Search results for "control theory"

The inverse kinematics solutions of a 7 DOF robotic arm using Fuzzy Logic

2012

This paper focuses on modeling resolving and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematical model and the kinematics equations of the robotic arm are presented. A method of resolving the redundancy of seven degrees of freedom robotic arm is presented using Fuzzy Logic toolbox from MATLAB®.

Adaptive synchronization of master-slave systems with mixed neutral and discrete time-delays and nonlinear perturbations

2011

This paper investigates the delay-dependent adaptive synchronization problem of the master and slave structure of linear systems with both constant neutral and time-varying discrete time-delays and nonlinear perturbations based on the Barbalat lemma and matching conditions. An adaption law which includes the master-slave parameters is obtained by using the Lyapunov functional method and inequality techniques to synchronize the master-slave systems without the knowledge of upper bounds of perturbation terms. Particularly, it is shown that the synchronization speed can be controlled by adjusting the update gain of the synchronization signal. A numerical example has been given to show the effe…

A generalization of Françoise's algorithm for calculating higher order Melnikov functions

2002

Abstract In [J. Differential Equations 146 (2) (1998) 320–335], Francoise gives an algorithm for calculating the first nonvanishing Melnikov function Ml of a small polynomial perturbation of a Hamiltonian vector field and shows that Ml is given by an Abelian integral. This is done under the condition that vanishing of an Abelian integral of any polynomial form ω on the family of cycles implies that the form is algebraically relatively exact. We study here a simple example where Francoise's condition is not verified. We generalize Francoise's algorithm to this case and we show that Ml belongs to the C [ log t,t,1/t] module above the Abelian integrals. We also establish the linear differentia…

2014

In this paper mathematical modeling of a vehicle crash test based on a single-mass is studied. The model under consideration consists of a single-mass coupled with a spring and/or a damper. The parameters for the spring and damper are obtained by analyzing the measured acceleration in the center of gravity of the vehicle during a crash. A model with a nonlinear spring and damper is also proposed and the parameters will be optimized with different damper and spring characteristics and optimization algorithms. The optimization algorithms used are interior-point and firefly algorithm. The objective of this paper is to compare different methods used to establish a simple model of a car crash an…

Model Predictive Control for Shunt Active Filters With Fixed Switching Frequency

2016

This paper presents a modification to the classical Model Predictive Control algorithm, named Modulated Model Predictive Control, and its application to active power filters. The proposed control is able to retain all the advantages of a Finite Control Set Model Predictive Control whilst improving the generated waveforms harmonic spectrum. In fact a modulation algorithm, based on the cost function ratio for different output vectors, is inherently included in the MPC. The cost function-based modulator is introduced and its effectiveness on reducing the current ripple is demonstrated. The presented solution provides an effective and straightforward single loop controller, maintaining an excel…

A Trajectory-Driven SISO mm-Wave Channel Model for a Human Activity Recognition

2021

Distributed Adaptive Control for Asymptotically Consensus Tracking of Uncertain Nonlinear Systems With Intermittent Actuator Faults and Directed Comm…

2019

In this article, we investigate the output consensus tracking problem for a class of high-order nonlinear systems with unknown parameters, uncertain external disturbances, and intermittent actuator faults. Under the directed topology conditions, a novel distributed adaptive controller is proposed. The common time-varying trajectory is allowed to be totally unknown by part of subsystems. Therefore, the assumption on the linearly parameterized trajectory signal in most literature is no longer needed. To achieve the relaxation, extra distributed parameter estimators are introduced in all subsystems. Besides, to handle the actuator faults occurring at possibly infinite times, a new adaptive com…

Adaptive dual control in one biomedical problem

2003

In this paper, the following biomedical problem is considered. People are subjected to a certain chemotherapeutic treatment. The optimal dosage is the maximal dose for which an individual patient will have toxicity level that does not cross the allowable limit. We discuss sequential procedures for searching the optimal dosage, which are based on the concept of dual control and the principle of optimality. According to the dual control theory, the control has two purposes that might be conflicting: one is to help learning about unknown parameters and/or the state of the system (estimation); the other is to achieve the control objective. Thus the resulting control sequence exhibits the closed…

Stability Analysis of a Linear Parameter Varying Adaptive Output Feedback Control System

2021

Abstract Output feedback control systems often require an adaptive filter for properly shaping the loop transfer function, as certain system plant parameters may be uncertain or varying. This renders the overall closed loop to a linear parameter varying (LPV) system, for which the stability analysis is challenging due to non-trivial dynamics of the adaptation law. This paper develops a stability analysis technique of a feedback controlled oscillatory system. A polytopic overapproximation of the parameter set together with the feasibility of certain LMIs guarantees asymptotic stability of the closed loop. The varying filter parameter is only required to be lower and upper bounded, where the …

Fuzzy control of pH using NAL

1991

Abstract A fuzzy controller for a neutralization process is described. The controller was set up for a laboratory pilot plant. The approach is shown to be effective and can be extended to highly nonlinear and nonstationary processes. The “operator” knowledge encoded in the rules was obtained by several experimental runs of the system using manual control. Rules are composed using the max-min compositional rule of inference. The use of metarules, which depends on controller performance and on active disturbances, makes the controller behave like an adaptive controller. The control program is encoded in NAL, a new experimental logic programming language that was first used in this work in a r…