Search results for "Control theory"

Visual servo control using orthinormal polynomial

2003

This paper describes an application of the visual servoing approach to vision-based control in robotics. The basic idea addresses the use of a vision sensor in the feedback loop within the controlled vision framework. It consists in tracking of arbitrary 3-D objects travelling at unknown velocities in a 2-D space (depth is given as known). Once the necessary modeling stage is performed, the framework becomes one of automatic control, and naturally stability, performance and robustness questions arise. Here, we consider to track line segments corresponding to the edges extracted from the image being analyzed. Two representations for a line segment are presented and discussed, and an appropri…

2014

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.

Estimation of the mean crystal size and the moments of the crystal size distribution in batch crystallization processes

2016

International audience; A cascade high gain observer is designed to estimate the first four leading moments of the crystal size distribution (CSD) and the mean crystal size in batch crystallization processes. The proposed observer is based on a well-known transformation of the partial differential equation describing the CSD to a set of ordinary differential equations (the method of moments). Due to numerical difficulties resulting from the important differences in the magnitudes of the moments, a set of new variables is computed to allow a good estimation of the moments and thus the mean crystal size. In this work, only solute concentration and crystallizer temperature are used to estimate…

Novel Isolated Multiple-Input Buck-Boost DC-DC Converter for Renewable Energy Sources

2021

An isolated multiple input dc-dc converter (MIC) with unidirectional buck-boost characteristics and simultaneous power transfer is proposed for multi-sources in renewable energy systems in this paper. When compared to existing isolated MICs, the proposed MIC significantly reduces the component count and control complexity since it requires a fixed coupled inductor with only one primary and secondary winding each for any number of inputs and does not require any phase-shifted pulse-width modulation. The operation of the proposed converter for simultaneous power transfer from multiple sources with varying voltages is numerically verified in simulation and validated on OPAL-RT’s OP5700 hardwar…

Measurement uncertainty impact on simplified load flow analysis in MV smart grids

2018

This work is focused on the measurement uncertainty impact on load flow analysis in medium voltage (MV) distribution networks. In more detail, the paper presents the uncertainty evaluation of a simplified load flow algorithm, which is based on the load power measurements at each secondary substation and one voltage measurement at the slack bus (i.e. the voltage at the MV bus bars of the primary substation). To reduce the costs of the monitoring system, the load flow algorithm makes use of LV load power measurements for all the substations except those of MV users, where MV transducers are usually already installed. The uncertainties on the algorithm input quantities (load powers and slack b…

Right-turn Bypass Lanes at Roundabouts: Geometric Schemes and Functional Analysis

2012

Right-turn bypass lanes can be implemented in conventional and innovative roundabout intersections to increase the capacity and improve the global functional performances. The Right-turn bypass lanes (also called slip lanes) can be distinguished according to the planimetric layout and the entry control type (stop, yield slip or Free Flow acceleration lane). This paper presents a closed-form model for the estimation of capacity, delays and level of service of roundabout equipped with Right-turn bypass lanes, considering the effect of geometric slip lane schemes, control type, vehicular and pedestrian flow. In order to examine the traffic conditions which can benefit from slip lane roundabout…

Nonlinear analysis of classical phase-locked loops in signal's phase space

2014

Abstract Discovery of undesirable hidden oscillations, which cannot be found by the standard simulation, in phase-locked loop (PLL) showed the importance of consideration of nonlinear models and development of rigorous analytical methods for their analysis. In this paper for various signal waveforms, analytical computation of multiplier/mixer phase-detector characteristics is demonstrated, and nonlinear dynamical model of classical analog PLL is derived. Approaches to the rigorous nonlinear analysis of classical analog PLL are discussed.

Adapting Downlink Power in Fronthaul-Constrained Hierarchical Software-Defined RANs

2017

Abstract The proof-of-concept software-defined radio access network (RAN) is not flexible enough due to the inherent delay and the necessity of high-capacity fronthaul links. We are hence motivated to propose a hierarchical software-defined RAN architecture, over which the base stations (BSs) are abstracted into multiple virtual local controllers while these local controllers are administered by a high-level controller. Under such a hierarchical network architecture, we particularly investigate in this paper how to adapt the BS transmit power over a long term according to the network dynamics under the constraints of mobile user queue stability and limited fronthaul capacity. We first formu…

Active snubber network design and implementation on the primary side of an isolated Ćuk converter realizing soft-switching for efficiency …

2008

This paper describes the process of improving the efficiency of an existing isolated DC/DC converter based on CUK topology with secondary side synchronous rectification, by means of the introduction of an active snubber network on the primary side. The snubber circuit reduces to zero the switching losses during the off-time interval of secondary SR. In particular, the efficiency improvement is due to the elimination of the primary MOSFET Coss output capacitance losses, and mainly of the reverse recovery losses on the secondary SR MOSFET. However, the insertion of the active snubber creates itself additional losses in the circuit, and therefore to measure the really introduced benefit it is …

Learning to Approach a Moving Ball with a Simulated Two-Wheeled Robot

2006

We show how a two-wheeled robot can learn to approach a moving ball using Reinforcement Learning. The robot is controlled by setting the velocities of its two wheels. It has to reach the ball under certain conditions to be able to kick it towards a given target. In order to kick, the ball has to be in front of the robot. The robot also has to reach the ball at a certain angle in relation to the target, because the ball is always kicked in the direction from the center of the robot to the ball. The robot learns which velocity differences should be applied to the wheels: one of the wheels is set to the maximum velocity, the other one according to this difference. We apply a REINFORCE algorith…