The application of industrial robots has greatly increased in recent years making production systems more and efficient. With this mind, increasingly efficient controllers are needed for those robots. In paper is presented a performance comparison between the Proportional-Integral-Derivative (PID) Linear Quadratic Regulator (LQR) applied to speed control one joint cylindrical, i.e Rotational-Prismatic-Prismatic (RPP), robotic manipulator. results interactive parallel forms PID controller LQR...

In this note, the problem of data-driven saturated state feedback design for polynomial nonlinear systems is solved by means a sum-of-squares (SOS) approach. This new strategy combines recent results in dissipativity theory and control using noisy input-state data. SOS optimization employed work controller to deliver an estimate closed-loop domain attraction under feedback. Numerical examples allow reader verify usefulness our strategy, which first literature provide dissipativity-based...

This paper presents the control design of a nonholonomic mobile robot with differential drive using strategies on linearized space state error model. In this case, diagonal multi-variable model is obtained for which decentralized PI controller may be designed. paper, tuning performed through LQR problem whose feedback gains are set as proportional gain controller. The use an Inertial Measuring Unit (IMU) allows precise posture by Kalman Filter output sensors. For such purpose, Sensor Fusion...

This paper proposes a tuning procedure that combines the well known T-polynomial, from predictive control, with LQG algorithm. The proposed scheme was successfully applied to speed loop of switched reluctance motor (SRM), which is by its specific issues related driving and control. Such characteristics make SRM strong set up exploit solution. Results are compared both controller approach GPCBC classical LQG/LTR, analysed regarding transient disturbance rejection. Power analysis control...

Los controladores óptimos en espacio de estado han tenido bastante popularidad las últimas décadas, principalmente, debido a sus buenas propiedades robustez, desempeño y la posibilidad aplicación sistemas multivariables. Sin embargo, muchos procesos industriales presentan retrasos dominantes entre variables los cuales pueden ocasionar problemas estabilidad. A pesar su importancia, existen pocos trabajos reportados control óptimo que tratan este problema. Para mitigar el efecto del retraso...

This paper presents the results from a design study on feasibility of speed loop controller employing Linear Matrix Inequalities (LMI) in order to improve disturbance rejection Switched Reluctance Motors (SRM). The novel resulting solution benefit simple state feedback topology tuned previously for operation at an entire polytopic region uncertainty and yet has low computer effort profile allowing fit most digital controlled drivers' platforms. Simulations experimental demonstrate potential...

This work proposes to use a centralized multi-variable control strategy for an isolated three-port DC-DC converter, which interfaces photovoltaic panel, battery, and DC bus. The proposed consists of Linear Quadratic Gaussian (LQG) approach with Loop Transfer Recovery (LTR) integral action (LQG/LTRI) applied in multivariable state-space model. It is designed maintain stabilization voltage tracking performance the presence step-type disturbances typical abrupt variations solar incidence load...

Many industrial and laboratory applications which make use of electric machines require noninterruption operation, even in the presence faults, such as power generation vehicles. Under fault scenarios, performance system is expected to degrade control techniques may be helpful overcome this issue. Within context, phase faults are obviously undesired, lead machine stop operating. Switched reluctance (SRM), due its inherit characteristics, naturally tolerant despite loss performance. Most used...

A method for auto-tuning of PID controllers integrating and unstable processes based on closed-loop identification is presented. The parameter estimation a new model, performed after set-point step changes or load disturbances, formulated. performance assessment devised indexes are defined. Simulation results with the addition model uncertainties presented strategy effectiveness analyzed.

This work proposes a method of automatic tuning for dead-time compensator that can cope with stable, integrative and unstable process. At first, identification is devised then simple rules are defined to retune the controller. Furthermore, performance assessment procedure presented. Simulation results presented show effectiveness method.

In this note, the problem of data-driven saturated state feedback design for polynomial nonlinear systems is solved by means a sum-of-squares (SOS) approach. This new strategy combines recent results in dissipativity theory and control using noisy input-state data. SOS optimization employed work controller to deliver an estimate closed-loop domain attraction under feedback. Numerical examples allow reader verify usefulness our strategy, which first literature provide datadriven...

Load changes studies are an important issue regarding to electric machines due its industry call. Regarding this matter setting up a motor test bench in such way that load profiles may be reproduced is handy tool. For purpose torque control strategy necessary for the emulation motor, while under free. Within context, work investigates cascade with speed controller asynchronous arrangement, i. e., signal from reference of inner loop.

This paper presents the comparative study of controllers: Model Based Predictive Control (MPC) and Proportional Integral with Anti-Windup structure (PI-AW), applied to speed control a switched Reluctance Motor (SRM). The SRM physically noise in measurement variable given Revolutions Per Minute (RPM) be controlled. PI-AW MPC controllers was observed presence steady-state error, this phenomenon is called Noise Induced Tracking Error (NITE). But when considering T-polynomial tuned intuitively...

Replacement of electric motors "before the standard efficiency" or "standard type by brand new ones superior efficiency is a profitable energy action, despite its high purchase cost. On other hand, rewinding process, from conventional windings, emerges as novel action capable reaching IE3/Premium and IE4/Super-Premium classes with good cost-benefit relationship. This work presents strategy for such indices based on life cycle cost analysis (LCCA) partial loading 50%. Such load condition fair...

Traditional Proportional, Integral and Derivative controllers (PID) have been largely employed for the control of industrial variable speed drives due to easy design good performance they provide. Switched Reluctance Machines (SRM) its inherent characteristics are naturally tolerant phase faults despite loss. However, in some cases, such as electric vehicles power generation, a non-interrupt operation is mandatory or at least required, even under faulty scenarios. Most techniques used...

Hazard Avoidance is a key technology for safe landing of future planetary missions. During Avoidance, sensors and computers onboard the lander are used to detect hazards in zone, autonomously select most suitable region landing, generate trajectory that retargets safer site. In this paper, vision-based hazard avoidance algorithms briefly described, results consolidated performance assessment under realistic simulated scenario representing on Mercury presented. Results show developed...