related issues, their joint optimization has become an important research topic just during the last decade. Therefore, the present paper proposes a model for the combined optimization of production/inventory control and PM policies with the aim of minimizing the total expected cost per unit time. The model is f…
Data-based modeling and estimation of vehicle crash processes in frontal fixed-barrier crashes
2017
Abstract As a complex process, vehicle crash is challenging to be described and estimated mathematically. Although different mathematical models are developed, it is still difficult to balance the complexity of models and the performance of estimation. The aim of this work is to propose a novel scheme to model and estimate the processes of vehicle-barrier frontal crashes. In this work, a piecewise model structure is predefined to represent the accelerations of vehicle in frontal crashes. Each segment in the model is corresponding to the energy absorbing component in the crashworthiness structure. With the help of Ensemble Empirical Mode Decomposition (EEMD), a robust scheme is proposed for …