Sensorless Control of Electric Motors with Kalman Filters: Applications to Robotic and Industrial Systems

The paper studies sensorless control for DC and induction motors, using Kalman Filtering techniques. First the case of a DC motor is considered and Kalman Filter-based control is implemented. Next the nonlinear model of a field-oriented induction motor is examined and the motor's angular velocity is estimated by an Extended Kalman Filter which processes measurements of the rotor's angle. Sensorless control of the induction motor is again implemented through feedback of the estimated state vector. Additionally, a state estimation-based control loop is implemented using the Unscented Kalman Filter. Moreover, state estimation-based control is developed for the induction motor model using a nonlinear flatness-based controller and the state estimation that is provided by the Extended Kalman Filter. Unlike field oriented control, in the latter approach there is no assumption about decoupling between the rotor speed dynamics and the magnetic flux dynamics. The efficiency of the Kalman Filter-based control schemes, for both the DC and induction motor models, is evaluated through simulation experiments

flatness based adaptive fuzzy control of spark ignited engines

Abstract An adaptive fuzzy controller is designed for spark-ignited (SI) engines, under the constraint that the system's model is unknown. The control algorithm aims at satisfying the H∞ tracking performance criterion, which means that the influence of the modeling errors and the external disturbances on the tracking error is attenuated to an arbitrary desirable level. After transforming the SI-engine model into the canonical form, the resulting control inputs are shown to contain nonlinear elements which depend on the system's parameters. The nonlinear terms which appear in the control inputs are approximated with the use of neuro-fuzzy networks. It is shown that a suitable learning law can be defined for the aforementioned neuro-fuzzy approximators so as to preserve the closed-loop system stability. With the use of Lyapunov stability analysis it is proven that the proposed adaptive fuzzy control scheme results in H∞ tracking performance. The efficiency of the proposed adaptive fuzzy control scheme is checked through simulation experiments

Nonlinear optimal control for the synchronization of biological neurons under time-delays

The article proposes a nonlinear optimal control method for synchronization of neurons that exhibit nonlinear dynamics and are subject to time-delays. The model of the Hindmarsh–Rose (HR) neurons is used as a case study. The dynamic model of the coupled HR neurons undergoes approximate linearization around a temporary operating point which is recomputed at each iteration of the control method. The linearization procedure relies on Taylor series expansion of the model and on computation of the associated Jacobian matrices. For the approximately linearized model of the coupled HR neurons an H-infinity controller is designed. For the selection of the controller’s feedback gain an algebraic Riccati equation is repetitively solved at each time-step of the control algorithm. The stability properties of the control loop are proven through Lyapunov analysis. First, it is shown that the H-infinity tracking performance criterion is satisfied. Moreover, it is proven that the control loop is globally asymptotically stable. © 2018, Springer Nature B.V.Funding was provided by Unit of Industrial Automation/Industrial Systems Institute (Grant No. Ref 5805 - Advances in applied nonlinear optimal control)

Flatness-Based Control Approach to Drug Infusion for Cardiac Function Regulation

A new control method based on differential flatness theory is developed in this study, aiming at solving the problem of regulation of haemodynamic parameters. Actually control of the cardiac output (volume of blood pumped out by heart per unit of time) and of the arterial blood pressure is achieved through the administered infusion of cardiovascular drugs such as dopamine and sodium nitroprusside. Time delays between the control inputs and the system's outputs are taken into account. Using the principle of dynamic extension, which means that by considering certain control inputs and their derivatives as additional state variables, a state-space description for the heart's function is obtained. It is proven that the dynamic model of the heart is a differentially flat one. This enables its transformation into a linear canonical and decoupled form, for which the design of a stabilising feedback controller becomes possible. The proposed feedback controller is of proven stability and assures fast and accurate tracking of the reference setpoints by the outputs of the heart's dynamic model. Moreover, by using a Kalman filter-based disturbances' estimator, it becomes possible to estimate in real-time and compensate for the model uncertainty and external perturbation inputs that affect the heart's model. © The Institution of Engineering and Technology

Gemcitabine and docetaxel as first-line treatment for advanced urothelial carcinoma: a phase II study

The purpose of the study was to investigate the toxicity and efficacy of the combination of gemcitabine and docetaxel in untreated advanced urothelial carcinoma. Patients with previously untreated, locally advanced/recurrent or metastatic urothelial carcinoma stage-IV disease were eligible. Patients with Performance status: PS ECOG >3 or age >75 years or creatinine clearance <50 ml min−1 were excluded. Study treatment consisted of docetaxel 75 mg m−2 (day 8) and gemcitabine 1000 mg m−2 (days 1+8), every 21 days for a total of six to nine cycles. A total of 31 patients with urothelial bladder cancer, 25 men and six women, aged 42–74 (median 64) years were enrolled. The majority of patients had a good PS (51.6%; PS 0). In all, 15 (48.3%) patients had locally advanced or recurrent disease only and 16 (54.8%) presented with distant metastatic spread, with multiple site involvement in 22.5%. Toxicity was primarily haematologic, and the most frequent grade 3–4 toxicities were anaemia 11 (6.7%) thrombocytopenia eight (4.9%), and neutropenia 45 (27.6%), with 10 (6.1%) episodes of febrile neutropenia. No toxic deaths occurred. A number of patients had some cardiovascular morbidity (38.7%). Nonhaematological toxicities except alopecia (29 patients) were mild. Overall response rate was 51.6%, including four complete responses (12.9%) and 12 partial responses (38.7%), while a further five patients had disease stabilisation (s.d. 16.1%). The median time to progression was 8 months (95% CI 5.1–9.2 months) and the median overall survival was 15 months (95% CI 11.2–18.5 months), with 1-year survival rate of 60%. In conclusion, this schedule of gemcitabine and docetaxel is very active and well tolerated as a first-line treatment for advanced/relapsing or metastatic urothelial carcinoma. Although its relative efficacy and tolerance as compared to classic MVAC should be assessed in a phase III setting, the favourable toxicity profile of this regimen may offer an interesting alternative, particularly in patients with compromised renal function or cardiovascular disease