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  • Articles  (1,361)
  • Institute of Electrical and Electronics Engineers (IEEE)  (1,361)
  • American Ceramics Society
  • Nature Publishing Group (NPG)
  • Springer Science + Business Media
  • Wiley-Blackwell
  • IEEE Transactions on Control Systems Technology  (1,361)
  • 1252
  • Electrical Engineering, Measurement and Control Technology  (1,361)
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
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  • Articles  (1,361)
Source
Publisher
  • Institute of Electrical and Electronics Engineers (IEEE)  (1,361)
  • American Ceramics Society
  • Nature Publishing Group (NPG)
  • Springer Science + Business Media
  • Wiley-Blackwell
Years
Journal
Topic
  • Electrical Engineering, Measurement and Control Technology  (1,361)
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
  • 1
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    Combined ILC and Disturbance Observer for the Rejection of Near-Repetitive Disturbances, With Application to Excavation (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2015-08-14
    Description: This paper proposes a new control structure for tasks where explicit disturbance compensation is not only critical for overcoming poor feedback performance but is also challenging due to the complexity and nonrepetitive nature of the interaction between the plant and the environment. The approach proposed uses a particular form of iterative learning control (ILC) to estimate the previous disturbances, which are used as a preview of the disturbance in the next iteration. A disturbance observer is used to compensate for the difference between the ILC prediction and the true disturbance. The controller is evaluated and compared with a proportional controller, with ILC, and with an observer-based controller in extensive field trials using an automated excavator.
    Print ISSN: 1063-6536
    Electronic ISSN: 1558-0865
    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 2
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    Robotic Ball Catching with an Eye-in-Hand Single-Camera System (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
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    Publication Date: 2015-08-14
    Description: In this paper, a unified control framework is proposed to realize a robotic ball catching task with only a moving single-camera (eye-in-hand) system able to catch flying, rolling, and bouncing balls in the same formalism. The thrown ball is visually tracked through a circle detection algorithm. Once the ball is recognized, the camera is forced to follow a baseline in the space so as to acquire an initial dataset of visual measurements. A first estimate of the catching point is initially provided through a linear algorithm. Then, additional visual measurements are acquired to constantly refine the current estimate by exploiting a nonlinear optimization algorithm and a more accurate ballistic model. A classic partitioned visual servoing approach is employed to control the translational and rotational components of the camera differently. Experimental results performed on an industrial robotic system prove the effectiveness of the presented solution. A motion-capture system is employed to validate the proposed estimation process via ground truth.
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 3
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    Load Forecasting and Operation Strategy Design for CCHP Systems Using Forecasted Loads (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
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    Publication Date: 2015-08-14
    Description: Operation strategy of combined cooling, heating, and power (CCHP) systems is designed to collect users’ load information to determine the energy input to the system and power flow inside the system. Most of the current operation strategies are designed by assuming that accurate loads during the next time interval are already known. To solve the problem of unknown loads in practical applications, using an autoregressive moving average with exogenous inputs model, whose parameters are identified by an ordinary least squares–two-stage recursive least squares (TSRLS) algorithm, cooling, heating, and electrical loads in the future time intervals are forecasted. The identification procedure uses the dew-point temperature as the instrumental variable for the exogenous variable (dry-bulb temperature), to better characterize the relationship between exogenous and endogenous variables. TSRLS helps to reduce the space and time complexity. A poststrategy is also proposed to compensate for the inaccurate forecasting. A case study is conducted to verify the feasibility and effectiveness of the proposed methods.
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 4
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    Delivery-Oriented Hierarchical Predictive Control of an Irrigation Canal: Event-Driven Versus Time-Driven Approaches (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2015-08-14
    Description: In this paper, we present the concept of a hierarchical predictive controller used for irrigation canals. The motivation behind this paper is the need in the field of irrigation to deliver water to farmers fast, but with minimal resources involved, as the communication links in the field are not dependable in practice. In response to such a control problem, we propose a hierarchical controller: the lower control layer is formed by decentralized proportional integral (PI) controllers and the higher control layer is constituted by a centralized predictive controller, the purpose of which is to control the inflow to the canal and, importantly, to coordinate the local controllers by modifying their setpoints. Having in mind the restrictions on the available communication infrastructure and the control equipment already present, the scheme is designed to be event driven, i.e., activated when there are either delivery requests or non-delivery-related events of any sort, requiring special care on top of the control provided by the PI controllers. We also study a time-driven formulation with an additional postprocessing step to avoid excessive negligible setpoint modifications. We compare the event-driven formulation and the time-driven formulation theoretically as well as by means of a simulation study for the West-M irrigation canal in Phoenix, Arizona, illustrating the findings of this paper. It is shown that the event-driven controller is able to provide a good balance between the control performance and the required update frequency of the control settings.
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 5
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    Multiple-Model Adaptive Control of Functional Electrical Stimulation (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
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    Publication Date: 2015-08-14
    Description: This paper establishes the feasibility of multiple-model switched adaptive control to regulate functional electrical stimulation for upper limb stroke rehabilitation. An estimation-based multiple-model switched adaptive control (EMMSAC) framework for nonlinear time-invariant systems is described, and extensions are presented to enable application to time-varying Hammerstein structures that can accurately represent the stimulated arm. A principled design procedure is then developed to construct both a suitable set of candidate models from experimental data and a corresponding set of tracking controllers. The procedure is applied to a sample of able-bodied young participants to produce a general EMMSAC controller. This is then applied to a different sample of the population during an isometric nonvoluntary trajectory tracking task. The results show that it is possible to eliminate model identification while employing closed-loop controllers that maintain high performance in the presence of rapidly changing system dynamics. This paper hence addresses critical limitations to effective stroke rehabilitation in a clinical setting.
    Print ISSN: 1063-6536
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 6
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    A Distributed Generation Control Architecture for Islanded AC Microgrids (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
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    Publication Date: 2015-08-14
    Description: In this paper, we propose a distributed architecture for generation control in islanded ac microgrids with both synchronous generators and inverter-interfaced power supplies. Although they are smaller and have lower ratings, the generation control objectives for an islanded microgrid are similar to those in large power systems, e.g., bulk power transmission networks; specifically, without violating limits on generator power output, frequency must be regulated and generation costs should be minimized. However, in large power systems, the implementation of the generation control functions is centralized, i.e., there is a computer that resides in a centralized location, e.g., a control center, with measurements and control signals telemetered between the generating units and the centrally located computer. The architecture for generation control that we propose in this paper does not rely on such a centrally located computer. Instead, the implementation of the control functions is distributed and relies on iterative algorithms that combine local measurements and certain information acquired from neighboring generating units with local, low-complexity computations. We provide analytical and experimental results that verify the effectiveness of the proposed architecture for generation control in islanded microgrids, and illustrate the performance of the aforementioned distributed algorithms under a variety of scenarios.
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 7
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    Prescribed Performance Tracking of a Variable Stiffness Actuated Robot (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
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    Publication Date: 2015-08-14
    Description: This paper is concerned with the design of a state feedback control scheme for variable stiffness actuated (VSA) robots, which guarantees prescribed performance of the tracking errors despite the low range of mechanical stiffness. The controller does not assume knowledge of the actual system dynamics nor does it utilize approximating structures (e.g., neural networks and fuzzy systems) to acquire such knowledge, leading to a low complexity design. Simulation studies, incorporating a model validated on data from an actual variable stiffness actuator (VSA) at a multi-degrees-of-freedom robot, are performed. Comparison with a gain scheduling solution reveals the superiority of the proposed scheme with respect to performance and robustness.
    Print ISSN: 1063-6536
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 8
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    Feedback Linearization Control of a Cardiovascular Circulatory Simulator (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2015-08-14
    Description: In this brief, a nonlinear model-based feedback linearization (FBL) control is proposed for a high-performance cardiovascular circulatory simulator (CCS). The challenges are that the piston pump used for a mock ventricle in CCS has high-bandwidth pressure dynamics and hard nonlinearity due to check valves. Limited control performance in the previous researches due to these difficulties even raises the question of the physiological feasibility of the developed CCS. To overcome this problem, FBL theory based on the Lie algebra is applied in this research for the piston pump mock ventricle control. Dynamic model of the piston pump was derived, and parameter values of the model were identified experimentally for the controller design. The experimental results confirmed good performance of the proposed controller for various physiological scenarios. Good match with the reference model behavior was verified as well, and physiological feasibility of the CCS was secured thereby thanks to the proposed high-performance controller.
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 9
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    Smooth Switching Robust Adaptive Control for Omnidirectional Mobile Robots (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
    Details
    Publication Date: 2015-08-14
    Description: Issues of modeling and control design for omnidirectional mobile robots with both structured and unstructured uncertainties are presented. First, system dynamics with an arbitrary location of the center of mass (CM) are derived. The system parameters, including the location of CM and those in the motor dynamics, are assumed unknown. The commonly adopted adaptive linearizing control suffers from the so-called control singularity under such circumstances. A smooth switching adaptive robust controller is then proposed to alleviate such a difficulty. It consists of four parts, a nominal adaptive linearizing controller, a deputy adaptive sliding-mode controller being in charge near singularity, a switching algorithm monitoring the exchange of control authority between the above two controllers, and a standard robust controller for handing the unstructured uncertainty. Not only does it significantly reduce the control voltages near singularity, but it also achieves better transients than a single adaptive controller and less control effort than a single robust controller. Both the simulation and experiments on an omnidirectional mobile robot are provided to demonstrate the validity of the proposed design.
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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  • 10
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    Maximally Permissive Distributed Control of Large Scale Automated Manufacturing Systems Modeled With Petri Nets (2015)
    Institute of Electrical and Electronics Engineers (IEEE)
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    Publication Date: 2015-08-14
    Description: Ensuring nonblockingness remains challenging for automated manufacturing systems (AMSs) owing to their discrete event dynamics. Both scalability and maximal permissiveness are essential for the synthesis and implementation of their centralized supervisors. Inspired by the divide and conquer philosophy, this brief proposes a partition methodology and distributed control technique for large-scale AMSs. They are represented as interconnected and overlapping subsystems sharing some common components in terms of buffers. For each subsystem, a local supervisor is designed based on its local behavior and neighboring information only. Generalizing the existing results, we develop a condition under which the control law via decomposition promises the maximal permissiveness. Buffer capacities are well designed for the sake of their decomposition into multiple overlapping subsystems. Theoretical results are developed to characterize the behavior compatibility among local controllers. An experimental study illustrates the effectiveness of the proposed method.
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    Topics: Electrical Engineering, Measurement and Control Technology
    Published by Institute of Electrical and Electronics Engineers (IEEE) on behalf of The IEEE Control Systems Society.
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