International Journal of Robotics and Control Systems最新文献_第6页

Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road 基于交互控制方法的机械轮式车辆转弯惯量减小研究

International Journal of Robotics and Control Systems Pub Date : 2022-08-27 DOI: 10.31763/ijrcs.v2i3.774

Norsharimie Mat Adam, A. Irawan

{"title":"Inertia Reduction using Interaction Control Approach for Mecanum Wheeled Vehicle on Cornering Road","authors":"Norsharimie Mat Adam, A. Irawan","doi":"10.31763/ijrcs.v2i3.774","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i3.774","url":null,"abstract":"The paper presents a dynamic control approach using impedance control to reduce inertia factors acting on a Mecanum Wheeled Vehicle (MWV) on cornering roads. Inertia in a mobile vehicle is one of the issues that affect the safety and energy efficiencies of the vehicle, especially when maneuvering on cornering and confined paths. With reference to the problem statements in the dynamics analyses, velocity-based impedance control was proposed where the derived interaction translational forces on the vehicle that consider friction and touching forces on vehicle-terrain are controlled through the velocities of the vehicle. This study emphasized shaping the axial velocities input of the MWV for both longitudinal and latitude motions to control the sensitivity of the vehicle during cornering periods. The verification was done through several simulations on the proposed velocity-based impedance control on the MWV plant. The results show that the different forces on MWV axial motion were capable of reducing inertia via velocity input during the cornering period of maneuvering by increasing the stiffness and damping ratio of the controller at about 2 and 9 for stiffness x-axis and y-axis, respectively, and 15 and 10 for damping ration of the x-axis and y-axis respectively. Moreover, with the proposed controller, inertia on MWV can be controlled on the slippery road such as asphalt roads. This scenario has influenced the overall kinetic energy of the vehicle down to about 26%, thus, able to control the overdriven occurred on cornering road.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"90 3","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132704152","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Adaptive PID Fault-Tolerant Tracking Controller for Takagi-Sugeno Fuzzy Systems with Actuator Faults: Application to Single-Link Flexible Joint Robot 带有执行器故障的Takagi-Sugeno模糊系统的自适应PID容错跟踪控制器:在单连杆柔性关节机器人上的应用

International Journal of Robotics and Control Systems Pub Date : 2022-08-18 DOI: 10.31763/ijrcs.v2i3.762

M. Elouni, H. Hamdi, B. Rabaoui, N. Braiek

{"title":"Adaptive PID Fault-Tolerant Tracking Controller for Takagi-Sugeno Fuzzy Systems with Actuator Faults: Application to Single-Link Flexible Joint Robot","authors":"M. Elouni, H. Hamdi, B. Rabaoui, N. Braiek","doi":"10.31763/ijrcs.v2i3.762","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i3.762","url":null,"abstract":"This paper considers the problem of Fault Tolerant Tracking Control (FTTC) strategy design for nonlinear systems using Takagi-Sugeno (T-S) fuzzy models with measurable premise variables affected by actuator faults subject to unknown bounded disturbances (UBD). Firstly, the Adaptive Fuzzy Observer (AFO) is proposed to estimate the faults. Based on the information provided by this observer, an active fault tolerant tracking controller described by an adaptive Proportional-Integral-Derivative (PID) structure has been developed to compensate for the actuator fault effects and to guarantee the trajectory tracking of desired outputs to the reference model despite the presence of actuator faults. The stability and the trajectory tracking performances of the proposed approach are analyzed based on the Lyapunov theory. Sufficient conditions can be obtained and solved for the design of the controller, and the observer gains using Linear Matrix Inequalities (LMIs). Finally, the effectiveness of the proposed technique is illustrated by using a single-link flexible joint robot.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124871171","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 7

Analysis and Challenges in Wireless Networked Control System: A Survey 无线网络控制系统的分析与挑战

International Journal of Robotics and Control Systems Pub Date : 2022-08-16 DOI: 10.31763/ijrcs.v2i3.731

Mutaz M. Hamdan, M. Mahmoud

引用次数: 1

A Simple Method for Stator Inductance and Resistance Estimation for PMSM at Standstill 永磁同步电机静止状态定子电感和电阻的一种简单估计方法

International Journal of Robotics and Control Systems Pub Date : 2022-07-20 DOI: 10.31763/ijrcs.v2i3.741

Justas Dilys, V. Stankevič

{"title":"A Simple Method for Stator Inductance and Resistance Estimation for PMSM at Standstill","authors":"Justas Dilys, V. Stankevič","doi":"10.31763/ijrcs.v2i3.741","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i3.741","url":null,"abstract":"An accurate stator resistance and inductance are necessary for high-performance permanent magnet synchronous motor (PMSM) control. The stator resistance and inductance can be estimated during motor standstill operation. This study proposes a standstill estimation method for the determination of dq-axis inductances and resistance of a PMSM drive system fed by a conventional voltage source inverter (VSI). The proposed method estimates both inductance and the rotor's position using the same algorithm, and knowledge of its initial position is not required. The d- and q-axis inductances were estimated by applying three short-time voltage pulses and measuring phase current peak values. The stator's resistance is estimated by monitoring the exponential decay process of the direct axis current. The method was verified by simulation and experiments conducted on two different PM synchronous motors. A good agreement of simulation and experimental results was obtained. Moreover, the proposed method is relatively simple and can identify stator resistance and inductance at any motor load condition. Compared to the existing parameter estimation strategies, the proposed estimation scheme has a relatively faster estimation time. Additionally, it is shown that the method accounts for the dead-time effect as well.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127959887","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Development of a Nonlinear Harvesting Mechanism from Wide Band Vibrations 宽带振动非线性收获机构的研制

International Journal of Robotics and Control Systems Pub Date : 2022-07-13 DOI: 10.31763/ijrcs.v2i3.524

Md. Abdul Halim, M. Z. Hossain, Mst. Jesmin Nahar

{"title":"Development of a Nonlinear Harvesting Mechanism from Wide Band Vibrations","authors":"Md. Abdul Halim, M. Z. Hossain, Mst. Jesmin Nahar","doi":"10.31763/ijrcs.v2i3.524","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i3.524","url":null,"abstract":"The main objective of this study is to present an energy harvesting approach to scavenge electrical energy from mechanically vibrated piezoelectric materials.A mechanical energy harvester device has been developed and tested. The fundamental benefit of this mechanical device is that it can function effectively in a wide range of ambient vibration frequencies, whereas traditional harvesters are limited. A suitable conditioning circuit for energy scavenging has been proposed which can achieve optimal power stream. For controlling the power flow into the battery a circuit has been designed consisting of an AC to DC rectifier, an output capacitor, a switch mode DC to DC converter, and an electromechanical battery. An adaptive control system has been described for switching any electronics devices and maximizing battery storage capacity. Experimental results reveal that the power transfer rate can be enhanced by approximately 400% by utilizing the adaptive DC to DC converter. Various investigations on the piezoelectric harvester have revealed that the energy generated by the mechanical device can exceed the 1.4-volt barrier, which is suitable for charging capacitors in electronics devices. The findings of this study will be crucial in mitigating society's energy crisis.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-07-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122547376","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Reduced Order and Observer-Based Reset Control Systems with Time Delays 具有时滞的基于观测器的减阶复位控制系统

International Journal of Robotics and Control Systems Pub Date : 2022-07-09 DOI: 10.31763/ijrcs.v2i3.709

Awatef K. Ali, M. Mahmoud

引用次数: 1

Particle Swarm Optimization (PSO) Tuning of PID Control on DC Motor 直流电机PID控制的粒子群算法整定

International Journal of Robotics and Control Systems Pub Date : 2022-07-06 DOI: 10.31763/ijrcs.v2i2.476

Eka Suci Rahayu, A. Ma’arif, Abdullah Çakan

引用次数: 18

Real-Time Underground Plastic Pipeline Water Leakage Detection and Monitoring System 地下塑料管道漏水实时检测与监测系统

International Journal of Robotics and Control Systems Pub Date : 2022-06-26 DOI: 10.31763/ijrcs.v2i2.582

Muhammad Haziq Hakim Rosman, R. Ghazali, G. Derai, H. Jaafar, C. C. Soon, D. Hanafi, Zulfatman Has

{"title":"Real-Time Underground Plastic Pipeline Water Leakage Detection and Monitoring System","authors":"Muhammad Haziq Hakim Rosman, R. Ghazali, G. Derai, H. Jaafar, C. C. Soon, D. Hanafi, Zulfatman Has","doi":"10.31763/ijrcs.v2i2.582","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i2.582","url":null,"abstract":"The leaking of the water pipeline increasingly influences the quality of life and threatens the water supplier in developing countries. Proper method is required to effectively detecting the source for replacement to reduce the loses. Therefore, a water leakage detection with monitoring system is developed to detecting the precise leaking location of a buried plastic pipeline. The real-time pressure data obtained from the pressurized pipeline are transferred to the monitoring system with GUI (graphical User Interface), developed using LabVIEW software. In the experimental execution, a leaking pipeline is designed. Then, few pressure sensors are installed on the pipeline as a primary segment for the detection process. To prevent a false non-leak alarm and malfunction of the pressure sensors, the pressure threshold value and malfunction alarm is set using LabVIEW. Cross-correlation method is implemented that increase the accuracy of the leaking distance estimation. The processing and control unit in this article are manipulated using LabVIEW software and NI myRIO-1900 respectively.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116295977","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 2

Performance Analysis of PSO DFFP Based DC-DC Converter with Non Isolated CI using PV Panel 基于PSO DFFP的PV面板非隔离CI DC-DC变换器性能分析

International Journal of Robotics and Control Systems Pub Date : 2022-06-15 DOI: 10.31763/ijrcs.v2i2.628

C. Nagarajan, K. Umadevi, S. Saravanan, M. Muruganandam

引用次数: 3

Permanent Magnet Synchronous Generator Connected to a Grid via a High Speed Sliding Mode Control 永磁同步发电机通过高速滑模控制并网

International Journal of Robotics and Control Systems Pub Date : 2022-06-12 DOI: 10.31763/ijrcs.v2i2.701

O. Tola, E. Umoh, E. A. Yahaya, Osinowo E. Olusegun

{"title":"Permanent Magnet Synchronous Generator Connected to a Grid via a High Speed Sliding Mode Control","authors":"O. Tola, E. Umoh, E. A. Yahaya, Osinowo E. Olusegun","doi":"10.31763/ijrcs.v2i2.701","DOIUrl":"https://doi.org/10.31763/ijrcs.v2i2.701","url":null,"abstract":"Wind power generation has recently received a lot of attention in terms of generating electricity, and it has emerged as one of the most important sources of alternative energy. Maximum power generation from a wind energy conversion system (WECS) necessitates accurate estimation of aerodynamic torque and system uncertainties. Regulating the wind energy conversion system (WECS) under varying wind speeds and improving the quality of electrical power delivered to the grid has become a difficult issue in recent years. A permanent magnet synchronous generator (PMSG) is used in the grid-connected wind-turbine system under investigation, followed by back-to-back bidirectional converters. The machine-side converter (MSC) controls the PMSG speed, while the grid-side converter (GSC) controls the DC bus voltage and maintains the unity power factor. The control approach is second-order sliding mode controls, which are used to regulate a nonlinear wind energy conversion system while reducing chattering, which causes mechanical wear when using first-order sliding mode controls. The sliding mode control is created using the modified super-twisting method. Both the power and control components are built and simulated in the same MATLAB/Simulink environment. The study successfully decreased the chattering effect caused by the switching gain owing to the high activity of the control input.","PeriodicalId":409364,"journal":{"name":"International Journal of Robotics and Control Systems","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131021980","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3