Force Tracking of Pneumatic Servo Systems Using On/Off Solenoid Valves Based on a Greedy Control Scheme

2011 ◽  
Vol 133 (5) ◽  
Author(s):  
Minh Quyen Le ◽  
Minh Tu Pham ◽  
Richard Moreau ◽  
Jean Pierre Simon ◽  
Tanneguy Redarce
Keyword(s):  
Steady State ◽  
Flow Rate ◽  
Control Law ◽  
Tracking Problem ◽  
Pwm Control ◽  
Control Vector ◽  
Servo Systems ◽  
New Approach ◽  
Control Scheme ◽  
Force Tracking

This paper presents a new predictive greedy control law for the control of electropneumatic systems using solenoid valves. The method is based on a predictive model of the mass flow rate of the valves. For this strategy, a control vector, depending on the number of possible configurations for the solenoid valves, is defined. In order to evaluate the new approach, a comparison has been performed with a classical PWM control for a force tracking problem. The experimental results show that not only the accuracy in steady state but also the dynamic behavior of the pressures is better in the case of greedy control than PWM control.

scholarly journals Adaptive Reinforcement Learning-Enhanced Motion/Force Control Strategy for Multirobot Systems

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Phuong Nam Dao ◽  
Duy Khanh Do ◽  
Dinh Khue Nguyen
Keyword(s):  
Reinforcement Learning ◽  
Force Control ◽  
Tracking Control ◽  
Dynamic Control ◽  
Additional Term ◽  
Control Law ◽  
Force Coefficient ◽  
Constraint Force ◽  
Control Scheme ◽  
Force Tracking

This paper presents an adaptive reinforcement learning- (ARL-) based motion/force tracking control scheme consisting of the optimal motion dynamic control law and force control scheme for multimanipulator systems. Specifically, a new additional term and appropriate state vector are employed in designing the ARL technique for time-varying dynamical systems with online actor/critic algorithm to be established by minimizing the squared Bellman error. Additionally, the force control law is designed after obtaining the computation of constraint force coefficient by the Moore–Penrose pseudo-inverse matrix. The tracking effectiveness of the ARL-based optimal control is verified in the closed-loop system by theoretical analysis. Finally, simulation studies are conducted on a system of three manipulators to validate the physical realization of the proposed optimal tracking control design.

Improvement of Activated Sludge Process Using a Nonlinear PI Controller Design via Adaptive Gain

2016 ◽  
Vol 14 (1) ◽  
pp. 407-416 ◽  
Author(s):  
P. A. López-Pérez ◽  
M. I. Neria-González ◽  
R. Aguilar-López
Keyword(s):  
Steady State ◽  
Controller Design ◽  
Treatment Plant ◽  
Oxygen Demand ◽  
Pi Controller ◽  
Control Law ◽  
Activated Sludge Process ◽  
Recirculation Flow ◽  
Control Scheme ◽  
Do Concentration

AbstractThe goal of this work was to design an adaptive nonlinear proportional–integral (PI) controller to regulate the dynamics of an aerobic wastewater bioreactor, providing a mathematical sketch of proof of the convergence of the control scheme. Adequate operating regions were determined and the corresponding steady-state points were studied via phase portrait and bifurcation analysis. The proposed controller was applied to a wastewater treatment plant to regulate dissolved oxygen (DO) concentration and, indirectly, the concentration of chemical oxygen demand (COD) in the bioreactor; the recirculation flow rate was considered as the manipulated variable. The implementation was based on the mathematical bioreactor’s model, which was experimentally verified; it describes COD dynamics, DO, biomass, recirculation biomass concentrations, and temperature. The obtained results, via numerical simulations, showed that the proposed control law is able to control DO concentration; this control exhibited better performance in comparison to a linear one.

scholarly journals Disturbance compensation-based output feedback adaptive control for shape memory alloy actuator system

2021 ◽  
Vol 18 (1) ◽  
pp. 172988142199399
Author(s):  
Xiaoguang Li ◽  
Bi Zhang ◽  
Daohui Zhang ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Adaptive Control ◽  
Shape Memory Alloy ◽  
Shape Memory ◽  
Control Method ◽  
Control Law ◽  
Reference Trajectory ◽  
Disturbance Compensation ◽  
Comparison Results ◽  
Control Scheme ◽  
Actuator System

Shape memory alloy (SMA) has been utilized as the material of smart actuators due to the miniaturization and lightweight. However, the nonlinearity and hysteresis of SMA material seriously affect the precise control. In this article, a novel disturbance compensation-based adaptive control scheme is developed to improve the control performance of SMA actuator system. Firstly, the nominal model is constructed based on the physical process. Next, an estimator is developed to online update not only the unmeasured system states but also the total disturbance. Then, the novel adaptive controller, which is composed of the nominal control law and the compensation control law, is designed. Finally, the proposed scheme is evaluated in the SMA experimental setup. The comparison results have demonstrated that the proposed control method can track reference trajectory accurately, reject load variations and stochastic disturbances timely, and exhibit satisfactory robust stability. The proposed control scheme is system independent and has some potential in other types of SMA-actuated systems.

Development of an autonomous robotic system for beard shaving assistance of disabled people based on an adaptive force tracking impedance control

2021 ◽  
pp. 095440622098482
Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal
Keyword(s):  
Impedance Control ◽  
Environmental Parameters ◽  
Robotic System ◽  
Robotic Systems ◽  
Full Potential ◽  
Robotic Assistance ◽  
Head Pose ◽  
Detection And Tracking ◽  
Control Scheme ◽  
Force Tracking

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.

scholarly journals Improved model predictive load frequency control of interconnected power system with synchronized automatic generation control loops

2020 ◽  
Vol 9 (1) ◽  
Author(s):  
Abdullahi Bala Kunya ◽  
Mehmet Argin ◽  
Yusuf Jibril ◽  
Yusuf Abubakar Shaaban
Keyword(s):  
Frequency Control ◽  
Cross Coupling ◽  
Absolute Error ◽  
Automatic Generation ◽  
Load Frequency Control ◽  
Automatic Generation Control ◽  
Control Vector ◽  
Interconnected Power System ◽  
Control Scheme ◽  
Generation Control

Abstract Background Automatic generation control (AGC) of multi-area interconnected power system (IPS) is often designed with negligible cross-coupling between the load frequency control (LFC) and automatic voltage regulation (AVR) loops. This is because the AVR loop is considerably faster than that of LFC. However, with the introduction of slow optimal control action on the AVR, positive damping effect can be achieved on the LFC loop thereby improving the frequency control. In this paper, LFC synchronized with AVR in three-area IPS is proposed. Model predictive controller (MPC) configured in a dense distributed pattern, due to its online set-point tacking is used as the supplementary controller. The dynamics of the IPS subjected to multi-area step and random load disturbances are studied. The efficacy of the developed scheme is ascertained by simulating the disturbed system in MATLAB/Simulink. Results Based on the comparative analysis on the system responses, it is established that by cross-coupling the LFC loop with AVR, reductions of 66.45% and 59.09% in the frequency and tie-line power maximum deviations respectively are observed, while the respective settling times are found to be reduced by 29.68% and 22.77% when compared with the uncoordinated control scheme. In addition, the standard deviation and variance of the integral time absolute error of the system’s responses have reduced by 23.21% and 20.83% respectively compared to those obtained in a similar study. Conclusions The reduction in the maximum deviations and settling times in the system states indicates that introducing the voltage control via AVR loop has improved the frequency control significantly. While the lower standard deviation and variance of the integral time absolute error signify improvement in the robustness of the developed algorithm. However, this improvement is at the detriment of the controller size and computational complexity. In the uncoordinated control scheme, the control vector is one-dimensional, while in the coordinated scheme, the control vector is two-dimensional for each CA.

New approach to maintaining liquid flow rate stability in national primary standard

2021 ◽  
pp. 101930
Author(s):  
N.I. Mikheev ◽  
V.M. Molochnikov ◽  
D.V. Kratirov ◽  
O.A. Dushina ◽  
A.A. Paereliy ◽  
...  
Keyword(s):  
Flow Rate ◽  
Liquid Flow ◽  
Liquid Flow Rate ◽  
Primary Standard ◽  
New Approach ◽  
National Primary Standard

Improved Load Sharing Control Techniques for Inverters used in a Microgrid

2009 ◽  
Vol 10 (1) ◽  
Author(s):  
Wei Yao ◽  
Zhaoming Qian
Keyword(s):  
Steady State ◽  
Transient Response ◽  
Single Phase ◽  
Load Sharing ◽  
Power Sharing ◽  
Experimental Results ◽  
Control Technique ◽  
Transient Performance ◽  
Control Techniques ◽  
Control Scheme

In this paper, an improved load sharing control scheme is presented, which is able to improve the transient response and power sharing accuracy of parallel-connected inverters used in microgrid. It also shows how the improved droop method can be easily adapted to account for the operation of parallel-connected inverters, providing good performance under the variation and disturbance of loads, as well as achieving good steady-state objectives and transient performance. Two DSP-based single-phase Microgrid inverters are designed and implemented. Simulation and experimental results are all reported, confirming the validity of the proposed control technique.

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