Control / feedback methods – Part I

2017 ◽  
Author(s):  
R. King
Keyword(s):  
Control Feedback

Advanced Wireless Control & Feedback Based Multi-functional Automatic Security System

2020 ◽  
Author(s):  
Md. Ashiquzzaman ◽  
Md Ashiquzzaman ◽  
Shuva Mitra ◽  
Shuva Mitra ◽  
Kazi Farjana Nasrin ◽  
...  
Keyword(s):  
Security System ◽  
Wireless Control ◽  
Control Feedback

G-CNN and double-referenced thresholding for detecting time series anomalies

2020 ◽  
pp. 1-12
Author(s):  
Liping Li ◽  
Zean Tian ◽  
Kenli Li ◽  
Cen Chen
Keyword(s):  
Time Series ◽  
Time Series Data ◽  
Series Data ◽  
Prediction Errors ◽  
Feedback Information ◽  
Public Datasets ◽  
Gated Recurrent Units ◽  
Control Feedback ◽  
Intermediate Output ◽  
Internet Company

Anomaly detection based on time series data is of great importance in many fields. Time series data produced by man-made systems usually include two parts: monitored and exogenous data, which respectively are the detected object and the control/feedback information. In this paper, a so-called G-CNN architecture that combined the gated recurrent units (GRU) with a convolutional neural network (CNN) is proposed, which respectively focus on the monitored and exogenous data. The most important is the introduction of a complementary double-referenced thresholding approach that processes prediction errors and calculates threshold, achieving balance between the minimization of false positives and the false negatives. The outstanding performance and extensive applicability of our model is demonstrated by experiments on two public datasets from aerospace and a new server machine dataset from an Internet company. It is also found that the monitored data is close associated with the exogenous data if any, and the interpretability of the G-CNN is discussed by visualizing the intermediate output of neural networks.

A PD Computed Torque Control Method with Online Self-gain Tuning for a 3UPS-PS Parallel Robot

Robotica ◽  
2021 ◽  
pp. 1-13
Author(s):  
Xiaogang Song ◽  
Yongjie Zhao ◽  
Chengwei Chen ◽  
Liang’an Zhang ◽  
Xinjian Lu
Keyword(s):  
Feedback Loop ◽  
Control Method ◽  
Virtual Work ◽  
Parallel Robot ◽  
Torque Control ◽  
Virtual Work Principle ◽  
Tuning Method ◽  
Computed Torque Control ◽  
Control Feedback ◽  
Computed Torque

SUMMARY In this paper, an online self-gain tuning method of a PD computed torque control (CTC) is used for a 3UPS-PS parallel robot. The CTC is applied to the 3UPS-PS parallel robot based on the robot dynamic model which is established via a virtual work principle. The control system of the robot comprises a nonlinear feed-forward loop and a PD control feedback loop. To implement real-time online self-gain tuning, an adjustment method based on the genetic algorithm (GA) is proposed. Compared with the traditional CTC, the simulation results indicate that the control algorithm proposed in this study can not only enhance the anti-interference ability of the system but also improve the trajectory tracking speed and the accuracy of the 3UPS-PS parallel robot.

Operation of Ride Control Systems to Minimise Slamming of Wave-Piercing Catamarans

2021 ◽  
Vol 163 (A1) ◽  
pp. 29-40
Author(s):  
M R Davis
Keyword(s):  
Control Systems ◽  
High Speed ◽  
Vertical Motion ◽  
Ship Motions ◽  
Wave Surface ◽  
Active Motion ◽  
Ride Control ◽  
Heave Motion ◽  
Control Feedback ◽  
Active Controls

Wave slam produces dynamic loads on the centre bow of wave piercing catamarans that are related to the relative vertical motion of the bow to the encountered wave surface. Rapid slam forces arise when the arch sections between centre bow and main hulls fill with rising water. In this paper time domain solutions for high speed ship motion in waves, including the action of active motion controls, are used to compute the slam forces. Slamming occurs at specific immersions of the bow whilst the peak slam force is characterised by the maximum relative vertical velocity of the bow during bow entry. Vertical motions of bow and encountered wave are in antiphase at encounter frequencies where slamming is most severe. The range of encounter frequencies where slamming occurs increases with wave height. Wave slam loads reduce ship motions, the heave motion being most reduced. Deployment of a fixed, inactive T-foil can reduce slamming loads by up to 65 %. With active controls peak slamming loads on the bow can be reduced by up to 73% and 79% in 4 m and 3 m seas, local control feedback being marginally the most effective mode of control for reduction of slamming.

Discrete-Time LQR and H 2 Damping Control of Flexible Payloads Using a Robot Manipulator With a Wrist-Mounted Force/Torque Sensor

2000 ◽  
Author(s):  
Chunhao Joseph Lee ◽  
Constantinos Mavroidis
Keyword(s):  
Optimal Control ◽  
Discrete Time ◽  
Robot Manipulator ◽  
Control Design ◽  
Degree Of Freedom ◽  
Flexible Beam ◽  
Torque Sensor ◽  
Damping Control ◽  
Control Feedback ◽  
Six Degree Of Freedom

Abstract This paper presents robust and optimal control methods to suppress vibrations of flexible payloads carried by robotic systems. A new improved estimator in discrete-time H2 optimal control design based on the Kalman Filter predictor form is developed here. Two control design methods using state-space models, LQR and H2 Optimal Design, in discrete-time domain are applied and compared. The manipulator joint encoders and the wrist-mounted six-degree-of-freedom force/torque sensor provide the control feedback. A complete dynamic model of the robot/payload system is taken into account to synthesize the controllers. Experimental verifications of both methods are performed using a Mitsubishi five-degree-of-freedom robot manipulator that carries a flexible beam. It is shown that both methods damp out the vibrations of the payload very effectively.

scholarly journals Adopting pade approximation for first order plus dead time models for blending process

2018 ◽  
Vol 7 (4) ◽  
pp. 2800
Author(s):  
Avani Kirit Mehta ◽  
R. Swarnalatha
Keyword(s):  
Dead Time ◽  
Padé Approximation ◽  
Continuous Process ◽  
Process Variable ◽  
Pade Approximation ◽  
Process Systems ◽  
First Order ◽  
Blending Process ◽  
The Dead ◽  
Control Feedback

Dead-time is common to real time processes and occurs when the process variable doesn’t acknowledge to any changes in the set point. Existence of dead time in the systems poses a challenge to control and stabilize, especially in a control feedback loop. Padé approximation provides a determinate approximation of the dead time in the continuous process systems, which can be utilized in the further simulations of equivalent First Order plus Dead Time Models. However, the standard Padé approximation with the same numerator- denominator derivative power, exhibits a jolt at time t=0. This gives an inaccurate approximation of the dead time. To avoid this phenomenon, increasing orders of Padé approximation is applied. In the following manuscript, equivalent First Order plus Dead-Time models of two blending systems of orders four and seven are analysed for the same. As the orders of the Padé approximation increases, the accuracy of the response also increases. The oscillations are increased on a much smaller scale rather than having one big dip in the negative region (as observed in the first few orders of Padé approximation), and the approximation tries to synchronize with the desired response curve in the positive region. All the simulations are done in MATLAB.  

The Effects of Correlated Noise on Bifurcation in Birhythmicity Driven by Delay

2018 ◽  
Vol 28 (10) ◽  
pp. 1850127 ◽  
Author(s):  
Lijuan Ning ◽  
Zhidan Ma
Keyword(s):  
Averaging Method ◽  
Harmonic Approximation ◽  
Stochastic Averaging ◽  
Stochastic Averaging Method ◽  
Self Control ◽  
Correlated Noise ◽  
State Variables ◽  
Stationary Probability Density Function ◽  
Fpk Equation ◽  
Control Feedback

We consider bifurcation regulations under the effects of correlated noise and delay self-control feedback excitation in a birhythmic model. Firstly, the term of delay self-control feedback is transferred into state variables without delay by harmonic approximation. Secondly, FPK equation and stationary probability density function (SPDF) for amplitude can be theoretically mapped with stochastic averaging method. Thirdly, the intriguing effects on bifurcation regulations in a birhythmic model induced by delay and correlated noise are observed, which suggest the violent dependence of bifurcation in this model on delay and correlated noise. Particularly, the inner limit cycle (LC) is always standing due to noise. Lastly, the validity of analytical results was confirmed by Monte Carlo simulation for the dynamics.

Balancing inverted pendulum cart on inclines using accelerometers

2021 ◽  
pp. 1-6
Author(s):  
Cole Woods ◽  
Vishesh Vikas
Keyword(s):  
Inverted Pendulum ◽  
Error Function ◽  
Incline Angle ◽  
Future Design ◽  
Inclined Surfaces ◽  
Inclination Angles ◽  
Rotational Equilibrium ◽  
Control Feedback ◽  
Gravity Acceleration ◽  
Contact Sensors

Abstract The balance of inverted pendulum on inclined surfaces is the precursor to their control in unstructured environments. Researchers have devised control algorithms with feedback from contact (encoders - placed at the pendulum joint) and non-contact (gyroscopes, tilt) sensors. We present feedback control of Inverted Pendulum Cart (IPC) on variable inclines using non-contact sensors and a modified error function. The system is in the state of equilibrium when it is not accelerating and not falling over (rotational equilibrium). This is achieved when the pendulum is aligned along the gravity vector. The control feedback is obtained from non-contact sensors comprising of a pair of accelerometers placed on the inverted pendulum and one on the cart. The proposed modified error function is composed of the dynamic (non-gravity) acceleration of the pendulum and the velocity of the cart. We prove that the system is in equilibrium when the modified error is zero. We present algorithm to calculate the dynamic acceleration and angle of the pendulum, and incline angle using accelerometer readings. Here, the cart velocity and acceleration are assumed to be proportional to the motor angular velocity and acceleration. Thereafter, we perform simulation using noisy sensors to illustrate the balance of IPC on surfaces with unknown inclination angles using PID feedback controller with saturated motor torque, including valley profile that resembles a downhill, flat and uphill combination. The successful control of the system using the proposed modified error function and accelerometer feedback argues for future design of controllers for unstructured and unknown environments using all-accelerometer feedback.

Innovative Hierarchical Fuzzy Logic for Modelling Using Evolutionary Algorithms

2016 ◽  
pp. 770-796
Author(s):  
M. Mohammadian ◽  
R. J. Stonier
Keyword(s):  
Fuzzy Logic ◽  
Hierarchical Control ◽  
Fuzzy Logic System ◽  
Fuzzy Rules ◽  
Complete Class ◽  
Learning Speed ◽  
Internal Parameters ◽  
Model Complex ◽  
Complex Nonlinear Systems ◽  
Control Feedback

This paper considers issues in the design and construction of a fuzzy logic system to model complex (nonlinear) systems. Several important applications are considered and methods for the decomposition of complex systems into hierarchical and multi-layered fuzzy logic sub-systems are proposed. The learning of fuzzy rules and internal parameters is performed using evolutionary computing. The proposed method using decomposition and conversion of systems into hierarchical and multi-layered fuzzy logic sub-systems reduces greatly the number of fuzzy rules to be defined and improves the learning speed for such systems. However such decomposition is not unique and may give rise to variables with no physical significance. This can raise then major difficulties in obtaining a complete class of rules from experts even when the number of variables is small. Application areas considered are: the prediction of interest rate, hierarchical control of the inverted pendulum, robot control, feedback boundary control for a distributed optimal control system and image processing.

Sign in / Sign up

Export Citation Format

Share Document