Temat: multiple model control

Skocz do pozycji: 1.

Tytuł:: Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control
Autorzy:: Ma, Y.
Cocquempot, V.
El Badaoui El Najjar, M.
Jiang, B.
Tematy:: actuator failure
multiple model control
physically linked robot
two wheel drive
awaria siłownika
sterowanie wielomodelowe
robot połączony; Pokaż więcej
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Powiązania:: https://bibliotekanauki.pl/articles/331196.pdf Link otwiera się w nowym oknie
Opis:: This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Fuzzy switching for multiple model adaptive control in manipulator robot
Autorzy:: Kharabian, B.
Bolandi, H.
Smailzadeh, S. M.
Mousavi Mashhadi, S. K.
Tematy:: manipulator robot
fuzzy logic
multiple model
adaptive control
switching; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Powiązania:: https://bibliotekanauki.pl/articles/384940.pdf Link otwiera się w nowym oknie
Opis:: In this paper, fuzzy logic is used to perform switching controllers for Multiple Model Adaptive Control (MMAC) in manipulator robot. In the cases which uncertainty bounds of system’s parameters are large, the performance and stability issue of system are considerable concerns. Multiple Model Adaptive Control approach can be useful method to stabilize these kinds of systems. In this control method, the uncertainty bound is divided into several smaller bounds. As a result, the process of stabilization would be streamlined. In this regard, one estimation is obtained for uncertain parameter in every minor bound, and based on estimation errors designed controller can alter. In order to avoid switching controllers and pertinent challenges a summation of controllers with coefficient tuned by fuzzy logic is considered. Simulation results substantiate the efficacy of this method.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Prediction control systems in marine applications
Autorzy:: Gierusz, W.
Miller, A.
Tematy:: control system
marine applications
ship motion
automatic system
Model Predictive Control (MPC)
multiple input
Multiple Output (MIMO)
Model Predictive Heuristic Control (MPHC)
Generalized Predictive Control (GPC); Pokaż więcej
Wydawca:: Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Powiązania:: https://bibliotekanauki.pl/articles/117282.pdf Link otwiera się w nowym oknie
Opis:: The paper presents one of the modern control methods used for steering of the ship motion. The different automatic systems used to navigate the vessels are described at the beginning. Next, prediction control methodology is presented and multidimensional MPC regulator applied to steering of the training ship is shown as a technical product. Tests results from the real-time experiments with the mentioned controller are presented at the end of the article.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Real-time implementation of multiple model based predictive control strategy to air/fuel ratio of a gasoline engine
Autorzy:: Wojnar, S
Polóni, T
Šimončič, P
Rohal’-Ilkiv, B
Honek, M
Csambál, J
Tematy:: model predictive control
multiple models
air/fuel ratio
spark ignition engine
ARX models; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/229632.pdf Link otwiera się w nowym oknie
Opis:: Growing safety, pollution and comfort requirements influence automotive industry ever more. The use of three-way catalysts in exhaust aftertreatment systems of combustion engines is essential in reducing engine emissions to levels demanded by environmental legislation. However, the key to the optimal catalytic conversion level is to keep the engine air/fuel ratio (AFR) at a desired level. Thus, for this purposes more and more sophisticated AFR control algorithms are intensively investigated and tested in the literature. The goal of this paper is to present for a case of a gasoline engine the model predictive AFR controller based on the multiple-model approach to the engine modeling. The idea is to identify the engine in particular working points and then to create a global engine's model using Sugeno fuzzy logic. Opposite to traditional control approaches which lose their quality beside steady state, it enables to work with satisfactory quality mainly in transient regimes. Presented results of the multiple-model predictive air/fuel ratio control are acquired from the first experimental real-time implementation on the VW Polo 1390 cm3 gasoline engine, at which the original electronic control unit (ECU) has been fully replaced by a dSpace prototyping system which execute the predictive controller. Required control performance has been proven and is presented in the paper.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: A multi-model based adaptive reconfiguration control scheme for an electro-hydraulic position servo system
Autorzy:: Zhang, Zhao
Yang, Zhong
Liu, Shuchang
Chen, Shuang
Zhang, Xiaokai
Tematy:: fault tolerant control
electro hydraulic position
servo system
multiple model
adaptive control
reconfiguration control
sterowanie tolerujące uszkodzenia
serwomechanizm
sterowanie adaptacyjne; Pokaż więcej
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Powiązania:: https://bibliotekanauki.pl/articles/2124780.pdf Link otwiera się w nowym oknie
Opis:: Reliability and safety of an electro-hydraulic position servo system (EHPSS) can be greatly reduced for potential sensor and actuator faults. This paper proposes a novel reconfiguration control (RC) scheme that combines multi-model and adaptive control to compensate for the adverse effects. Such a design includes several fixed models, one adaptive model, and one reinitialized adaptive model. Each of the models has its own independent controller that is based on a complete parametrization of the corresponding fault. A proper switching mechanism is set up to select the most appropriate controller to control the current plant. The system output can track the reference model asymptotically using the proposed method. Simulation results validate robustness and effectiveness of the proposed scheme. The main contribution is a reconfiguration control method that can handle component faults and maintain the acceptable performance of the EHPSS.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Motor Control: Neural Models and Systems Theory
Autorzy:: Doya, K.
Kimura, H.
Miyamura, A.
Tematy:: adaptacyjny układ sterowania
model wielokrotny
inverse model
adaptive control
cerebellum
reinforcement learning
basal ganglia
multiple models; Pokaż więcej
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Powiązania:: https://bibliotekanauki.pl/articles/908323.pdf Link otwiera się w nowym oknie
Opis:: In this paper, we introduce several system theoretic problems brought forward by recent studies on neural models of motor control. We focus our attention on three topics: (i) the cerebellum and adaptive control, (ii) reinforcement learning and the basal ganglia, and (iii) modular control with multiple models. We discuss these subjects from both neuroscience and systems theory viewpoints with the aim of promoting interplay between the two research communities.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Fault tolerance in networked control systems under intermittent observations
Autorzy:: Georges, J. P.
Theilliol, D.
Cocquempot, V.
Ponsart, J. C.
Aubrun, C.
Tematy:: przeciążenie sieci
sterowanie odporne na błędy
diagnostyka uszkodzeń
system sieciowy
model wielokrotny
network congestion
fault tolerant control
fault diagnosis
networked control system
interacting multiple model; Pokaż więcej
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Powiązania:: https://bibliotekanauki.pl/articles/930171.pdf Link otwiera się w nowym oknie
Opis:: This paper presents an approach to fault tolerant control based on the sensor masking principle in the case of wireless networked control systems. With wireless transmission, packet losses act as sensor faults. In the presence of such faults, the faulty measurements corrupt directly the behaviour of closed-loop systems. Since the controller aims at cancelling the error between the measurement and its reference input, the real outputs will, in such a networked control system, deviate from the desired value and may drive the system to its physical limitations or even to instability. The proposed method facilitates fault compensation based on an interacting multiple model approach developed in the framework of channel errors or network congestion equivalent to multiple sensors failures. The interacting multiple model method involved in a networked control system provides simultaneously detection and isolation of on-line packet losses, and also performs a suitable state estimation. Based on particular knowledge of packet losses, sensor fault-tolerant controls are obtained by computing a new control law using fault-free estimation of the faulty element to avoid intermittent observations that might develop into failures and to minimize the effects on system performance and safety.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Ship Course Following and Course Keeping in Restricted Waters Based on Model Predictive Control
Autorzy:: Liu, H.
Ma, N.
Gu, X. C.
Tematy:: Ship Movement, Multiple-Input Multiple-Output (MIMO)
Very Large Crude Carrier (VLCC)
Model Predictive Control (MPC)
Linear Quadratic Regulator (LQR)
course
restricted waters
safety at sea; Pokaż więcej
Wydawca:: Uniwersytet Morski w Gdyni. Wydział Nawigacyjny
Powiązania:: https://bibliotekanauki.pl/articles/116264.pdf Link otwiera się w nowym oknie
Opis:: Ship navigation safety in restricted water areas is of great concern to crew members, because ships sailing in close proximity to banks are significantly affected by the so-called ship-bank interaction. The purpose of this paper is to apply the optimal control theory to help helmsmen adjust ships’ course and maintain the target course in restricted waters. To achieve this objective, the motion of a very large crude carrier (VLCC) close to a bank is modeled with the linear equations of manoeuvring and the influence of bank effect on the ship hydrodynamic force is considered in the model. State-space framework is cast in a Multiple-Input Multiple-Output (MIMO) system, where the offset-free model predictive control (MPC) is designed for course following and the linear quadratic regulator (LQR) is used for course keeping. Simulation results show that the control methods effectively work in ship course following and course keeping with varying ship-bank distances and water depths. The advantage of adopting speed variation as the second control input is obvious.
Dostawca treści:: Biblioteka Nauki

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