Search results for "Internal model"

Internal model-based feedback control design for inversion-free feedforward rate-dependent hysteresis compensation of piezoelectric cantilever actuat…

2018

Abstract This study proposes a new rate-dependent feedforward compensator for compensation of hysteresis nonlinearities in smart materials-based actuators without considering the analytical inverse model. The proposed rate-dependent compensator is constructed with the inverse multiplicative structure of the rate-dependent Prandtl–Ishlinskii (RDPI) model. The study also presents an investigation for the compensation error when the proposed compensator is applied in an open-loop feedforward manner. Then, an internal model-based feedback control design is applied with the proposed feedforward compensator to a piezoelectric cantilever actuator. The experimental results illustrate that the propo…

Design of a robust controller for DC/DC converter–electrolyzer systems supplied by μWECSs subject to highly fluctuating wind speed

2020

Abstract A buck-based, isolated, high-voltage-ratio DC/DC converter that allows supplying a proton exchange membrane (PEM) electrolyzer from a micro-wind energy conversion system ( μ WECS) has been recently presented. It exhibits low ripple at the switching frequency on the output voltage and current and represents an attractive solution for low-cost hydrogen production. In this paper, a more accurate mathematical model of such a converter is derived and discussed. Then, a model-based robust controller is designed in the frequency domain using the Internal Model Control structure and in the context of H 2 ∕ H ∞ optimal control. The controller satisfies the condition of robust stability and …

2017

Whether the central nervous system is capable to switch between contexts critically depends on experimental details. Motor control studies regularly adopt robotic devices to perturb the dynamics of a certain task. Other approaches investigate motor control by altering the gravitoinertial context itself as in parabolic flights and human centrifuges. In contrast to conventional robotic experiments, where only the hand is perturbed, these gravitoinertial or immersive settings coherently plunge participants into new environments. However radically different they are, perfect adaptation of motor responses are commonly reported. In object manipulation tasks, this translates into a good matching o…

Direction-dependent activation of the insular cortex during vertical and horizontal hand movements

2016

International audience; The planning of any motor action requires a complex multisensory processing by the brain. Gravity - immutable on Earth - has been shown to be a key input to these mechanisms. Seminal fMRI studies performed during visual perception of falling objects and self-motion demonstrated that humans represent the action of gravity in parts of the cortical vestibular system; in particular, the insular cortex and the cerebellum. However, little is known as to whether a specific neural network is engaged when processing non-visual signals relevant to gravity. We asked participants to perform vertical and horizontal hand movements without visual control, while lying in a 3T-MRI sc…

Motor planning of arm movements is direction-dependent in the gravity field.

2007

International audience; In the present study we analyzed kinematic and dynamic features of arm movements in order to better elucidate how the motor system integrates environmental constraints (gravity) into motor planning and control processes. To reach this aim, we experimentally manipulated the mechanical effects of gravity on the arm while maintaining arm inertia constant (i.e. the distribution of the mass around the shoulder joint). Six subjects performed single-joint arm movements (rotation around the shoulder joint) in both sagittal (upward, U, versus downward, D) and horizontal (left, L, versus right, R) planes, at different amplitudes and from different initial positions. Under thes…

Kinematic features of movement tunes perception and action coupling

2005

How do we extrapolate the final position of hand trajectory that suddenly vanishes behind a wall? Studies showing maintenance of cortical activity after objects in motion disappear suggest that internal model of action may be recalled to reconstruct the missing part of the trajectory. Although supported by neurophysiological and brain imaging studies, behavioural evidence for this hypothesis is sparse. Further, in humans, it is unknown if the recall of internal model of action at motion observation can be tuned with kinematic features of movement. Here, we propose a novel experiment to address this question. Each stimulus consisted of a dot moving either upwards or downwards, and correspond…

Feeling of control of an action after supra and subliminal haptic distortions

2015

Here we question the mechanisms underlying the emergence of the feeling of control that can be modulated even when the feeling of being the author of one’s own action is intact. With a haptic robot, participants made series of vertical pointing actions on a virtual surface, which was sometimes postponed by a small temporal delay (15 or 65 ms). Subjects then evaluated their subjective feeling of control. Results showed that after temporal distortions, the hand-trajectories were adapted effectively but that the feeling of control decreased significantly. This was observed even in the case of subliminal distortions for which subjects did not consciously detect the presence of a distortion. Our…

How is gravity integrated into motor planning : behavioural and fMRI approaches

2016

Gravity is immutable, ubiquitous and affects the dynamic of our daily movements. The gravitational attraction (9.81 m / s2) which varies less than 1% of the earth's surface, is an actress of the evolution of all living species. Thanks to an efficient sensorimotor system, the dynamical consequences of the effects of gravity on our movements are stored as internal representations. To circumvent the time delays of the afferent signals coming from the sensorimotor system (too long to plan quick movements), the Central Nervous System (CNS) acts in a proactive fashion by using suitable internal models developed during our past experiences. These models are mainly used during the motor planning to…

Identification and robust control of DC/DC converter Hammerstein model

2008

Abstract—This paper deals with model-based robust control of dc/dc power electronic converters. The converter is described by means of a Hammerstein model consisting of the nonlinear static characteristics of the converter and a linear time-invariant (LTI) uncertainmodel whose parameters depend on the actual duty-cycle operating range. This suggests that the controller be designed using robust control techniques. In view of applying robust control, identification of the earlier LTI models is performed by means of simulation experiments, carried out on a converter switching model implemented onMATLAB/SIMULINK environment. Internal model control (IMC) structure is employed for the controller …

Hammerstein Model-Based Robust Control of DC/DC Converters

2007

This paper deals with model-based robust control of DC/DC power electronic converters. The converter is modelled by means of its static characteristic and a few continuous-time linear and time-invariant (LTI) models corresponding to contiguous ranges of duty-cycle. The model appears as a Hammerstein model in which the values of the parameters of the LTI part depend on the actual duty-cycle operating range. This suggests to describe the converter as an uncertain system to be controlled using robust control techniques. Frequency domain approach is used for describing the nominal model and the uncertainty. In view of applying robust control, identification of the LTI models is performed by mea…