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ISA Transactions

K Ghousiya Begum, A Seshagiri Rao, T K Radhakrishnan
Internal model control (IMC) with optimal H2 minimization framework is proposed in this paper for design of proportional-integral-derivative (PID) controllers. The controller design is addressed for integrating and double integrating time delay processes with right half plane (RHP) zeros. Blaschke product is used to derive the optimal controller. There is a single adjustable closed loop tuning parameter for controller design. Systematic guidelines are provided for selection of this tuning parameter based on maximum sensitivity...
March 18, 2017: ISA Transactions
Xinwei Wang, Haijun Peng, Sheng Zhang, Biaosong Chen, Wanxie Zhong
A symplectic pseudospectral method based on the dual variational principle and the quasilinearization method is proposed and is successfully applied to solve nonlinear optimal control problems with inequality constraints in this paper. Nonlinear optimal control problem is firstly converted into a series of constraint linear-quadratic optimal control problems with the help of quasilinearization techniques. Then a symplectic pseudospectral method based on dual variational principle for solving the converted constrained linear-quadratic optimal control problems is developed...
March 16, 2017: ISA Transactions
Amir Abbasi, Javad Poshtan
In this paper, two approaches for robust state estimation of a class of Lipschitz nonlinear systems are proposed. First, a novel Unknown Input Observer (UIO) is designed without observer matching condition satisfaction. Then, an H∞ observer for approximate disturbance decoupling is proposed. Sufficient conditions for the existence of both proposed observers are derived based on a Lyapunov function. The achieved conditions are formulated in terms of a set of linear matrix inequalities (LMIs) and optimal gain matrices are obtained...
March 16, 2017: ISA Transactions
WeiJia Zheng, Ying Luo, XiaoHong Wang, YouGuo Pi, YangQuan Chen
In order to achieve a desired control performance characterized by satisfying specifications in both frequency-domain and time-domain simultaneously, an optimal fractional order proportional integral derivative (PI(λ)D(μ)) controller design strategy is proposed based on analytical calculation and Differential Evolution algorithm for a permanent magnet synchronous motor (PMSM) servo system in this paper. In this controller design, the frequency-domain specifications can guarantee the system stability with both gain margin and phase margin, and also the system robustness to loop gain variations...
March 16, 2017: ISA Transactions
Farshad Merrikh-Bayat
In this paper first the Multi-term Fractional-Order PID (MFOPID) whose transfer function is equal to [Formula: see text] , where kj and αj are unknown and known real parameters respectively, is introduced. Without any loss of generality, a special form of MFOPID with transfer function kp+ki/s+kd1s+kd2s(μ) where kp, ki, kd1, and kd2 are unknown real and μ is a known positive real parameter, is considered. Similar to PID and TID, MFOPID is also linear in its parameters which makes it possible to study all of them in a same framework...
March 15, 2017: ISA Transactions
Tao Li, Hui Zhao
The paper addresses the finite-time convergence problem of a uncalibrated camera-robot system with uncertainties. These uncertainties include camera extrinsic and intrinsic parameters, robot dynamics and feature depth parameters, which are all considered as time-varying uncertainties. In order to achieve a better dynamic stability performance of the camera-robot system, a novel FTS adaptive controller is presented to cope with rapid convergence problem. Meanwhile, FTS adaptive laws are proposed to handle these uncertainties which exist both in robot and in camera model...
March 11, 2017: ISA Transactions
Sajad Azizi
The robust stability of a class of feedback linearizable minimum-phase nonlinear system, having parametric uncertainties, is investigated in this study. The system in new coordinates is represented to an equivalent formulation after the attempt of feedback linearization. Due to the parametric uncertainties the approximately linearized system entails a norm bounded input nonlinearity such that the equilibrium point condition in error dynamics can not be satisfied. Accordingly, to guarantee the regional asymptotic stability a control synthesis problem is proposed by means of sufficient Linear Matrix Inequalities (LMIs) together with an amended nonlinear control term, derived from the Lyapunov redesign method, which tackles zero steady-state error condition...
March 10, 2017: ISA Transactions
Qing Guo, Jing-Min Yin, Tian Yu, Dan Jiang
The disturbance suppression is one of the most common control problems in electro-hydraulic systems. especially largely an unknown disturbance often obviously degrades the dynamic performance by biasing the desired actuator outputs (e.g., load forces or torques). In order to reject the dynamic disturbances in some multi-degree-of-freedom manipulators driven by electro-hydraulic actuators, this paper proposes a state feedback control of the cascade electro-hydraulic system based on a coupled disturbance observer with backstepping...
March 6, 2017: ISA Transactions
Zhankui Song, Kaibiao Sun, Shuai Ling
In this paper, we investigate the synchronization problem of chaotic centrifugal flywheel governor with parameters uncertainty and lumped disturbances. A slave centrifugal flywheel governor system is considered as an underactuated following-system which a control input is designed to follow a master centrifugal flywheel governor system. To tackle lumped disturbances and uncertainty parameters, a novel synchronization control law is developed by employing sliding mode control strategy and Nussbaum gain technique...
March 6, 2017: ISA Transactions
Amir Zakerimanesh, Farzad Hashemzadeh, Amir Rikhtehgar Ghiasi
A novel trilateral control architecture for Dual-master/Single-slave teleoperation system with taking account of saturation in actuators, nonlinear dynamics for telemanipulators and bounded varying time delay which affects the transmitted signals in the communication channels, is proposed in this paper. In this research, we will address the stability and desired position coordination problem of trilateral teleoperation system by extension of (nP+D) controller that is used for Single-master/Single-slave teleoperation system...
March 3, 2017: ISA Transactions
G Sánchez, M Murillo, L Giovanini
Moving horizon estimation is an efficient technique to estimate states and parameters of constrained dynamical systems. It relies on the solution of a finite horizon optimization problem to compute the estimates, providing a natural framework to handle bounds and constraints on estimates, noises and parameters. However, the approximation of the arrival cost and its updating mechanism are an active research topic. The arrival cost is very important because it provides a mean to incorporate information from previous measurements to the current estimates and it is difficult to estimate its true value...
March 1, 2017: ISA Transactions
Zhijia Zhao, Yu Liu, Fei Luo
This paper is concerned with boundary control for an axially moving belt system with high acceleration/deceleration subject to the input saturation constraint. The dynamics of belt system is expressed by a nonhomogeneous hyperbolic partial differential equation coupled with an ordinary differential equation. First, state feedback boundary control is designed for the case that the boundary states of the belt system can be measured. Subsequently, output feedback boundary control is developed when some of the system states can not be accurately obtained...
February 28, 2017: ISA Transactions
Feifan Ji, Yanjun Li, Ji Xiang
In this paper, the synchronized output regulation (SOR) problem of leader-following heterogeneous linear networked systems aiming at tracking periodical signals is investigated. Only the output information of each agent is delivered throughout the communication network. For tracking a general periodic signal consisting many sinusoid functions, the dimension of the internal model compensator embedded in each agent will be too high to be implemented in practice. To cope with this difficulty, a distributed repetitive control method is proposed in this paper...
February 23, 2017: ISA Transactions
Zhiguo Yan, Yunxia Song, Ju H Park
This paper is concerned with the problems of finite-time stability and stabilization for stochastic Markov systems with mode-dependent time-delays. In order to reduce conservatism, a mode-dependent approach is utilized. Based on the derived stability conditions, state-feedback controller and observer-based controller are designed, respectively. A new N-mode algorithm is given to obtain the maximum value of time-delay. Finally, an example is used to show the merit of the proposed results.
February 16, 2017: ISA Transactions
Jie Wu, Zhu-Jun Zhou, Xi-Sheng Zhan, Huai-Cheng Yan, Ming-Feng Ge
This paper investigates the optimal modified tracking performance of multi-input multi-output (MIMO) networked control systems (NCSs) with packet dropouts and bandwidth constraints. Some explicit expressions are obtained by using co-prime factorization and the spectral decomposition technique. The obtained results show that the optimal modified tracking performance is related to the intrinsic properties of a given plant such as non-minimum phase (NMP) zeros, unstable poles, and their directions. Furthermore, the modified factor, packet dropouts probability and bandwidth also impact the optimal modified tracking performance of the NCSs...
February 16, 2017: ISA Transactions
Manashita Borah, Binoy Krishna Roy
This paper presents an interesting phenomenon unobserved so far in literature to the best of the authors' knowledge in fractional-order chaotic systems (FOCSs). It is the rotational phenomenon of fractional-order coexisting attractors. Another significant feature of the newly proposed FOCS is that two 2-wing chaotic attractors coexist in its fractional-order dynamics i.e. α<1. But once the system attains integer-order, the two attractors merge and evolve into a single 4-wing attractor. Furthermore, the authors have drawn its comparison with various well-known FOCSs to prove its superior features...
February 15, 2017: ISA Transactions
C Shanthi, N Pappa
Flow pattern recognition is necessary to select design equations for finding operating details of the process and to perform computational simulations. Visual image processing can be used to automate the interpretation of patterns in two-phase flow. In this paper, an attempt has been made to improve the classification accuracy of the flow pattern of gas/ liquid two- phase flow using fuzzy logic and Support Vector Machine (SVM) with Principal Component Analysis (PCA). The videos of six different types of flow patterns namely, annular flow, bubble flow, churn flow, plug flow, slug flow and stratified flow are recorded for a period and converted to 2D images for processing...
February 13, 2017: ISA Transactions
Zhi-Hui Zhang, Guang-Hong Yang
This paper provides a novel event-triggered fault detection (FD) scheme for discrete-time linear systems. First, an event-triggered interval observer is proposed to generate the upper and lower residuals by taking into account the influence of the disturbances and the event error. Second, the robustness of the residual interval against the disturbances and the fault sensitivity are improved by introducing l1 and H∞ performances. Third, dilated linear matrix inequalities are used to decouple the Lyapunov matrices from the system matrices...
February 13, 2017: ISA Transactions
M Eusebia Guerrero-Sánchez, D Alberto Mercado-Ravell, Rogelio Lozano, C Daniel García-Beltrán
This paper presents the problem of safe and fast transportation of packages by an Unmanned Aerial Vehicle (UAV) kind quadrotor. A mathematical model and a control strategy for a special class of underactuated mechanical systems, composed of a quadrotor transporting a cable-suspended payload, are proposed. The Euler-Lagrange formulation is used to obtain the dynamic model of the system, where the integrated dynamics of the quadrotor, cable and payload are considered. An Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) is chosen because of its inherent robustness against parametric uncertainty and unmodeled dynamics...
February 13, 2017: ISA Transactions
Jaromír Fišer, Pavel Zítek, Pavel Skopec, Jan Knobloch, Tomáš Vyhlídal
The purpose of the paper is to achieve a constrained estimation of process state variables using the anisochronic state observer tuned by the dominant root locus technique. The anisochronic state observer is based on the state-space time delay model of the process. Moreover the process model is identified not only as delayed but also as non-linear. This model is developed to describe a material flow process. The root locus technique combined with the magnitude optimum method is utilized to investigate the estimation process...
February 13, 2017: ISA Transactions
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