38,520 research outputs found
Neural-Network Vector Controller for Permanent-Magnet Synchronous Motor Drives: Simulated and Hardware-Validated Results
This paper focuses on current control in a permanentmagnet synchronous motor (PMSM). The paper has two main objectives: The first objective is to develop a neural-network (NN) vector controller to overcome the decoupling inaccuracy problem associated with conventional PI-based vector-control methods. The NN is developed using the full dynamic equation of a PMSM, and trained to implement optimal control based on approximate dynamic programming. The second objective is to evaluate the robust and adaptive performance of the NN controller against that of the conventional standard vector controller under motor parameter variation and dynamic control conditions by (a) simulating the behavior of a PMSM typically used in realistic electric vehicle applications and (b) building an experimental system for hardware validation as well as combined hardware and simulation evaluation. The results demonstrate that the NN controller outperforms conventional vector controllers in both simulation and hardware implementation
A survey on fractional order control techniques for unmanned aerial and ground vehicles
In recent years, numerous applications of science and engineering for modeling and control of unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs) systems based on fractional calculus have been realized. The extra fractional order derivative terms allow to optimizing the performance of the systems. The review presented in this paper focuses on the control problems of the UAVs and UGVs that have been addressed by the fractional order techniques over the last decade
Validation and Verification of Aircraft Control Software for Control Improvement
Validation and Verification are important processes used to ensure software safety and reliability. The Cooper-Harper Aircraft Handling Qualities Rating is one of the techniques developed and used by NASA researchers to verify and validate control systems for aircrafts. Using the Validation and Verification result of controller software to improve controller\u27s performance will be one of the main objectives of this process. Real user feedback will be used to tune PI controller in order for it to perform better. The Cooper-Harper Aircraft Handling Qualities Rating can be used to justify the performance of the improved system
Magnification Control in Winner Relaxing Neural Gas
An important goal in neural map learning, which can conveniently be
accomplished by magnification control, is to achieve information optimal coding
in the sense of information theory. In the present contribution we consider the
winner relaxing approach for the neural gas network. Originally, winner
relaxing learning is a slight modification of the self-organizing map learning
rule that allows for adjustment of the magnification behavior by an a priori
chosen control parameter. We transfer this approach to the neural gas
algorithm. The magnification exponent can be calculated analytically for
arbitrary dimension from a continuum theory, and the entropy of the resulting
map is studied numerically conf irming the theoretical prediction. The
influence of a diagonal term, which can be added without impacting the
magnification, is studied numerically. This approach to maps of maximal mutual
information is interesting for applications as the winner relaxing term only
adds computational cost of same order and is easy to implement. In particular,
it is not necessary to estimate the generally unknown data probability density
as in other magnification control approaches.Comment: 14pages, 2 figure
Statistical Mechanics and Visual Signal Processing
The nervous system solves a wide variety of problems in signal processing. In
many cases the performance of the nervous system is so good that it apporaches
fundamental physical limits, such as the limits imposed by diffraction and
photon shot noise in vision. In this paper we show how to use the language of
statistical field theory to address and solve problems in signal processing,
that is problems in which one must estimate some aspect of the environment from
the data in an array of sensors. In the field theory formulation the optimal
estimator can be written as an expectation value in an ensemble where the input
data act as external field. Problems at low signal-to-noise ratio can be solved
in perturbation theory, while high signal-to-noise ratios are treated with a
saddle-point approximation. These ideas are illustrated in detail by an example
of visual motion estimation which is chosen to model a problem solved by the
fly's brain. In this problem the optimal estimator has a rich structure,
adapting to various parameters of the environment such as the mean-square
contrast and the correlation time of contrast fluctuations. This structure is
in qualitative accord with existing measurements on motion sensitive neurons in
the fly's brain, and we argue that the adaptive properties of the optimal
estimator may help resolve conlficts among different interpretations of these
data. Finally we propose some crucial direct tests of the adaptive behavior.Comment: 34pp, LaTeX, PUPT-143
Adaptive Backstepping Control for Fractional-Order Nonlinear Systems with External Disturbance and Uncertain Parameters Using Smooth Control
In this paper, we consider controlling a class of single-input-single-output
(SISO) commensurate fractional-order nonlinear systems with parametric
uncertainty and external disturbance. Based on backstepping approach, an
adaptive controller is proposed with adaptive laws that are used to estimate
the unknown system parameters and the bound of unknown disturbance. Instead of
using discontinuous functions such as the function, an
auxiliary function is employed to obtain a smooth control input that is still
able to achieve perfect tracking in the presence of bounded disturbances.
Indeed, global boundedness of all closed-loop signals and asymptotic perfect
tracking of fractional-order system output to a given reference trajectory are
proved by using fractional directed Lyapunov method. To verify the
effectiveness of the proposed control method, simulation examples are
presented.Comment: Accepted by the IEEE Transactions on Systems, Man and Cybernetics:
Systems with Minor Revision
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