Improved Transients in Multiple Frequencies Estimation via Dynamic Regressor Extension and Mixing

A problem of performance enhancement for multiple frequencies estimation is studied. First, we consider a basic gradient-based estimation approach with global exponential convergence. Next, we apply dynamic regressor extension and mixing technique to improve transient performance of the basic approach and ensure non-strict monotonicity of estimation errors. Simulation results illustrate benefits of the proposed solution.Comment: This paper is submitted for the ALCOSP 2016 conferenc

Identification of Photovoltaic Arrays' Maximum Power Extraction Point via Dynamic Regressor Extension and Mixing

This paper deals with the problem of identification of photovoltaic arrays' maximum power extraction point---information that is encrypted in the current-voltage characteristic equation. We propose a new parameterisation of the classical five parameter model of this function that, combined with the recently introduced identification technique of dynamic regressor extension and mixing, ensures a fast and accurate estimation of all unknown parameters. A concavity property of the current-voltage characteristic equation is then exploited to directly identify the desired voltage operating point. Realistic numerical examples via computer simulations are presented to assess the performance of the proposed approach.Comment: This paper is submitted to th International Journal of Adaptive Control and Signal Processin

ROBUST REGULATION FOR SYSTEMS WITH POLYNOMIAL NONLINEARITY APPLIED TO RAPID THERMAL PROCESSES

Abstract. A problem of output robust control for a system with power nonlinearity is considered. The considered problem can be rewritten as a stabilization problem for a system with polynomial nonlinearity by introducing the error term. The problem of temperature regulation is considered as application; the rapid thermal processes in vapor deposition processing are studied. Modern industrial equipment uses complex sensors and control systems; these devices are not available for laboratory setups. The limited amount of available sensors and other technical restrictions for laboratory setups make it an actual problem to design simple low-order output control laws. The problem is solved by the consecutive compensator approach. The paper deals with a new type of restriction which is a combination of linear and power restrictions. It is shown that the polynomial nonlinearity satisfies this restriction. Asymptotical stability of the closed-loop system is proved by the Lyapunov functions approach for the considered nonlinear function; this contribution extends previously known results. Numerical simulation of the vapor deposition processing illustrates that the proposed approach results in zero-mean tracking error with standard deviation less than 1K

TRACKING CONTROL FOR A HYDRAULIC DRIVE WITH A PRESSURE COMPENSATOR

A problem of tracking control is considered for a hydraulic drive with a pressure compensator that is widespread in the equipment of heavy-duty machines. Method. The control problem is solved by means of a switching sliding-mode controller coupled with static nonlinear compensation and desired velocity feedforward. Main Results. Mathematical model of a hydraulic drive is given in view of the pressure compensator presence. Traditional model of a hydraulic drive is formulated for a system with a spool valve; purpose and principles of operation of the pressure compensator in hydraulic systems are described, and the extended model is presented illustrating compensator contribution to overall system dynamics. It is shown that the obtained model has an input static nonlinearity; the nonlinearity cancellation method is proposed giving the possibility for injection of a desired velocity feedforward term. The control law is chosen as a switching one and two chattering attenuation methods are studied: equivalent control estimation via filtering and sign function integration. Experimental studies are performed at a forestry hydraulic crane prototype and illustrate high tracking accuracy achieved for typical crane motions. Practical Significance. The results are suitable for heavy-duty hydraulic machines automation in construction, road building and forestry

Административно-деликтный закон в конституционных перспективах кодификации

The subject of the research is the problems of constitutional law enforcement of administrative offences legislation, taking into account the prospects for its new codification.The purpose of the article is confirmation or confutation of the hypothesis that the effectiveness of the new Code of administrative offences depends on whether the legal positions of the Constitutional Court of the Russian Federation on the principles of administrative responsibility will be taken into account when drafting it.The authors use methods of complex analysis, synthesis, as well as formal-legal method of interpretation of Constitution, legislation on administrative offences and judicial decisions of Russian Constitutional Court.The main results and scope of their application. The administrative torts law in Russia is expected to pass through the total review up to the grounds of its codification in close future. The article presents initial positions of that changes within basic frames produced by Russian Constitutional Court. Its case-law has already invaded into many spheres and details in respective sphere of legal rules and also prescribed a lot for their future. This case-law yet is necessarily made within its inherent range for it is ever constrained procedurally by content of actions and cases to be settled. However Russian administrative torts law is destined for reformation in new code-making in view of constitutional case-law and in order to do better with neighbor spheres of legal responsibility. Disputable matters of administrative liability, the company’s responsibility with psychical fiction on its fault (corporative thinking, wishing, desire, diligence), substantial and procedural equity etc. are described and discussed in the article as to the administrative law of torts on in its constitutional dimension.Conclusions. The Code of administrative offences of the Russian Federation does not fully meet the legal needs of society. Work on real improvement of this code will continue, therefore, legal science should be more strongly and persistently to implement in legislative practice constitutional ideas about improvement of codification and ensuring unity of legal space of the country. In particular, it is necessary to settle the debatable aspects of tort liability, the guilt of legal entities when it is addressed by fiction to the phenomena of the psyche (thinking, goals, will, caution), the constitutional and legal foundations of justice in the field of administrative penalties, procedural enforcement of rights and freedoms, etc.С учетом ожидаемого системного пересмотра законодательства об административных правонарушениях описывается исходная к этому обстановка, главным образом с правовых позиций Конституционного Суда Российской Федерации, которые изложены по предмету как небольшой свод правоположений с их юрисдикционными обоснованиями. Фиксируется, что эти позиции привели к заметным конституционно-правовым вмешательствам в административно-деликтное право и многое опреде-лили в нем на будущее в прескриптивных обращениях к законодательным властям. Исходя из ретроспективы и текущего состояния, предполагаются объем и структура предстоящей административно-деликтной кодификации, затрагиваются дискуссионные стороны деликтоспособности, вины юридических лиц, когда она обращена по фикции к явлениям психики (мышлению, целям, воле, осторожности), конституционно-правовые основы справедливости в области административных наказаний, процессуального обеспечения прав и свобод и другое по заявленной теме

Modeling Pointing Tasks in Mouse-Based Human-Computer Interactions

International audiencePointing is a basic gesture performed by any user during human-computer interaction. It consists in covering a distance to select a target via the cursor in a graphical user interface (e.g. a computer mouse movement to select a menu element). In this work, a dynamic model is proposed to describe the cursor motion during the pointing task. The model design is based on experimental data for pointing with a mouse. The obtained model has switched dynamics, which corresponds well to the state of the art accepted in the human-computer interaction community. The conditions of the model stability are established. The presented model can be further used for the improvement of user performance during pointing tasks

A Globally Convergent Adaptive Indirect Field-Oriented Torque Controller for Induction Motors

International audienceOne of the most challenging problems in AC drives applications is the design of a simple plug-in adaptation scheme to estimate the unknown rotor resistance and load torque for the industry-standard indirect field oriented control. In this paper we give the first globally convergent solution to this problem for torque control of current-fed induction motors that does not rely on any excitation assumption. Some results on speed regulation are also presented

A parallel prefiltering approach for the identification of a biased sinusoidal signal: theory and experiments

The problem of estimating the amplitude, frequency, and phase of an unknown sinusoidal signal from a noisy-biased measurement is addressed in this paper by a family of parallel prefiltering schemes. The proposed methodology consists in using a pair of linear filters of specified order to generate a suitable number of auxiliary signals that are used to estimate\u2014in an adaptive way\u2014the frequency, the amplitude, and the phase of the sinusoid. Increasing the order of the prefilters improves the noise immunity of the estimator, at the cost of an increase of the computational complexity. Among the whole family of estimators realizable by varying the order of the filters, the simple parallel prefilters of orders 2 C 2 and 3 C 3 are discussed in detail, being the most attractive from the implementability point of view. The behavior of the two algorithms with respect to bounded external disturbances is characterized by input-to-state stability arguments. Finally, the effectiveness of the proposed technique is shown both by comparative numerical simulations and by a real experiment addressing the estimation of the frequency of the electrical mains from a noisy voltage measurement