A Rapid Recursive Experimental Approach to Structure/Control Re-Design

1995 ◽  
Author(s):  
Anton Pil ◽  
Haruhiko Asada
Keyword(s):  
System Performance ◽  
Recursive Algorithm ◽  
Descent Method ◽  
Gradient Descent Method ◽  
Control Parameters ◽  
Multiple Control ◽  
Mechatronic Systems ◽  
Loop Control ◽  
Structural Reinforcement ◽  
And Control

Abstract This paper introduces an experimental recursive method for simultaneously changing both the mechanical structure and control design of mechatronic systems in order to improve the system’s overall performance. The method improves a system’s closed-loop control specifications through recursive concurrent structure reinforcement and control gain optimization. By using a process of structural reinforcement, a single prototype structure can be used repeatedly until the system performance goals are achieved. To determine the optimal incremental structure changes, a recursive algorithm based on a gradient descent method and a parameter estimation theory is employed. After the incremental structure reinforcements are applied, the control parameters are optimized with respect to multiple control specifications. Next, the resulting system incorporating the structure and control changes is tested and compared with the desired level of performance. The entire process consisting of experimental evaluation, data analysis, and structure reinforcement is repeated until the system performance achieves the desired level. Simulation experiments are successful in changing both the structural and control parameters of a simplified positioning system and show improvement in the system’s overall settling time.

Cement Raw Mill Based on PCS7 and PROFIBUS Production Line Automation Control System

2014 ◽  
Vol 644-650 ◽  
pp. 722-725
Author(s):  
Fan Wu
Keyword(s):  
Control System ◽  
Production Line ◽  
Control Parameters ◽  
Feed Composition ◽  
Loop Control ◽  
Automation Control ◽  
Machine Speed ◽  
And Control ◽  
Control Layer ◽  
Layer Control

A large cement factory as an example, according to the requirements of process and control parameters of production line of raw mill, this paper researches and designs the automatic control system of cement raw mill production line based on PCS7 and PROFIBUS. The design of the whole system consists of three levels: field layer, control layer and operation layer which are connected by Ethernet and PROFIBUS implementation, and focus on the design of the feed flow includeing feed composition, feed machine speed loop control etc. Through the on-site operation, the system is stable and reliable, and has good application and promotion effect.

System identification and robust stabilization using structured controller for a novel ducted fan flying robot

2017 ◽  
Vol 233 (1) ◽  
pp. 197-214 ◽  
Author(s):  
Xiaoliang Wang ◽  
Changle Xiang ◽  
Bin Xu ◽  
Wei Fan
Keyword(s):  
System Identification ◽  
Robust Stabilization ◽  
Multiple Control ◽  
Reference Tracking ◽  
Loop Control ◽  
Mechanism Model ◽  
Ducted Fan ◽  
Smooth Optimization ◽  
And Control ◽  
Flying Robot

This paper proposes complete procedures for system identification and control of a novel ducted fan flying robot on near hover flight condition. A control-oriented model structure is derived from a comprehensive mechanism model and identified by ground tests and flight experiments. In order to achieve state decoupling and reference tracking, a two-loop control architecture is employed. Non-smooth optimization algorithm is applied to efficiently tune controller parameters against multiple control requirements. Experimental results show that designed structured controller can provide better performance than classical proportional -integral -derivative (PID) controller.

MOSAIC Model for Sensorimotor Learning and Control

2001 ◽  
Vol 13 (10) ◽  
pp. 2201-2220 ◽  
Author(s):  
Masahiko Haruno ◽  
Daniel M. Wolpert ◽  
Mitsuo Kawato
Keyword(s):  
Em Algorithm ◽  
Gradient Descent ◽  
Motor Behavior ◽  
Descent Method ◽  
Gradient Descent Method ◽  
Modular Architecture ◽  
Mosaic Model ◽  
Inverse Models ◽  
And Control ◽  
Initial Starting

Humans demonstrate a remarkable ability to generate accurate and appropriate motor behavior under many different and often uncertain environmental conditions. We previously proposed a new modular architecture, the modular selection and identification for control (MOSAIC) model, for motor learning and control based on multiple pairs of forward (predictor) and inverse (controller) models. The architecture simultaneously learns the multiple inverse models necessary for control as well as how to select the set of inverse models appropriate for a given environment. It combines both feedforward and feedback sensorimotor information so that the controllers can be selected both prior to movement and subsequently during movement. This article extends and evaluates the MOSAIC architecture in the following respects. The learning in the architecture was implemented by both the original gradient-descent method and the expectation-maximization (EM) algorithm. Unlike gradient descent, the newly derived EM algorithm is robust to the initial starting conditions and learning parameters. Second, simulations of an object manipulation task prove that the architecture can learn to manipulate multiple objects and switch between them appropriately. Moreover, after learning, the model shows generalization to novel objects whose dynamics lie within the polyhedra of already learned dynamics. Finally, when each of the dynamics is associated with a particular object shape, the model is able to select the appropriate controller before movement execution. When presented with a novel shape-dynamic pairing, inappropriate activation of modules is observed followed by on-line correction.

Simultaneous Blade–Vortex Interaction Noise and Vibration Reduction in Rotorcraft Using Microflaps, Including the Effect of Actuator Saturation

2015 ◽  
Vol 60 (4) ◽  
pp. 1-16 ◽  
Author(s):  
Ashwani K. Padthe ◽  
Peretz P. Friedmann
Keyword(s):  
Control Algorithm ◽  
Actuator Saturation ◽  
Vibration Reduction ◽  
Multiple Control ◽  
Noise And Vibration ◽  
Loop Control ◽  
Vortex Interactions ◽  
Blade Vortex Interaction ◽  
Noise And Vibration Reduction ◽  
And Control

The effectiveness of a sliding microflap to simultaneously reduce rotorcraft vibrations and noise was examined at a descending flight condition of advance ratio 0.15 with significant blade–vortex interactions (BVI). two configurations, namely dual and a five-microflap configuration, were considered. Closed-loop control studies were conducted on a hingeless rotor configuration resembling MBB BO-105, using the adaptive higher harmonic control algorithm. The performance of the microflap was also compared to a conventional trailing-edge plain flap. The results demonstrate the effectiveness and control authority of the microflap for simultaneous BVI noise and vibration reduction in rotorcraft. Finally, a new saturation control algorithm is developed for limiting the microflap or flap deflections such that the best utilization of on-blade controllers implemented through multiple control surfaces is achieved. The performance of the new algorithm is compared to the existing ones on the dual and five-microflap configurations.

scholarly journals Designing combination therapies using multiple optimal controls

2019 ◽  
Author(s):  
Jesse A Sharp ◽  
Alexander P Browning ◽  
Tarunendu Mapder ◽  
Christopher M Baker ◽  
Kevin Burrage ◽  
...  
Keyword(s):  
Optimal Strategies ◽  
Biological Species ◽  
Optimal Controls ◽  
Control Parameters ◽  
Combination Therapies ◽  
Multiple Control ◽  
Research Areas ◽  
Practical Guidance ◽  
Multiple Treatments ◽  
And Control

AbstractStrategic management of populations of interacting biological species routinely requires interventions combining multiple treatments or therapies. This is important in key research areas such as ecology, epidemiology, wound healing and oncology. Despite the well developed theory and techniques for determining single optimal controls, there is limited practical guidance supporting implementation of combination therapies. In this work we use optimal control theory to calculate optimal strategies for applying combination therapies to a model of acute myeloid leukaemia. We consider various combinations of continuous and bang-bang (discrete) controls, and we investigate how the control dynamics interact and respond to changes in the weighting and form of the pay-off characterising optimality. We demonstrate that the optimal controls respond non-linearly to treatment strength and control parameters, due to the interactions between species. We discuss challenges in appropriately characterising optimality in a multiple control setting and provide practical guidance for applying multiple optimal controls. Code used in this work to implement multiple optimal controls is available on GitHub.

Probability model for control parameters in the aircraft's information and control systems

2018 ◽  
Vol 2 ◽  
pp. 9-16
Author(s):  
A. Al-Ammouri ◽  
◽  
H.A. Al-Ammori ◽  
A.E. Klochan ◽  
A.M. Al-Akhmad ◽  
...  
Keyword(s):  
Control Systems ◽  
Probability Model ◽  
Control Parameters ◽  
And Control

An Efficient Approach for Modeling and Control of a Quadrotor

2016 ◽  
Vol 4 (2) ◽  
pp. 1-16
Author(s):  
Ahmed S. Khusheef
Keyword(s):  
Pid Control ◽  
Control Method ◽  
Mechanical Design ◽  
Loop Control ◽  
Modeling And Control ◽  
Loop Control System ◽  
And Control ◽  
Close Loop Control ◽  
Close Loop Control System ◽  
Made In

 A quadrotor is a four-rotor aircraft capable of vertical take-off and landing, hovering, forward flight, and having great maneuverability. Its platform can be made in a small size make it convenient for indoor applications as well as for outdoor uses. In model there are four input forces that are essentially the thrust provided by each propeller attached to each motor with a fixed angle. The quadrotor is basically considered an unstable system because of the aerodynamic effects; consequently, a close-loop control system is required to achieve stability and autonomy. Such system must enable the quadrotor to reach the desired attitude as fast as possible without any steady state error. In this paper, an optimal controller is designed based on a Proportional Integral Derivative (PID) control method to obtain stability in flying the quadrotor. The dynamic model of this vehicle will be also explained by using Euler-Newton method. The mechanical design was performed along with the design of the controlling algorithm. Matlab Simulink was used to test and analyze the performance of the proposed control strategy. The experimental results on the quadrotor demonstrated the effectiveness of the methodology used.

Sign in / Sign up

Export Citation Format

Share Document