Hybrid passivity based and fuzzy type-2 controller for chaotic and hyper-chaotic systems

In this paper a hybrid passivity based and fuzzy type-2 controller for chaotic and hyper-chaotic systems is presented. The proposed control strategy is an appropriate choice to be implemented for the stabilization of chaotic and hyper-chaotic systems due to the energy considerations of the passivity based controller and the flexibility and capability of the fuzzy type-2 controller to deal with uncertainties. As it is known, chaotic systems are those kinds of systems in which one of their Lyapunov exponents is real positive, and hyper-chaotic systems are those kinds of systems in which more than one Lyapunov exponents are real positive. In this article one chaotic Lorentz attractor and one four dimensions hyper-chaotic system are considered to be stabilized with the proposed control strategy. It is proved that both systems are stabilized by the passivity based and fuzzy type-2 controller, in which a control law is designed according to the energy considerations selecting an appropriate storage function to meet the passivity conditions. The fuzzy type-2 controller part is designed in order to behave as a state feedback controller, exploiting the flexibility and the capability to deal with uncertainties. This work begins with the stability analysis of the chaotic Lorentz attractor and a four dimensions hyper-chaotic system. The rest of the paper deals with the design of the proposed control strategy for both systems in order to design an appropriate controller that meets the design requirements. Finally, numerical simulations are done to corroborate the obtained theoretical results.Peer ReviewedPostprint (published version

Complete kinematic analysis of the Stewart-Gough platform by unit quaternions

In this paper, a complete analysis of Stewart–Gough platform kinematics by unit quaternions is proposed. Even when unit quaternions have been implemented in different applications (including a kinematic analysis of the Stewart platform mechanism), the research regarding the application of this approach is limited only to the analysis of some issues related to the kinematic properties of this parallel mechanism. For this reason, a complete analysis of the Stewart–Gough platform is shown. The derivation of the inverse and forward kinematics of the Stewart platform using unit quaternions shows that they are suitable to represent the orientation of the upper platform due to their simplicity, equivalence, and compact representation as compared to rotation matrices. Then, the leg velocities are derived to compute these values under different conditionsPeer ReviewedPostprint (published version

Incidencia de alteraciones cardiovasculares en caballos criollos colombianos mediante diagnóstico ecocardiográfico

Páginas 61-68Recurso ElectrónicoEl trabajo se realizó en la ciudad de Ibagué con 47 caballos criollos colombianos con un peso medio de 282 ± 20 kg con una edad media de 6 ± 1,4 años. Todos sospechosos de padecer alteraciones cardiacas, con tos persistente, disnea e intolerancia al ejercicio. En el examen semiológico, mediante toma de pulso, frecuencia cardiaca, auscultación de sonidos cardiacos y pulmonares para determinar signología que reflejarán una afección cardiovascular, resultaron 25 equinos con signos evidentes de padecer alteraciones cardiacas. Se hizo evaluación con ecocardiografías en modo B y M, con el animal en reposo físico. Posteriormente se procedió a ejercitarlos, por veinte minutos, para tomar nuevamente y en forma inmediata el pulso, la frecuencia cardiaca, hacer auscultación cardiopulmonar y ecocardiografía en modo B y M, con el fin de detectar anormalidades cardiacas que no fueron mostradas por el animal en reposo. De estos, cinco mostraron insuficiencia mitral y dos presentaron arritmias cardiacas. Se construyeron intervalos de confianza, usando distribución de probabilidad exacta para una binomial, determinando así la probabilidad de que un equino sospechoso manifestara insuficiencia mitral (entre el 3,55 % y 23,10 %) o de que apareciera arritmia (entre el 0,05 % y el 11,29 %), igual probabilidad para la arritmia por vagotonía.ABSTRACT. The work was carried out in Ibague, with 47 Colombian Creole horses, between 250 and 350 kg with 6 ± 1,4 years-old, suspected of suffering cardiac alterations, persistent cough, dyspnea and exercise intolerance. After the semiological examination, with taking the pulse, heart rate, auscultation of heart and lung sounds to determine signs that reflected a cardiovascular affection, twenty-five horses showed evident signs of suffering heart alterations, evaluating them with B and M mode echocardiography and with the animal in physical rest, proceeding to exercise them for twenty minutes and taking the pulse and the heart frequency immediately, auscultating the heart again to detect heart abnormalities that were not shown by the animal in rest. According to test results, five showed mitral insufficiency and two had cardiac arrhythmias. As the sample size of the equine cardiac diseases is small, intervals of trust were built using distribution of exact probability for a binomial one, determining the probability that a suspected equine manifested mitral insufficiency it would be between 3,55 % and 23,10 %; or that arrhythmia appeared (between 0,05 % and 11,29 %),the same probability for the arrhythmia by vagotonia

Smith Predictor with Inverted Decoupling for Square Multivariable Time Delay Systems

Versión del autorThis paper presents a new methodology to design multivariable Smith predictor for n×n processes with multiple time delays based on the centralized inverted decoupling structure. The controller elements are calculated in order to achieve good reference tracking and decoupling response. Independently of the system size, very simple general expressions for the controller elements are obtained. The realizability conditions are provided and the particular case of processes with all of its elements as first order plus time delay systems is discussed in more detail. A diagonal filter is added to the proposed control structure in order to improve the disturbance rejection without modifying the nominal set-point response and to obtain a stable output prediction in unstable plants. The effectiveness of the method is illustrated through different simulation examples in comparison with other works

COMPLETE KINEMATIC ANALYSIS OF THE STEWART–GOUGH PLATFORM BY UNIT QUATERNIONS

In this paper, a complete analysis of Stewart–Gough platform kinematics by unit quaternions is proposed. Even when unit quaternions have been implemented in different applications (including a kinematic analysis of the Stewart platform mechanism), the research regarding the application of this approach is limited only to the analysis of some issues related to the kinematic properties of this parallel mechanism. For this reason, a complete analysis of the Stewart–Gough platform is shown.The derivation of the inverse and forward kinematics of the Stewart platform using unit quaternions shows that they are suitable to represent the orientation of the upper platform due to their simplicity, equivalence, and compact representation as compared to rotation matrices. Then, the leg velocities are derived to compute these values under different conditions

Adaptive self-recurrent wavelet neural network and sliding mode controller/observer for a slider crank mechanism

In this paper, a novel control strategy based on an adaptive Self-Recurrent Wavelet Neural Network (SRWNN) and a sliding mode controller/observer for a slider crank mechanism is proposed. The aim is to reduce the tracking error of the linear displacement of this mechanism while following a specified trajectory. The controller design consists of two parts. The first one is a sliding mode control strategy and the second part is an SRWNN controller. This controller is trained offline first, and then the SRWNN weights are updated online by the adaptive control law. Apart from the hybrid control strategy proposed in this paper, a velocity observer is implemented to replace the use of velocity sensors. The outcomes obtained in the numerical experiment section prove that the smallest tracking error is obtained for the linear and angular displacements in comparison with other strategies found in literature due to the uncertainty and disturbance rejection properties of the sliding mode and the self-recurrent wavelet neural network controllers.Peer ReviewedPostprint (author's final draft

Dynamic Model Derivation of a 3RRR Robot Based in Screw Theory

In this article a technique to obtain a dynamic model of a 3RRR robot from its kinematic model based on screw theory is proposed, which allows to obtain the open or closed robot kinematics. First the kinematic model is obtained in a compact form and then the dynamic model is obtained from the Euler Lagrange method, with this the simplicity and compactness characteristics are transferred to the dynamic model. The dynamic model is obtained initially for the actuated joints and then for the effector coordinates through its interrelations. To prove the effectiveness of this theoretical derivation the obtained model is tested with a proportional-derivative controller (PD) because it provides a simple control strategy that can be extended later to more effective controllers

Biodiversity patterns of cavernicolous ground-beetles and their conservation status in the Azores, with the description of a new species: Trechus isabelae n. sp (Coleoptera : Carabidae : Trechinae)

Copyright © 2007 · Magnolia Press.Diversity patterns of cave and epigean Trechinae (Coleoptera, Carabidae) from the Azores (Portugal) are reported based on recently standardized sampling protocols in different habitats of this geologically young and isolated volcanic archipelago. A total of 10 species are studied, including Trechus isabelae n. sp., collected in a volcanic pit on São Jorge, one of the nine islands of the Azores. This new Trechus species represents the eighth species of Trechinae described from the underground environment of the Azores. An identification key for the Azorean species of Trechus is provided along with additional information per species on their distribution and conservation status in the archipelago. Possible reasons for the different degrees of adaptation to the conditions of the underground environment exhibited by Trechinae are also discussed

Fractional-order projection of a chaotic system with hidden attractors and its passivity-based synchronization

This paper presents the fractional-order projection of a chaotic system, which delivers a collection of self-excited and hidden chaotic attractors as a function of a single system parameter. Based on an integer-order chaotic system and the proposed transformation, the fractional-order chaotic system obtains when the divergence of integer and fractional vector fields flows in the same direction. Phase portraits, bifurcation diagrams, and Lyapunov exponents validate the chaos generation. Apart from these results, two passivity-based fractional control laws are designed effectively for the integer and fractional-order chaotic systems. In both cases, the synchronization schemes depend on suitable storage functions given by the fractional Lyapunov theory. Several numerical experiments confirm the proposed approach and agree well with the mathematical deductions