Hand controller design requirements and performance issues in telerobotics

1991 ◽  
Author(s):  
D.A. McAffee ◽  
P. Fiorini
Keyword(s):  
Controller Design ◽  
Design Requirements ◽  
Performance Issues ◽  
And Performance

Nondestructive Test on Typical Roadway Supports of a Mine via Drilling Core and Ground Penetrating Radar

2011 ◽  
Vol 368-373 ◽  
pp. 2411-2416
Author(s):  
Jian Ping Han ◽  
Hai Peng Liu
Keyword(s):  
Ground Penetrating Radar ◽  
Geological Structure ◽  
Surrounding Rock ◽  
Potential Threat ◽  
Real Performance ◽  
Design Requirements ◽  
And Performance ◽  
The Stability ◽  
Ground Penetrating ◽  
Drilling Core

Temporary or permanent supports are necessary in underground construction for maintaining the stability and limiting the damage of surrounding rock. Due to the uncertainty of geological structure, the specificity of the underground environment as well as other factors, the quality and performance of supporting structure are often difficult to satisfy the design requirements, which not only seriously affects the normal construction and operation of mines but also has the potential threat to the safety of underground production. In order to investigate the influence of the unfavorable geologic environment on supporting concrete and evaluate the real performance of roadway supports of a mine, 17 typical projects were chosen and the strength of supporting concrete was detected by nondestructive drilling core method. The result shows that the strength is widely less than the design value. Furthermore, 4 projects of them were investigated by the ground penetrating radar (GPR) in order to evaluate the feasibility of GPR in the performance investigation of the roadway supports of a mine. The results indicate that ground penetrating radar is capable of measuring the thickness of the support, the distribution of rebars and the defects of the surrounding rock.

Box–Jenkins model LQG controller: design and performance

2001 ◽  
Vol 148 (5) ◽  
pp. 419-429 ◽  
Author(s):  
K.M. Vu ◽  
P. Tessier ◽  
G.A. Dumont
Keyword(s):  
Controller Design ◽  
And Performance

Robust vibration control of flexible panel: modeling and simulation

2017 ◽  
Vol 14 (5) ◽  
pp. 433-442
Author(s):  
Aalya Banu ◽  
Asan G.A. Muthalif
Keyword(s):  
Robust Control ◽  
Vibration Control ◽  
Controller Design ◽  
Control Strategies ◽  
Active Vibration Control ◽  
Flexible Structures ◽  
Parametric Uncertainty ◽  
Design Algorithm ◽  
Content Type ◽  
And Performance

Purpose This paper aims to develop a robust controller to control vibration of a thin plate attached with two piezoelectric patches in the presence of uncertainties in the mass of the plate. The main goal of this study is to tackle dynamic perturbation that could lead to modelling error in flexible structures. The controller is designed to suppress first and second modal vibrations. Design/methodology/approach Out of various robust control strategies, μ-synthesis controller design algorithm has been used for active vibration control of a simply supported thin place excited and actuated using two piezoelectric patches. Parametric uncertainty in the system is taken into account so that the robust system will be achieved by maximizing the complex stability radius of the closed-loop system. Effectiveness of the designed controller is validated through robust stability and performance analysis. Findings Results obtained from numerical simulation indicate that implementation of the designed controller can effectively suppress the vibration of the system at the first and second modal frequencies by 98.5 and 88.4 per cent, respectively, despite the presence of structural uncertainties. The designed controller has also shown satisfactory results in terms of robustness and performance. Originality/value Although vibration control in designing any structural system has been an active topic for decades, Ordinary fixed controllers designed based on nominal parameters do not take into account the uncertainties present in and around the system and hence lose their effectiveness when subjected to uncertainties. This paper fulfills an identified need to design a robust control system that accommodates uncertainties.

H∞ loop Shaping Robust Postprandial Glucose Control for Type 1 Diabetes

2021 ◽  
Vol 39 (2A) ◽  
pp. 268-279
Author(s):  
Safa F. Fadhel ◽  
Safanah M. Raafat
Keyword(s):  
Blood Glucose Concentration ◽  
Artificial Pancreas ◽  
Postprandial Glucose ◽  
Robust Controller ◽  
Control Effort ◽  
Loop Shaping ◽  
Design Requirements ◽  
And Performance

The Bergman model is one of the most commonly used models applied to the representation of the artificial pancreas (AP). It is important to study the effects of the insulin infusion on blood glucose concentration. This work includes a case study for the design of a robust controller for an AP. Robustness is a structured control that improves a system's ability to keep its stability and performance under various conditions. The proposed H∞ loop shaping HLS method will fulfill the design requirements of robust control and performance. The results of the simulation prove the superiority of the intended approach in terms of simple structure, robust performance, and stability with the least control effort

Sign in / Sign up

Export Citation Format

Share Document