Search results for "Control system"
showing 10 items of 971 documents
Optimal control of discrete-time interval type-2 fuzzy-model-based systems with D-stability constraint and control saturation
2016
This paper investigates the optimal control problem for discrete-time interval type-2 (IT2) fuzzy systems with pole constraints. An IT2 fuzzy controller is characterized by two predefined functions, and the membership functions and the premise rules of the IT2 fuzzy controller can be chosen freely. The pole assignment is considered, which is constrained in a presented disk region. Based on Lyapunov stability theory, sufficient conditions of asymptotic stability with an H ∞ performance are obtained for the discrete-time IT2 fuzzy model based (FMB) system. Based on the criterion, the desired IT2 state-feedback controller is designed to guarantee that the closed-loop system is asymptotically s…
Modeling and control of uncertain nonlinear systems
2018
A survey of the methodologies associated with the modeling and control of uncertain nonlinear systems has been given due importance in this paper. The basic criteria that highlights the work is relied on the various patterns of techniques incorporated for the solutions of fuzzy equations that corresponds to fuzzy controllability subject. The solutions which are generated by these equations are considered to be the controllers. Currently, numerical techniques have come out as superior techniques in order to solve these types of problems. The implementation of neural networks technique is contributed in the complex way of dealing the appropriate coefficients and solutions of the fuzzy systems.
Adaptive Fuzzy Super-Twisting Sliding Mode Control for Microgyroscope
2019
This paper proposes a novel adaptive fuzzy super-twisting sliding mode control scheme for microgyroscopes with unknown model uncertainties and external disturbances. Firstly, an adaptive algorithm is used to estimate the unknown parameters and angular velocity of microgyroscopes. Secondly, in order to improve the performance of the system and the superiority of the super-twisting algorithm, this paper utilizes the universal approximation characteristic of the fuzzy system to approach the gain of the super-twisting sliding mode controller and identify the gain of the controller online, realizing the adaptive adjustment of the controller parameters. Simulation results verify the superiority a…
Vibration control strategy for large-scale structures with incomplete multi-actuator system and neighbouring state information
2016
The synthesis of optimal controllers for vibrational protection of large-scale structures with multiple actuation devices and partial state information is a challenging problem. In this study, the authors present a design strategy that allows computing this kind of controllers by using standard linear matrix inequality optimisation tools. To illustrate the main elements of the new approach, a five-story structure equipped with two interstory actuation devices and subjected to a seismic disturbance is considered. For this control setup, three different controllers are designed: an ideal state-feedback H 8 controller with full access to the complete state information and two static output-fee…
Kinematic synthesis of a new 3D printing solution
2016
Low-cost production of metal parts is a challenge nowadays in the Additive Manufacturing world and new methods are being developed. The MIM technique is an innovative approach for 3D printing. This method requires a machine with suitable kinematics capable of generating the adequate movements. The object of this article is the kinematic synthesis of a 5Dofs robot, based on two PKM machines, for additive manufacturing in order to compliant with the requirements of this new technology. Robot kinematics have been optimized by genetic algorithm in order to cover the required workspace and the design of the robot and outline of the control system are also given.
Comparison of KVP and RSI for Controlling KUKA Robots Over ROS
2020
In this work, an open-source ROS interface based on KUKAVARPROXY for control of KUKA robots is compared to the commercial closed-source Robot Sensor Interface available from KUKA. This comparison looks at the difference in how these two approaches communicate with the KUKA robot controller, the response time and tracking delay one can expect with the different interfaces, and the difference in use cases for the two interfaces. The investigations showed that the KR16 with KRC2 has a 50 ms response time, and RSI has a 120 ms tracking delay, with negligible delay caused by the ROS communication stack. The results highlight that the commercial inferface is more reliable for feedback control tas…
Optimization Model to Extend Existing Production Planning and Control Systems for the Use of Additive Manufacturing Technologies in the Industrial Pr…
2018
Abstract The use of additive manufacturing technologies for industrial production is constantly growing. This technology differs from the known production procedures. The areas of scheduling, detailed and sequence planning are particularly important for additive production due to the long print times and flexible use of the production area. Therefore, production-relevant variables are considered and used for the production planning and control (PPC) of additive manufacturing machines. For this purpose, an optimization model is presented which shows a time-oriented build space utilization. In the implementation, a nesting algorithm is used to check the combinability of different models for e…
Crowd-Averse Robust Mean-Field Games: Approximation via State Space Extension
2016
We consider a population of dynamic agents, also referred to as players. The state of each player evolves according to a linear stochastic differential equation driven by a Brownian motion and under the influence of a control and an adversarial disturbance. Every player minimizes a cost functional which involves quadratic terms on state and control plus a cross-coupling mean-field term measuring the congestion resulting from the collective behavior, which motivates the term “crowd-averse.” Motivations for this model are analyzed and discussed in three main contexts: a stock market application, a production engineering example, and a dynamic demand management problem in power systems. For th…
Global sensitivity analysis in welding simulations -- what are the material data you really need ?
2011
In this paper, the sensitivity analysis methodology is applied to numerical welding simulation in order to rank the importance of input variables on the outputs of the code like distorsions or residual stresses. The numerical welding simulation uses the finite element method, with a thermal computation followed by a mechanical one. Classically, a local sensitivity analysis is performed, hence the validity of the results is limited to the neighbourhood of a nominal point, and cross effects cannot be detected. This study implements a global sensitivity analysis which allows to screen the whole material space of the steel family mechanical properties. A set of inputs of the mechanical model-ma…
Dissipativity-Based Small-Gain Theorems for Stochastic Network Systems
2016
In this paper, some small-gain theorems are proposed for stochastic network systems which describe large-scale systems with interconnections, uncertainties and random disturbances. By the aid of conditional dissipativity and showing times of stochastic interval, small-gain conditions proposed for the deterministic case are extended to the stochastic case. When some design parameters are tunable in practice, we invaginate a simpler method to verify small-gain condition by selecting one subsystem as a monitor. Compared with the existing results, the existence-and-uniqueness of solution and ultimate uniform boundedness of input are removed from requirements of input-to-state stability and smal…