Imprecise dynamic walking with time-projection control

We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions of the 3LP model, our proposed controller projects intermediate states of the biped back to the beginning of the phase for which a discrete LQR controller is designed. After the projection, a proper control policy is generated by this LQR controller and used at the intermediate time. This control paradigm reacts to disturbances immediately and includes rules to account for swing dynamics and leg-retraction. We apply it to a simulated Atlas robot in position-control, always commanded to perform in-place walking. The stance hip joint in our robot keeps the torso upright to let the robot naturally fall, and the swing hip joint tracks the desired footstep location. Combined with simple Center of Pressure (CoP) damping rules in the low-level controller, our foot-placement enables the robot to recover from strong pushes and produce periodic walking gaits when subject to persistent sources of disturbance, externally or internally. These gaits are imprecise, i.e., emergent from asymmetry sources rather than precisely imposing a desired velocity to the robot. Also in extreme conditions, restricting linearity assumptions of the 3LP model are often violated, but the system remains robust in our simulations. An extensive analysis of closed-loop eigenvalues, viable regions and sensitivity to push timings further demonstrate the strengths of our simple controller

Robust PI control of interval plants with gain and phase margin specifications: Application to a continuous stirred tank reactor

The paper is focused on robust Proportional-Integral (PI) control of interval plants with gain and phase margin specifications and on the application of this approach to a Continuous Stirred Tank Reactor (CSTR). More specifically, the work aims at the determination of PI controller parameter regions, for which not only robust stability but also some level of robust performance of the closed-loop control system is guaranteed, and this robust performance is represented by the required gain and phase margin that has to be ensured for all potential members of the interval family of controlled plants, even for the worst case. The applied technique is based on the combination of the previously published generalization of stability boundary locus method (for specified gain and phase margin under the assumption of fixed-parameter plants) with the sixteen plant theorem. This extension enables the direct application of the method to design the robustly performing PI controllers for interval plants. The effectiveness of the improved method is demonstrated on a CSTR, modeled as the interval plant, for which the robust stability and robust performance regions are obtained. © 2013 IEEE.CEBIA-Tech Instrumentation Project through the European Regional Development Fund [CZ.1.05/2.1.00/19.0376]; National Sustainability Programme of Ministry of Education, Youth, and Sports, Czech Republic [LO1303 (MSMT-7778/2014)

A digital controller using multirate sampling for gain control

Digital controller using multirate sampling for gain contro

PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles

There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely Parsimonious Controller (PAC) is proposed. It features fewer network parameters than conventional approaches due to the absence of rule premise parameters. PAC is built upon a recently developed evolving neuro-fuzzy system known as parsimonious learning machine (PALM) and adopts new rule growing and pruning modules derived from the approximation of bias and variance. These rule adaptation methods have no reliance on user-defined thresholds, thereby increasing the PAC's autonomy for real-time deployment. PAC adapts the consequent parameters with the sliding mode control (SMC) theory in the single-pass fashion. The boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's efficacy is evaluated by observing various trajectory tracking performance from a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing micro aerial vehicle called hexacopter. Furthermore, it is compared to three distinctive controllers. Our PAC outperforms the linear PID controller and feed-forward neural network (FFNN) based nonlinear adaptive controller. Compared to its predecessor, G-controller, the tracking accuracy is comparable, but the PAC incurs significantly fewer parameters to attain similar or better performance than the G-controller.Comment: This paper has been accepted for publication in Information Science Journal 201

Sub-Hz line width diode lasers by stabilization to vibrationally and thermally compensated ULE Fabry-Perot cavities

We achieved a 0.5 Hz optical beat note line width with ~ 0.1 Hz/s frequency drift at 972 nm between two external cavity diode lasers independently stabilized to two vertically mounted Fabry-Perot (FP) reference cavities. Vertical FP reference cavities are suspended in mid-plane such that the influence of vertical vibrations to the mirror separation is significantly suppressed. This makes the setup virtually immune for vertical vibrations that are more difficult to isolate than the horizontal vibrations. To compensate for thermal drifts the FP spacers are made from Ultra-Low-Expansion (ULE) glass which possesses a zero linear expansion coefficient. A new design using Peltier elements in vacuum allows operation at an optimal temperature where the quadratic temperature expansion of the ULE could be eliminated as well. The measured linear drift of such ULE FP cavity of 63 mHz/s was due to material aging and the residual frequency fluctuations were less than 40 Hz during 16 hours of measurement. Some part of the temperature-caused drift is attributed to the thermal expansion of the mirror coatings. High-frequency thermal fluctuations that cause vibrations of the mirror surfaces limit the stability of a well designed reference cavity. By comparing two similar laser systems we obtain an Allan instability of 2*10-15 between 0.1 and 10 s averaging time, which is close to the theoretical thermal noise limit.Comment: submitted to Applied Physics

Model predictive control for power system frequency control taking into account imbalance uncertainty

© IFAC.Model predictive control (MPC) is investigated as a control method for frequency control of power systems which are exposed to increasing wind power penetration. For such power systems, the unpredicted power imbalance can be assumed to be dominated by the fluctuations in produced wind power. An MPC is designed for controlling the frequency of wind-penetrated power systems, which uses the knowledge of the estimated worst-case power imbalance to make the MPC more robust. This is done by considering three different disturbances in the MPC: one towards the positive worst-case, one towards the negative worst-case, and one neutral in the middle. The robustified MPC is designed so that it finds an input which makes sure that the constraints of the system are fulfilled in case of all three disturbances. Through simulations on a network with concentrated wind power, it is shown that in certain cases where the state-of-the-art frequency control (PI control) and nominal MPC violate the system constraints, the robustified MPC fulfills them due to the inclusion of the worst-case estimates of the power imbalance