Optimized state feedback regulation of 3DOF helicopter system via extremum seeking

In this paper, an optimized state feedback regulation of a 3 degree of freedom (DOF) helicopter is designed via extremum seeking (ES) technique. Multi-parameter ES is applied to optimize the tracking performance via tuning State Vector Feedback with Integration of the Control Error (SVFBICE). Discrete multivariable version of ES is developed to minimize a cost function that measures the performance of the controller. The cost function is a function of the error between the actual and desired axis positions. The controller parameters are updated online as the optimization takes place. This method significantly decreases the time in obtaining optimal controller parameters. Simulations were conducted for the online optimization under both fixed and varying operating conditions. The results demonstrate the usefulness of using ES for preserving the maximum attainable performance

New Approaches in Automation and Robotics

The book New Approaches in Automation and Robotics offers in 22 chapters a collection of recent developments in automation, robotics as well as control theory. It is dedicated to researchers in science and industry, students, and practicing engineers, who wish to update and enhance their knowledge on modern methods and innovative applications. The authors and editor of this book wish to motivate people, especially under-graduate students, to get involved with the interesting field of robotics and mechatronics. We hope that the ideas and concepts presented in this book are useful for your own work and could contribute to problem solving in similar applications as well. It is clear, however, that the wide area of automation and robotics can only be highlighted at several spots but not completely covered by a single book

An experimental and theoretical study on the effect of sampling time delay on the stability of a PI position controller of a hydraulic cylinder

The stability properties of the feedback control of a hydraulic cylinder is analysed with an emphasis on the effect of the control delay due to the discrete sampling. A simple theoretical model is developed for low-load cases, i.e. if the forces acting of the piston are small compared to the pressure forces inside the cylinder. It is shown that in the case of a traditional PI controller, there is an upper and lower limit on the proportional gain corresponding to significantly different mechanisms of stability loss. It is shown that the frequency of the appearing oscillations at low proportional gains is one range smaller than that the sampling frequency. The theoretical results are confirmed by measurements

Distributed Control for Cyber-Physical Systems

Networked Cyber-Physical Systems (CPS) are fundamentally constrained by the tight coupling and closed-loop control and actuation of physical processes. To address actuation in such closed-loop wireless control systems there is a strong need to re-think the communication architectures and protocols for maintaining stability and performance in the presence of disturbances to the network, environment and overall system objectives. We review the current state of network control efforts for CPS and present two complementary approaches for robust, optimal and composable control over networks. We first introduce a computer systems approach with Embedded Virtual Machines (EVM), a programming abstraction where controller tasks, with their control and timing properties, are maintained across physical node boundaries. Controller functionality is decoupled from the physical substrate and is capable of runtime migration to the most competent set of physical controllers to maintain stability in the presence of changes to nodes, links and network topology. We then view the problem from a control theoretic perspective to deliver fully distributed control over networks with Wireless Control Networks (WCN). As opposed to traditional networked control schemes where the nodes simply route information to and from a dedicated controller, our approach treats the network itself as the controller. In other words, the computation of the control law is done in a fully distributed way inside the network. In this approach, at each time-step, each node updates its internal state to be a linear combination of the states of the nodes in its neighborhood. This causes the entire network to behave as a linear dynamical system, with sparsity constraints imposed by the network topology. This eliminates the need for routing between “sensor → channel → dedicated controller/estimator → channel → actuator”, allows for simple transmission scheduling, is operational on resource constrained low-power nodes and allows for composition of additional control loops and plants. We demonstrate the potential of such distributed controllers to be robust to a high degree of link failures and to maintain stability even in cases of node failures

A survey of recent advances in fractional order control for time delay systems

Several papers reviewing fractional order calculus in control applications have been published recently. These papers focus on general tuning procedures, especially for the fractional order proportional integral derivative controller. However, not all these tuning procedures are applicable to all kinds of processes, such as the delicate time delay systems. This motivates the need for synthesizing fractional order control applications, problems, and advances completely dedicated to time delay processes. The purpose of this paper is to provide a state of the art that can be easily used as a basis to familiarize oneself with fractional order tuning strategies targeted for time delayed processes. Solely, the most recent advances, dating from the last decade, are included in this review

A Sensor Network System for Monitoring Short-Term Construction Work Zones

Safety hazards encountered near construction work zones are high, both in number and in the kind. There is a need to monitor traffic in such construction zones in order to improve driver and vehicle safetyIn the past traffic monitoring systems were built with high cost equipment such as inductive plates, video cameras etc. These solutions are too cost{prohibitive and invasive to be used in the large. Wireless sensor networks provide an opportunity space that can be used to address this problem. This thesis specifically targets temporary or short-term construction work zones. We present the design and implementation of a sensor network system targeted at monitoring the flow of traffic through these temporary construction work zones. As opposed to long-term work zones which are common on highways, short-term or temporary work zones remain active for a few hours or a few days at most. As such, instrumenting temporary work zones with monitoring equipment similar to those used in long-term work zones is not practical. Yet, these temporary work zones present an important problem in terms of crashes occurring in and around them. The design for this sensornet-based system for monitoring traffic is (a) inexpensive, (b) rapidly deployable, (c) requires minimal maintenance and (d) non-invasive. In this thesis we present our experiences in building this system, and testing this system in live work zones in the Greater Cleveland are

A Sensor Network System for Monitoring Short-Term Construction Work Zones

Safety hazards encountered near construction work zones are high, both in number and in the kind. There is a need to monitor traffic in such construction zones in order to improve driver and vehicle safetyIn the past traffic monitoring systems were built with high cost equipment such as inductive plates, video cameras etc. These solutions are too cost{prohibitive and invasive to be used in the large. Wireless sensor networks provide an opportunity space that can be used to address this problem. This thesis specifically targets temporary or short-term construction work zones. We present the design and implementation of a sensor network system targeted at monitoring the flow of traffic through these temporary construction work zones. As opposed to long-term work zones which are common on highways, short-term or temporary work zones remain active for a few hours or a few days at most. As such, instrumenting temporary work zones with monitoring equipment similar to those used in long-term work zones is not practical. Yet, these temporary work zones present an important problem in terms of crashes occurring in and around them. The design for this sensornet-based system for monitoring traffic is (a) inexpensive, (b) rapidly deployable, (c) requires minimal maintenance and (d) non-invasive. In this thesis we present our experiences in building this system, and testing this system in live work zones in the Greater Cleveland are