A Hybrid Differential Flatness and Sliding Modes Controller for Dynamical Structural Testing on Lower Limp Prostheses

2015 ◽  
Vol 713-715 ◽  
pp. 777-780
Author(s):  
Mauricio M. Mauledoux ◽  
Oscar I. Caldas ◽  
Oscar F.S. Avilés ◽  
Edilberto Mejía-Ruda ◽  
Sebastián Jiménez
Keyword(s):  
Controller Design ◽  
Hybrid Control ◽  
Dynamic Test ◽  
Parametric Identification ◽  
Structural Testing ◽  
Differential Flatness ◽  
Sliding Modes ◽  
Prosthetic Devices ◽  
Identification Technique ◽  
Structural Tests

The standard ISO 10328 specifies the procedure for structural tests on lower limb prosthetic devices, as a method for quality control. Having the standard as reference, a machine is designed and implemented to follow the test routine, which if succeeded, shows the quality concept for the devices tested. Furthermore, it is shown the controller design process, which manage the application of a sinusoid force with specified amplitude, frequency and offset, in order to realize the dynamic test, by means of a double effect cylinder and proportional valves for pressure and flow.The dynamic model was calculated through a parametric identification technique in a pre-stabilized closed loop. Later, a hybrid control strategy was set using the differential flatness concept and a sliding modes controller, so that both identified model and real system could be properly controlled.

Aerospace Thermal-Structural Testing Technology

1997 ◽  
Vol 50 (9) ◽  
pp. 477-498 ◽  
Author(s):  
Earl A. Thornton
Keyword(s):  
High Speed ◽  
Structural Testing ◽  
Aerodynamic Heating ◽  
Heating And Cooling ◽  
Structural Test ◽  
Space Experiments ◽  
Test Technology ◽  
Testing Technology ◽  
Structural Tests ◽  
Structural Boundary

This review article describes aerospace thermal-structural testing technology. It begins with discussions of aerodynamic heating and space radiation heating. The review continues with a general discussion of thermal-structural test technology including heating and cooling, instrumentation, and thermal-structural boundary conditions. Then illustrative thermal structural tests are presented for high speed flight in the atmosphere and flight in space. Experiments conducted in the laboratory as well as flight tests are described. Several experiments are reviewed to demonstrate the diversity of thermal-structural phenomena. This article includes 120 references.

Parametric identification methodology using sliding modes observer

2001 ◽  
Vol 74 (18) ◽  
pp. 1743-1753 ◽  
Author(s):  
Fabienne Floret-Pontet ◽  
Françoise Lamnabhi-Lagarrigue
Keyword(s):  
Parametric Identification ◽  
Sliding Modes

NON-PARAMETRIC IDENTIFICATION TECHNIQUES FOR INTELLIGENT PNEUMATIC ACTUATOR

2015 ◽  
Vol 77 (20) ◽  
Author(s):  
Abdulrahman A. A. Emhemed ◽  
Rosbi Mamat ◽  
Ahmad ‘Athif Mohd Faudzi
Keyword(s):  
System Identification ◽  
Parametric Identification ◽  
Pneumatic Actuator ◽  
Step Response ◽  
Model Parameters ◽  
Force Model ◽  
Force System ◽  
Identification Technique ◽  
Identification Techniques ◽  
Non Parametric

The aim of this paper is to present experimental, empirical and analytic identification techniques, known as non-parametric techniques. Poor dynamics and high nonlinearities are parts of the difficulties in the control of pneumatic actuator functions, which make the identification technique very challenging. Firstly, the step response experimental data is collected to obtain real-time force model of the intelligent pneumatic actuator (IPA). The IPA plant and Personal Computer (PC) communicate through Data Acquisition (DAQ) card over MATLAB software. The second method is approximating the process by curve reaction of a first-order plus delay process, and the third method uses the equivalent n order process with PTn model parameters. The obtained results have been compared with the previous study, achieved based on force system identification of IPA obtained by the (Auto-Regressive model with eXogenous) ARX model. The models developed using non-parameters identification techniques have good responses and their responses are close to the model identified using the ARX system identification model. The controller approved the success of the identification technique with good performance. This means the Non-Parametric techniques are strongly recommended, suitable, and feasible to use to analyze and design the force controller of IPA system. The techniques are thus very suitable to identify the real IPA plant and achieve widespread industrial acceptance.

scholarly journals Verification of Optimized Real-time Hybrid Control System for Prediction of Nonlinear Materials Behavior with 3-DOF Dynamic Test

2020 ◽  
Vol 10 (11) ◽  
pp. 4037 ◽  
Author(s):  
Okpin Na ◽  
Jejin Park
Keyword(s):  
Control System ◽  
Real Time ◽  
Shaking Table Test ◽  
Hybrid Control ◽  
Dynamic Test ◽  
Full Scale ◽  
Test Method ◽  
Shaking Table ◽  
Hybrid Test ◽  
Hybrid Control System

Real-time hybrid method is an economical and efficient test method to evaluate the dynamic behavior. The purpose of this study is to develop the computational algorithm and to prove the reliability of a real-time hybrid control system. For performing the multi-direction dynamic test, three dynamic actuators and the optimized real-time hybrid system with new hybrid simulation program (FEAPH) and a simplified inter-communication were optimized. To verify the reliability and applicability of the real-time hybrid control system, 3-DOF (3 Degrees of Freedom) non-linear dynamic tests with physical model were conducted on a steel and concrete frame structure. As a ground acceleration, El Centro and Northridge earthquake waves were applied. As a result, the maximum error of numerical analysis is 13% compared with the result of shaking table test. However, the result of real-time hybrid test shows good agreement with the shaking table test. The real-time hybrid test using FEAPH can make good progress on the total testing time and errors. Therefore, this test method using FEAPH can be effectively and cheaply used to evaluate the dynamic performance of the full-scale structure, instead of shaking table and full-scale test.

Based on Walsh packet parametric identification technique for dynamic systems

PAMM ◽  
2005 ◽  
Vol 5 (1) ◽  
pp. 777-778
Author(s):  
Magdalena Napiorkowska-Alykow ◽  
Wojciech Glabisz
Keyword(s):  
Dynamic Systems ◽  
Parametric Identification ◽  
Identification Technique

scholarly journals Structural and Parametric Identification of Knowm Memristors

Nanomaterials ◽  
2021 ◽  
Vol 12 (1) ◽  
pp. 63
Author(s):  
Valerii Ostrovskii ◽  
Petr Fedoseev ◽  
Yulia Bobrova ◽  
Denis Butusov
Keyword(s):  
Parametric Identification ◽  
Visual Presentation ◽  
Experimental Setup ◽  
State Variables ◽  
Identification Method ◽  
Proposed Model ◽  
Wide Range ◽  
Identification Technique ◽  
Structural And Parametric Identification ◽  
Frequency Properties

This paper proposes a novel identification method for memristive devices using Knowm memristors as an example. The suggested identification method is presented as a generalized process for a wide range of memristive elements. An experimental setup was created to obtain a set of intrinsic I–V curves for Knowm memristors. Using the acquired measurements data and proposed identification technique, we developed a new mathematical model that considers low-current effects and cycle-to-cycle variability. The process of parametric identification for the proposed model is described. The obtained memristor model represents the switching threshold as a function of the state variables vector, making it possible to account for snapforward or snapback effects, frequency properties, and switching variability. Several tools for the visual presentation of the identification results are considered, and some limitations of the proposed model are discussed.

Reactive planar non-prehensile manipulation with hybrid model predictive control

2020 ◽  
Vol 39 (7) ◽  
pp. 755-773
Author(s):  
Francois R Hogan ◽  
Alberto Rodriguez
Keyword(s):  
Integer Programming ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Controller Design ◽  
Hybrid Control ◽  
Machine Learning Techniques ◽  
Control Approach ◽  
Dynamic Constraints ◽  
Hybrid Dynamics ◽  
Predictive Controller

This article presents an offline solution and online approximation to the hybrid control problem of planar non-prehensile manipulation. Hybrid dynamics and underactuation are key characteristics of this task that complicate the design of feedback controllers. We show that a model predictive control approach used in tandem with integer programming offers a powerful solution to capture the dynamic constraints associated with the friction cone as well as the hybrid nature of contact. We introduce the Model Predictive Controller with Learned Mode Scheduling (MPC-LMS), which leverages integer programming and machine learning techniques to effectively deal with the combinatorial complexity associated with determining sequences of contact modes. We validate the controller design through a numerical simulation study and with experiments on a planar manipulation setup using an industrial ABB IRB 120 robotic arm. Results show that the proposed algorithm achieves closed-loop tracking of a nominal trajectory by reasoning in real-time across multiple contact modalities.

CONTROL OF THE CHUA'S SYSTEM BASED ON A DIFFERENTIAL FLATNESS APPROACH

2004 ◽  
Vol 14 (03) ◽  
pp. 1059-1069 ◽  
Author(s):  
CARLOS AGUILAR-IBÁÑEZ ◽  
MIGUEL SUÁREZ-CASTAÑÓN ◽  
HEBERTT SIRA-RAMÍREZ
Keyword(s):  
Trajectory Tracking ◽  
Controller Design ◽  
Pole Placement ◽  
Differential Flatness ◽  
Tracking Problem ◽  
Chaotic Circuit ◽  
Set Point ◽  
Control Approach ◽  
Additional Input ◽  
Design Options

In this paper, we present a flatness based control approach for the stabilization and tracking problem, for the well-known Chua chaotic circuit, that includes an additional input. We introduce two feedback controller design options for the set-point stabilization and the trajectory tracking problem: a direct pole placement approach, and Generalized Proportional Integral (GPI) approach based only on measured inputs and outputs.

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