scholarly journals Design & Control of Vehicle Boom Barrier Gate System using Augmented H2 Optimal & H infinity Synthesis Controllers

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Tesfabirhan Shoga
Keyword(s):  
Angular Position ◽  
Open Loop ◽  
Response Analysis ◽  
H Infinity ◽  
Set Point ◽  
Input Signals ◽  
Gate System ◽  
And Control

A vehicle boom barrier gate system is one of the recently developed technologies operating at the entrances to the restricted areas. This paper aims to design and control of vehicle’s boom barrier gate system using robust augmentation technique. H 2 optimal and H infinity synthesis controllers are used to improve the performance of the system. The open loop response analysis of the vehicle boom barrier gate system shows that the input of the system need to be improved. Comparison of the vehicle boom barrier gate system with H2 optimal and H infinity synthesis controllers have been done to track a set point desired angular position using a step and operational open and close input signals and a promising results have been observed.

scholarly journals Modeling and Simulation of a Horizontally Moving Suspended Mass Pendulum Base Using H Infinity Optimal Loop Shaping Controller with First and Second Order Desired Loop Shaping Functions

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Reta Degefa
Keyword(s):  
Robust Control ◽  
Control Theory ◽  
Modeling And Simulation ◽  
Promising Result ◽  
Angular Position ◽  
Sine Wave ◽  
Second Order ◽  
H Infinity ◽  
Loop Shaping ◽  
Input Signals

In this paper, a horizontally moving suspended mass pendulum base is designed and controlled using robust control theory. H infinity optimal loop shaping with first and second order desired loop shaping function controllers are used to improve the performance of the system using Matlab/Simulink Toolbox. Comparison of the H infinity optimal loop shaping with first and second order desired loop shaping function controllers for the proposed system have been done to track the desired angular position of the pendulum using step and sine wave input signals and a promising result has been obtained succesfully.

scholarly journals Position and Speed Control of 2 DOF Industrial Robotic Arm using Robust Controllers

2020 ◽  
Author(s):  
Mustefa Jibril ◽  
Messay Tadese ◽  
Reta Degefa
Keyword(s):  
Control Method ◽  
Open Loop ◽  
Pole Placement ◽  
Robotic Arm ◽  
Robot Arm ◽  
H Infinity ◽  
Optimal Controllers ◽  
Input Signals ◽  
System Output ◽  
Regional Pole Placement

In this paper, a 2 DOF industrial robotic arm is designed and simulated for elbow and wrist angle and velocity performance improvement using robust control method. Mixed H2/H infinity synthesis with regional pole placement and H2 optimal controllers are used to improve the system output. The open loop response of the robot arm shows that the elbow and wrist angles and velocities need some improvement. Comparison of the proposed controllers for an impulse and step input signals have been done and a promising results have been obtained.

Frequency response analysis methods for open-loop servo drives and control systems

2020 ◽  
pp. 108-114
Author(s):  
Oleg B. Belonogov
Keyword(s):  
Frequency Response ◽  
Control Systems ◽  
Open Loop ◽  
Response Analysis ◽  
Frequency Response Analysis ◽  
Servo Drive ◽  
Response Data ◽  
Analysis Methods ◽  
Servo Drives ◽  
And Control

The paper presents results of development of frequency response analysis methods for open-loop servo drives and control systems, which use frequency response data of closed-loop servo drives and control systems obtained using Fourier and Laplace transforms of transient response calculated using their linear or linearized math models. The methods that have been developed can be used for approximate calculation of frequency response of servo drives and control systems based on their math models with slight non-linearities. Equations are derived for calculating frequency response of open-loop servo drives and control systems for several particular cases of feedback loop transfer function. The paper studies the efficiency of the developed frequency response analysis methods for open-loop servo drives and control systems. The obtained frequency response data for open-loop servo drives and control systems can be used for evaluating the amplitude and phase stability margins for these entities. Key words: frequency response; open-loop servo drive; control systems.

MYMOSA: Towards the Simulation of Realistic Motorcycle Manoeuvres by Coupling Multibody and Control Techniques

2008 ◽  
Author(s):  
David Moreno Giner ◽  
Claudio Brenna ◽  
Ioannis Symeonidis ◽  
Gueven Kavadarlic
Keyword(s):  
Rear Wheel ◽  
Open Loop ◽  
Dynamics Simulation ◽  
Engine Torque ◽  
Multibody Model ◽  
Physiological Limits ◽  
Research Activities ◽  
Analysis Technique ◽  
First Results ◽  
And Control

Multibody dynamics simulation technology can provide a great help to understand and analyze motorcycle dynamics. In fact, its application in this field has grown very fast in the last years. However, apart from the mathematical model of the vehicle, a virtual rider is essential in order to properly simulate a motorcycle. This is due to the unstable nature of two-wheeled vehicles, which makes them very difficult to simulate by using open-loop maneuvers. The problem of developing a virtual rider for motorcycles has already been covered in literature but most of the proposed control algorithms achieved their purpose without considering the physiological limits of the rider. The objective of the research activities presented here are the preliminary development of a realistic virtual rider based on an experimental campaign and its subsequent simulation together with a detailed multibody model of a motorcycle. Special emphasis was put on making the rider model as simple as possible to facilitate the posterior design of the controller. Real rider movements were measured under laboratory conditions by means of the Motion Analysis technique. Several volunteers with different riding experiences, gender and anthropometry were involved in the experiments in order to provide a valid dataset for the analysis. For the present research, the virtual rider controls the direction of the motorcycle by means of both a torque on the handlebars and the movement of his body. The upper part of the rider’s body was modeled as an inverted pendulum. With regard to the longitudinal dynamics, the motorcycle is controlled by means of the brake torques and by the engine torque, which is transmitted to the rear wheel by means of a simplified model of the chain. First results of the developed virtual rider are presented at the end of this paper.

Open-Loop Control Co-Design of Floating Offshore Wind Turbines Using Linear Parameter-Varying Models

2021 ◽  
Author(s):  
Athul K. Sundarrajan ◽  
Yong Hoon Lee ◽  
James T. Allison ◽  
Daniel R. Herber
Keyword(s):  
Wind Turbines ◽  
Open Loop ◽  
Offshore Wind ◽  
Linear Parameter ◽  
Design Decisions ◽  
Linear Parameter Varying ◽  
Offshore Wind Turbines ◽  
Floating Offshore Wind Turbines ◽  
Parameter Varying ◽  
And Control

Abstract This paper discusses a framework to design elements of the plant and control systems for floating offshore wind turbines (FOWTs) in an integrated manner using linear parameter-varying models. Multiple linearized models derived from high-fidelity software are used to model the system in different operating regions characterized by the incoming wind speed. The combined model is then used to generate open-loop optimal control trajectories as part of a nested control co-design strategy that explores the system’s stability and power production in the context of crucial plant and control design decisions. A cost model is developed for the FOWT system, and the effect of plant decisions and subsequent power and stability response of the FOWT is quantified in terms of the levelized cost of energy (LCOE) for that system. The results show that the stability constraints and the plant design decisions affect the turbine’s power and, subsequently, LCOE of the system. The results indicate that a lighter plant in terms of mass can produce the same power for a lower LCOE while still satisfying the constraints.

scholarly journals Improved H2 and H¥ conditions for robust analysis and control synthesis of linear systems

2005 ◽  
Vol 16 (4) ◽  
pp. 427-434 ◽  
Author(s):  
Alexandre Trofino ◽  
Daniel F. Coutinho ◽  
Karina A. Barbosa
Keyword(s):  
Linear Systems ◽  
Control Synthesis ◽  
H Infinity ◽  
Stability Performance ◽  
Augmented Space ◽  
Polytopic Uncertainties ◽  
Discrete Time Case ◽  
Performance Conditions ◽  
And Control ◽  
Parameter Dependent

This paper proposes improved H-2 and H-infinity conditions for continuous-time linear systems with polytopic uncertainties based on a recent result for the discrete-time case. Basically, the performance conditions are built on an augmented-space with additional multipliers resulting in a decoupling between the Lyapunov and system matrices. This nice property is used to develop new conditions for the robust stability, performance analysis, and control synthesis of linear systems using parameter dependent Lyapunov functions in a numerical tractable way.

scholarly journals Developing the Concepts of Homeostasis, Homeorhesis, Allostasis, Elasticity, Flexibility and Plasticity of Brain Function

NeuroSci ◽  
2021 ◽  
Vol 2 (4) ◽  
pp. 372-382
Author(s):  
Alfredo Pereira
Keyword(s):  
Brain Function ◽  
Complex Dynamics ◽  
Stable States ◽  
Set Point ◽  
Brain Functions ◽  
Temporal Phase ◽  
The Central Nervous System ◽  
Elastic Processes ◽  
And Control ◽  
Flexible Processes

I discuss some concepts advanced for the understanding of the complex dynamics of brain functions, and relate them to approaches in affective, cognitive and action neurosciences. These functions involve neuro-glial interactions in a dynamic system that receives sensory signals from the outside of the central nervous system, processes information in frequency, amplitude and phase-modulated electrochemical waves, and control muscles and glands to generate behavioral patterns. The astrocyte network is in charge of controlling global electrochemical homeostasis, and Hodgkin–Huxley dynamics drive the bioelectric homeostasis of single neurons. In elastic processes, perturbations cause instability, but the system returns to the basal equilibrium. In allostatic processes, perturbations elicit a response from the system, reacting to the deviation and driving the system to stable states far from the homeostatic equilibrium. When the system does not return to a fixed point or region of the state space, the process is called homeorhetic, and may present two types of evolution: (a) In flexible processes, there are previously existing “attractor” stable states that may be achieved after the perturbation, depending on context; (b) In plastic processes, the homeostatic set point(s) is(are) changed; the system is in a process of adaptation, in which the allostatic forces do not drive it back to the previous set point, but project to the new one. In the temporal phase from the deviant state to the recovery of stability, the system generates sensations that indicate if the recovery is successful (pleasure-like sensations) or if there is a failure (pain-like sensations).

Thermoregulation: some concepts have changed. Functional architecture of the thermoregulatory system

2007 ◽  
Vol 292 (1) ◽  
pp. R37-R46 ◽  
Author(s):  
Andrej A. Romanovsky
Keyword(s):  
Transient Receptor Potential ◽  
Trp Channels ◽  
Receptor Potential ◽  
Open Loop ◽  
Temperature Sensitive ◽  
Functional Architecture ◽  
Set Point ◽  
Sequential Activation ◽  
Thermoregulatory System ◽  
Transient Receptor

While summarizing the current understanding of how body temperature (Tb) is regulated, this review discusses the recent progress in the following areas: central and peripheral thermosensitivity and temperature-activated transient receptor potential (TRP) channels; afferent neuronal pathways from peripheral thermosensors; and efferent thermoeffector pathways. It is proposed that activation of temperature-sensitive TRP channels is a mechanism of peripheral thermosensitivity. Special attention is paid to the functional architecture of the thermoregulatory system. The notion that deep Tb is regulated by a unified system with a single controller is rejected. It is proposed that Tb is regulated by independent thermoeffector loops, each having its own afferent and efferent branches. The activity of each thermoeffector is triggered by a unique combination of shell and core Tbs. Temperature-dependent phase transitions in thermosensory neurons cause sequential activation of all neurons of the corresponding thermoeffector loop and eventually a thermoeffector response. No computation of an integrated Tb or its comparison with an obvious or hidden set point of a unified system is necessary. Coordination between thermoeffectors is achieved through their common controlled variable, Tb. The described model incorporates Kobayashi’s views, but Kobayashi’s proposal to eliminate the term sensor is rejected. A case against the term set point is also made. Because this term is historically associated with a unified control system, it is more misleading than informative. The term balance point is proposed to designate the regulated level of Tb and to attract attention to the multiple feedback, feedforward, and open-loop components that contribute to thermal balance.

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