Pengontrolan Penjejak Dinding dengan Batasan Orientasi pada Kursi Roda Robotik

Pada makalah ilmiah ini disajikan desain sistem kontrol penjejak dinding pada kursi roda robotik dengan keterbatasan pada pembacaan sensor. Rangkaian sensor ultrasonik digunakan untuk menentukan jarak dan sudut orientasi dari kursi roda robotik terhadap dinding yang menjadi acuan. Algoritma kontrol diturunkan menggunakan fungsi Lyapunov Barrier untuk menjamin kestabilan asimtotik dari sistem dengan batasan sudut pembacaan sensor ultrasonik. Hasil simulasi dari sistem kontrol memperlihatkan kursi roda robotik dapat bergerak dengan jarak yang diinginkan dari dinding dengan mempertahankan sudut orientasi tidak melebihi batasan pembacaan sensor ultrasonik

Closed-loop Reference Models for Output-Feedback Adaptive Systems

Closed-loop reference models have recently been proposed for states accessible adaptive systems. They have been shown to have improved transient response over their open loop counter parts. The results in the states accessible case are extended to single input single output plants of arbitrary relative degree.Comment: v1 Submitted to European Control Conference 2013, v2 Typos correcte

RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System

This paper presents a radial basis function (RBF) neural network control scheme for manipulators with actuator nonlinearities. The control scheme consists of a time-varying sliding mode control (TVSMC) and an RBF neural network compensator. Since the actuator nonlinearities are usually included in the manipulator driving motor, a compensator using RBF network is proposed to estimate the actuator nonlinearities and their upper boundaries. Subsequently, an RBF neural network controller that requires neither the evaluation of off-line dynamical model nor the time-consuming training process is given. In addition, Barbalat Lemma is introduced to help prove the stability of the closed control system. Considering the SMC controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded. The whole scheme provides a general procedure to control the manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion

Kontrol Penjejak Dinding pada Kursi Roda Robotik dengan Batasan Pengukuran Sudut Orientasi dan Jarak

Pada makalah ilmiah ini disajikan desain sistem kontrol penjejak dinding pada kursi roda robotik dengan keterbatasan pembacaan sensor. Rangkaian sensor ultrasonik digunakan untuk menentukan jarak dan sudut orientasi dari kursi roda robotik terhadap dinding yang menjadi acuan. Algoritma kontrol diturunkan menggunakan fungsi Lyapunov  Barrier untuk menjamin kestabilan asimtotik dari sistem dengan batasan pengukuran sudut orientasi dan  jarak dari sensor ultrasonik. Hasil simulasi menunjukkan perbedaan antara algoritma kontrol yang menggunakan fungsi Barrier, dimana sudut orientasi dan jarak tidak keluar dari batasan kemampuan sensor ultrasonik, dan yang tidak, dimana sudut orientasi dan jarak dapat keluar dari batasan. Hasil eksperimen dari implementasi algoritma kontrol memperlihatkan kursi roda robotik dapat bergerak dengan jarak yang diinginkan dari dinding dengan mempertahankan jarak dan sudut orientasi tidak melebihi batasan kemampuan dari sensor ultrasonik

Experimental evaluation of the backstepping‐based input resistance controller in step‐up DC–DC converter for maximum power point tracking of the thermoelectric generators

In this paper, a novel non-linear model-based approach is presented for maximum power point (MPP) tracking of thermoelectric generators (TEGs) using the backstepping controller. Considering the output voltage range of the thermoelectric devices, a step-up DC–DC converter is employed as an interface between the load and input power source. According to the maximum power transfer theorem, if the equivalent input resistance of the converter (Rin) is equal to the internal resistance of the input source (RTEG), the TEG operation at the MPP will be achieved. Hence, defining the RTEG as a reference value and Rin as a feedback variable for a closed-loop controller, the backstepping non-linear controller is developed for input resistance control of the boost DC–DC converter. Owing to the non-linear nature of the error variable in the input resistance control of the converters, conventional linear controllers cannot guarantee the system’s closed-loop stability within an extensive operational range. However, despite changes in generator’s open-circuit voltage (VOC) and RTEG, the designed closed-loop controller can successfully stabilize the thermoelectric converter in different operational conditions. Considering the Lyapunov theorem and the Barbalat lemma, the asymptotic stability of the backstepping controller is proved. During the steady-state operation, the actual values of the VOC and RTEG are updated periodically by the measurement of the converter input voltage/current values. To verify the functionality of the designed control method, PC-based simulations are carried out in MATLAB/Simulink software. Moreover, by using TMS320F28335 digital signal processor from Texas Instruments and a simple thermoelectric simulator, the experimental response of the proposed controller is evaluated in dynamic and steady-state conditions. The developed closed-loop system can track the MPP of a TEG with zero steady-state error, regardless of uncertain parameter variations