This article presents a novel method of dealing with disturbances and control saturation in the framework discrete-time sliding mode (DSMC). A DSMC decoupled disturbance compensator (DDC) was developed for SMC to recover loss stability domain. However, windup phenomena occur both switching function estimate when occurs, cannot guarantee stability. The develops new maintaining under by incorporating auxiliary state into DDC method. prevents phenomena, preserves asymptotic convergence property...

To solve the city's traffic congestion problem, micro-traffic simulation is widely used to analyze current situation and implement a plan problem. With nature of simulation, it possible design multiple scenarios predict future conditions. The state network usually represented visually through 3D graphics numbers such as speed, delay time, etc. However, analysis results are generally not intuitive, making difficult for non-experts judge indicators. This study presents possibility utilizing an...

Modern mechatronics systems are implemented digitally. However, the magnitude and phase errors caused in discretization process severely restrain control performance with high-frequency components where only a few sampled data points available per period. This paper presents new accurate method for that provide good even when intrinsic frequency close to Nyquist which is one-half of sampling frequency. The bilinear transform most commonly used, but it causes oscillations initial state error...

To study the role of mRNA termination in regulation ermK, we introduced mismatches into terminators by vitro mutagenesis. In wild-type only truncated transcription products were detected absence induction. contrast, full-length transcript was synthesized terminator 1 and 2 double mutants, even erythromycin. These results indicate that expression ermK is primarily regulated transcriptional attenuation rather than translational attenuation. We also tested possible contribution control to...

This paper proposes a firing angle control algorithm for two-phase soft starters. Soft starters are widely utilized to the starting current of three-phase induction motors by regulating thyristors. The starter, in which only currents controlled thyristors with other phase directly connected motor, has been proposed researchers reduce cost and energy consumption. However, when each using same as becomes unbalanced because voltage asymmetry between two phases uncontrolled phase. To overcome...

A discrete-time sliding mode control (DSMC) with a decoupled disturbance compensator (DDC) is nonlinear and robust method, which suitable for slowly-varying disturbances. To effectively compensate the disturbances, gain of DDC should be designed in systematic way. This paper presents frequency-domain design method DSMC presence time delay. In addition, new generalized (GDDC) frequency domain, improves phase response as compared to conventional DDC. Experimental results on an industrial servo...

This paper presents an application of a discrete derivative method with new frequency mapping technique for adaptive-notch-filter (ANF) based resonance suppression in actual industrial servo system. An ANF includes estimator which estimates the input signal real time. A method, utilizes modified bilinear transform, was recently developed to improve estimation performance and applied computer simulation cases. The steady state is improved, especially high ranges by using this method. However...

This paper presents a method to enhance robustness in sliding mode control (SMC) combined with decoupled disturbance compensator (DDC). More specifically, gain selection for the DDC industrial servo systems unknown inertia is developed. The SMC well-known robust which effective slowly-varying and bounded disturbances. However, when of improperly selected, large error parameter can lead poor performance such as overshoot motor position. shows that caused by an uncertain produce pair complex...

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This paper presents a novel resonance suppression method for mover-position-dependent resonance. In industrial equipment and robots, increasing controller bandwidth higher performance can induce inherent resonances. Various filter-based methods have been developed utilized to compensate the However, in applications, such as belt-drive loads, where frequency change by two three times depending on position of mover, suppressing using fixed-parameter filters is not effective. proposes new...

Manufacturing demands have increased in recent years, requiring a tack time few tens of milliseconds to assembly machines with vibrational modes less than couple hundreds Hz. For typical high-frequency range (approximately 800 Hz) vibrations, notch filters depth 1.0 are successfully used for vibration suppression. However, low-frequency 200 vibrations typically result from the viscoelasticity couplings and cannot be compensated using filter 1.0. In addition, damping levels can change...

This paper presents a parameter selection method of notch filters for suppressing mechanical resonances in industrial servo systems using the deep deterministic policy gradient (DDPG) algorithm. Several methods tuning filter parameters were studied such as fast-Fourier-transform-based methods, extended-Kalman-filter-based and adaptive methods. However, these do not find Q which play an important role determining system stability, consider cases multiple are required. Deep-Q-network-based was...

This paper presents a performance optimization methodology for the discrete-time sliding mode control (SMC) with decoupled disturbance compensator (DDC) and auxiliary state (AS) an industrial position system under input saturation disturbance. The SMC DDC AS (SDA) method prevents windup phenomena in switching function estimation error. Therefore, it provides robust saturation, disturbances, as well parametric uncertainties. However, is difficult to relate several design parameters desired...

The discrete-time sliding mode control (DSMC) is a highly utilized method in industrial systems, such as manufacturing robot manipulators, and automation systems. DSMC with decoupled disturbance compensator (DDC) one of the robust methods high tracking performance fast responses. Based on error dynamics, performance-shaping methodology for DDC has also been developed to reduce position errors servo However, input reference output transfer function zero, causing an unwanted overshoot...

This study was conducted to evaluate the antibody levels of alpha-toxin, capsular polysaccharides (CPS) and fibronectin-binding protein (FnBP) in rabbits immunized with an experimental vaccine against Staphylococcus aureus develop bovine mastitis subunit future. Enzyme immunoassay used for detection IgG antibodies staphylococcal CPS, alpha-toxin FnBP. The specific FnBP were significantly increased after first immunization compared control animals (p<0.05). Of three antigen vaccine,...

This paper presents an effective performance shaping methodology of discrete-time sliding mode control (DSMC) with disturbance observer (DOB) based on the analysis error dynamics. DSMC DOB exhibits excellent tracking and robustness subject to external disturbances unknowns including uncertain parameters unmodelled In addition, can be easily implemented in various applications attributed its simple structure discrete-domain representation. However, cannot predicted by controller DOB, much...

This paper presents an application of a discretization method with new phase compensation technique for adaptive-notch-filter (ANF) based resonance suppression in actual industrial servo system. The ANF includes frequency estimator which estimates the vibration input signal real time and automatically filters it out. Because is designed continuous-time domain, process required digital implementation. However, error may restrain performance ANF, especially when near Nyquist frequency....

An increasing number of vehicles is causing various traffic problems such as chronic congestion highways and air pollution. Local governments have been managing by constructing systems Intelligent Transport Systems (ITS) Advanced Traffic Management (ATMS) to relieve problems, but construction an infrastructure-based system insufficient in resolving problems. A more sophisticated with enhanced operational management capabilities added the existing facilities necessary at this point. As...

This paper develops an overshoot enhancement method of discrete-time sliding mode control (DSMC) with a decoupled disturbance compensator (DDC) subject to ramp-type disturbances. The original DSMC DDC has several features such as excellent trajectory tracking, easy implementation, and robustness However, when the system suffers from viscosity friction, position error remains arises at end motion. They are highly undesirable in applications robot manipulators manufacturing systems. In this...

This paper designed a new robust velocity control method for industrial servo systems. Exogenous disturbances and input saturation are considered by using the discrete-time Sliding mode with Decoupled disturbance compensator Auxiliary state (SDA) method. The SDA preserves original stability of sliding dynamics as well estimation error under both disturbance. Due to these attributes, has been utilized in various applications. In this paper, is newly Based on method, gain auxiliary set "1"....

This paper presents a design method for the discrete-time sliding mode control (DSMC) with second-order decoupled disturbance compensator (DDC). A DSMC DDC has been widely used industrial servo systems. The asymptotic convergence properties in systems slowly-varying and parametric uncertainty. can be modeled as observer (DOB) first-order Q-filter structure. However, when difference between nominal plant model actual is large, this does not sufficiently minimize effects of uncertainties,...

This paper presents a design framework for the discrete-time Sliding mode control with Decoupled disturbance compensator and Auxiliary state (SDA) method in industrial servo applications. In particular, SDA is formulated to provide an excellent tracking performance even presence of input saturation disturbance. Moreover, it preserves separation principle sliding dynamics estimation error original Mode Control (SMC) Disturbance Compensator (DDC) method. However, can be problematic due...