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ISA Transactions

Flavien Paccot, Helene Chanal
In robotics or machining, task quality is strongly linked to servo tuning. Indeed, geometrical and dynamic behavior of the mechanical structure could be degraded when a coarse tuning is achieved. Several P/PI or PID tuning methods can be used but generally uncorrelated with industrial context or mechanical considerations. In this paper, we propose a generic tuning method based on dynamic modeling of the mechanical structure and model parameters experimental identification. Therefore, the proposed tuning is adapted to the real dynamic behavior of the mechanical structure under task load while being sufficiently simple to be implemented in an industrial context...
July 11, 2018: ISA Transactions
Yueqiao Han, Yonggui Kao, Cunchen Gao
In this paper, the issue of robust observer-based H∞ control for uncertain discrete singular systems with time-varying delays is investigated via sliding mode control (SMC). A sliding mode strategy is presented combined with the observer technique, since the system states are unmeasured. The distinguishing feature of the provided strategy is that a novel sliding surface is constructed based upon the estimated states such that the resulting full-order closed-loop system is generated. Furthermore, by employing Lyapunov-Krasovskii functional, new sufficient criteria in terms of a solvable linear matrix inequality (LMI) is derived, insuring that the closed-loop system is admissible with an H∞ -norm bound...
July 9, 2018: ISA Transactions
Hailiang Hou, Xiaohong Nian, Jie Chen, Dengfeng Xiao
In elastic web winding systems, precise regulation of web tension in each span is critical to ensure final product quality, and to achieve low cost by reducing the occurrence of web break or fold. Generally, web winding systems use load cells or swing rolls as tension sensors, which add cost, reduce system reliability and increase the difficulty of control. In this paper, a decentralized coordinated control scheme with tension observers is designed for a three-motor web-winding system. First, two tension observers are proposed to estimate the unwinding and winding tension...
June 26, 2018: ISA Transactions
Laya Das, Gaurav Kumar, Raghunathan Rengaswamy, Babji Srinivasan
State estimation is a widely adopted soft sensing technique that incorporates predictions from an accurate model of the process and measurements to provide reliable estimates of unmeasured variables. The reliability of such estimators is threatened by measurement related challenges and model inaccuracies. In this article, a method for benchmarking of state estimation techniques is proposed. This method can be used to quantify the performance and hence reliability of an estimator. The Hurst exponents of a posteriori filtering errors are analyzed to characterize a benchmark (minimum mean squared error) estimator, similar to the minimum variance control benchmark developed for control loops...
June 26, 2018: ISA Transactions
Xiaoli Luan, Biao Huang, Shabnam Sedghi, Fei Liu
Considering that temperature makes a difference to near-infrared spectrum, a probabilistic principle component regression (PPCR) based temperature compensation modeling strategy is investigated under the framework of maximum likelihood estimation. First, a PPCR model is established to extract the dynamic information of the spectra at designated experimental temperature. Then, by decomposing the temperature-induced spectral variation into the shift in horizontal direction and the drift in vertical direction, the quantitative expression between spectral variation and temperature change is derived...
June 22, 2018: ISA Transactions
M Alegría-Zamudio, R F Escobar-Jiménez, J F Gómez-Aguilar
This work presents a fault-tolerant (FT) scheme based on the application of non-integer order observers also called fractional observers, the case of study is a double pipe countercurrent heat exchanger (HE). The aim of the FT is to detect sensors faults as soon as possible, and to provide a healthy signal in order to replace the faulty sensor signal by the fractional observer estimation. To develop the FT scheme a bank of high gain fractional order observers (HGFOO) is proposed. The Riemann-Liouville (RL) fractional derivative definition is used to solve each fractional observer...
June 21, 2018: ISA Transactions
Ali Tavasoli
In this paper, the active disturbance rejection control (ADRC) is utilized to stabilize the vibration of perturbed Timoshenko beam model with tip mass. The boundary control design is based on a hybrid PDE-ODE model, and is accompanied with designing a high-gain extended state observer (ESO) that is used to estimate the boundary disturbances. By transforming the model into the appropriate state space, the semigroup theory is employed to prove the well-posedness of the closed-loop system. To this end, it is proved by a frequency domain method that the semigroup generated by the system operator is exponentially stable, which allows to conclude the boundedness of perturbed closed-loop system response...
June 21, 2018: ISA Transactions
J Ernesto Solanes, Luis Gracia, Pau Muñoz-Benavent, Jaime Valls Miro, Vicent Girbés, Josep Tornero
This work presents a human-robot closely collaborative solution to cooperatively perform surface treatment tasks such as polishing, grinding, deburring, etc. The method considers two force sensors attached to the manipulator end-effector and tool: one sensor is used to properly accomplish the surface treatment task, while the second one is used by the operator to guide the robot tool. The proposed scheme is based on task priority and adaptive non-conventional sliding mode control. The applicability of the proposed approach is substantiated by experimental results using a redundant 7R manipulator: the Sawyer cobot...
June 20, 2018: ISA Transactions
Jingjing Du, Lei Zhang, QingBang Han
A novel included angle based weighting method is proposed for multi-linear model predictive control (MPC) of Hammerstein systems. It makes full use of the special structure of the Hammerstein models, and thus it is intuitive and simple. Moreover, there is only one tuning parameter and the weights can be calculated offline and stored in a look-up table. Therefore, online computational load is largely reduced. Most important of all, it schedules local controllers properly and effectively. A Lab-tank system which can be modeled into a Hammerstein model is investigated...
June 18, 2018: ISA Transactions
Muhammad Shamrooz Aslam, Baoyong Zhang, Yijun Zhang, Zhengqiang Zhang
This paper deals with the fuzzy filtering problem for a class of nonlinear time-delay systems described by T-S fuzzy models. Different from the existing schemes in the literature, this paper aims to solve the fuzzy filtering problem by considering the H∞ , L2  - L∞ and dissipative performance constraints in a unified way. To achieve this purpose, the recently proposed notion of extended dissipativity is applied, which provides an inequality covering the well-known H∞ , L2  - L∞ and dissipative performances...
June 18, 2018: ISA Transactions
Weijiang Zhang, Hongshe Dang, Rolando Simoes
Regarding to the growing trend of photovoltaic (PV) energy as a clean energy source in electrical networks and its uncertain nature, PV energy prediction has been proposed by researchers in recent decades. This problem is directly effects on operation in power network while, due to high volatility of this signal, an accurate prediction model is demanded. A new prediction model based on Hilbert Huang transform (HHT) and integration of improved empirical mode decomposition (IEMD) with feature selection and forecast engine is presented in this paper...
June 12, 2018: ISA Transactions
Juan Chen, Baotong Cui, YangQuan Chen
This paper presents a boundary feedback control design for a fractional reaction diffusion (FRD) system with a space-dependent (non-constant) diffusion coefficient via the backstepping method. The contribution of this paper is to generalize the results of backstepping-based boundary feedback control for a FRD system with a space-independent (constant) diffusion coefficient to the case of space-dependent diffusivity. For the boundary stabilization problem of this case, a designed integral transformation treats it as a problem of solving a hyperbolic partial differential equation (PDE) of transformation's kernel, then the well posedness of the kernel PDE is solved for the plant with non-constant diffusivity...
June 11, 2018: ISA Transactions
Yongbo Li, Guoyan Li, Yu Wei, Binbin Liu, Xihui Liang
This paper proposes a novel fault diagnosis method based on variational mode decomposition (VMD) and generalized composite multi-scale symbol dynamic entropy (GCMSDE) to identify the different health conditions of planetary gearboxes. First, VMD is adopted to remove the noises and highlight the fault symptoms. Second, GCMSDE is utilized to extract the fault features from the denoised vibration signals. Third, the Laplacian score (LS) approach is employed to refine the fault features. Finally, the new features are fed into Softmax regression to identify the health conditions of planetary gearboxes...
June 11, 2018: ISA Transactions
Hossein Mirzaeinejad, Mehdi Mirzaei, Sadra Rafatnia
This study deals with the enhancement of directional stability of vehicle which turns with high speeds on various road conditions using integrated active steering and differential braking systems. In this respect, the minimum usage of intentional asymmetric braking force to compensate the drawbacks of active steering control with small reduction of vehicle longitudinal speed is desired. To this aim, a new optimal multivariable controller is analytically developed for integrated steering and braking systems based on the prediction of vehicle nonlinear responses...
June 11, 2018: ISA Transactions
M Fallahi, M Zareinejad, K Baghestan, A Tivay, S M Rezaei, A Abdullah
This paper presents a study on electro-hydraulic servo system for the purpose of position control using a compatible linear model. The system has high level of nonlinearity and linearization introduces extra error in system model. In order to reduce this error several methods of linearization uncertainty are discussed. In spite of applying Taylor's series for all methods, several procedures are used for considering uncertainty on linearization constants. In the first procedure, a simple bound is considered for each linearization constant...
June 8, 2018: ISA Transactions
Jung Woo Kim, Sang Hun Sul, Jae Boong Choi
In a hyper-connected society, IoT environment, markets are rapidly changing as smartphones penetrate global market. As smartphones are applied to various digital media, development of a novel smart product is required. In this paper, a Smart Product Design-Finite Element Analysis Process (SPD-FEAP) is developed to adopt fast-changing tends and user requirements that can be visually verified. The user requirements are derived and quantitatively evaluated from Smart Quality Function Deployment (SQFD) using WebData...
June 7, 2018: ISA Transactions
Samir Zeghlache, Hemza Mekki, Abderrahmen Bouguerra, Ali Djerioui
In this paper, a robust controller for a Six Degrees of Freedom (6 DOF) coaxial octorotor helicopter control is proposed in presence of actuator faults. Radial Base Function Neural Network (RBFNN), Fuzzy Logic Control approach (FLC) and Sliding Mode Control (SMC) technique are used to design a controller, named Fault Tolerant Control (FTC), for each subsystem of the octorotor helicopter. The proposed FTC scheme allows avoiding difficult modeling, attenuating the chattering effect of the SMC, reducing the rules number of the fuzzy controller, and guaranteeing the stability and the robustness of the system...
June 6, 2018: ISA Transactions
Shen Zhang, Qing Wang, Chaoyang Dong
This paper investigates the flight control problem of generic hypersonic vehicles subject to nonaffine-in-control character. Considering the large uncertainties and external disturbance, the disturbance observer based control strategy is incorporated in the control scheme. Firstly, an extended state observer is used to estimate the system states and the total disturbance. Then, based on the output of the extended state observer, we follow the backstepping design procedure. The dynamic inversion method is involved in the last step of backstepping to solve the nonaffine-in-control problem...
June 6, 2018: ISA Transactions
R M Lin, T Y Ng
Higher-order frequency response functions (FRFs) are important to the analysis and identification of structural nonlinearities. Though much research effort has been devoted recently to their potential applications, practical issues concerning the difficulty and accuracy of higher-order FRF measurement have not been rigorously assessed to date. This paper presents a new method for the accurate measurement of higher-order FRFs. The method is developed based on sinusoidal input, which is ideal for exciting a nonlinear structure into desired regimes with flexible control, and the correlation technique, which is a novel signal processing method capable of extracting accurate frequency components present in general nonlinear responses...
June 6, 2018: ISA Transactions
Jun Ma, Jiande Wu, Xiaodong Wang
Aiming at the problems that the incipient fault of rolling bearings is difficult to recognize and the number of intrinsic mode functions (IMFs) decomposed by variational mode decomposition (VMD) must be set in advance and can not be adaptively selected, taking full advantages of the adaptive segmentation of scale spectrum and Teager energy operator (TEO) demodulation, a new method for early fault feature extraction of rolling bearings based on the modified VMD and Teager energy operator (MVMD-TEO) is proposed...
June 4, 2018: ISA Transactions
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