Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044482
Jonqlan Lin, S.-Y. Guo, Julian Chang
The objectives of the research are to develop a novel balancing approach for a novel SAMS model which is called cart-seesaw system. The investigation is using fuzzy logic rule incorporates fuzzy coordinator compensation to drive the sliding carts and keep the seesaw angle close to zero in the equilibrium state. Experimental results indicate that utilizing the proposed control methodology significantly enhances the performance. Moreover, the performance of fuzzy balancing controller (FBC) is not significantly affected by changes the environmental parameters, demonstrating the effectiveness of the fuzzy controller in minimizing the seesaw tilt angle in the time domain although the system is caused by unpredicted loading variation. Moreover, the experimental results are included to indicate the effectiveness and robustness of the proposed fuzzy control methodology. While this work is motivated by an exploration cart-seesaw balancing problem, then the results of this study can be applied to underactuated mechanical system in which the dimensions of the configuration space exceed the dimensions of the control input space. Furthermore, development the proposed software/hardware platform can be beneficial for standardizing laboratory equipment, and the development of amusement apparatus.
{"title":"Balancing control for pneumatic cart-seesaw system by fuzzy coordination methodology","authors":"Jonqlan Lin, S.-Y. Guo, Julian Chang","doi":"10.1109/CCA.2011.6044482","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044482","url":null,"abstract":"The objectives of the research are to develop a novel balancing approach for a novel SAMS model which is called cart-seesaw system. The investigation is using fuzzy logic rule incorporates fuzzy coordinator compensation to drive the sliding carts and keep the seesaw angle close to zero in the equilibrium state. Experimental results indicate that utilizing the proposed control methodology significantly enhances the performance. Moreover, the performance of fuzzy balancing controller (FBC) is not significantly affected by changes the environmental parameters, demonstrating the effectiveness of the fuzzy controller in minimizing the seesaw tilt angle in the time domain although the system is caused by unpredicted loading variation. Moreover, the experimental results are included to indicate the effectiveness and robustness of the proposed fuzzy control methodology. While this work is motivated by an exploration cart-seesaw balancing problem, then the results of this study can be applied to underactuated mechanical system in which the dimensions of the configuration space exceed the dimensions of the control input space. Furthermore, development the proposed software/hardware platform can be beneficial for standardizing laboratory equipment, and the development of amusement apparatus.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125526463","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044507
Neilkunal Panchal, M. Bayliss, J. Whidborne
Directional drilling has become increasingly important as a means for better exploitation of oil and gas reservoirs as well as part of a drive to increase the level of automation in the industry. Typically, a well plan is created for a variety of reasons, such as maximizing productive drilling, minimizing well tortuosity, collision avoidance, or navigating the tool to strategic points within a pay zone. Following a nominal well plan created to satisfy these requirements whilst drilling leads to a clear need for automated trajectory-controlled drilling. This paper builds on the authors' earlier work on generalized attitude control of directional drilling to develop a path-following algorithm incorporating optimized geometric Hermite space curves as a means of generating the correction path from the instantaneous tool position to the well plan whilst minimizing the drillstring strain energy. The proposed scheme is tested in simulation and shown to perform satisfactorily for a typical set of drilling operating parameters for converging towards a target position and attitude.
{"title":"Minimum strain energy waypoint-following controller for directional drilling using OGH curves","authors":"Neilkunal Panchal, M. Bayliss, J. Whidborne","doi":"10.1109/CCA.2011.6044507","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044507","url":null,"abstract":"Directional drilling has become increasingly important as a means for better exploitation of oil and gas reservoirs as well as part of a drive to increase the level of automation in the industry. Typically, a well plan is created for a variety of reasons, such as maximizing productive drilling, minimizing well tortuosity, collision avoidance, or navigating the tool to strategic points within a pay zone. Following a nominal well plan created to satisfy these requirements whilst drilling leads to a clear need for automated trajectory-controlled drilling. This paper builds on the authors' earlier work on generalized attitude control of directional drilling to develop a path-following algorithm incorporating optimized geometric Hermite space curves as a means of generating the correction path from the instantaneous tool position to the well plan whilst minimizing the drillstring strain energy. The proposed scheme is tested in simulation and shown to perform satisfactorily for a typical set of drilling operating parameters for converging towards a target position and attitude.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125574060","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044446
Michael Hansen, J. Stoustrup, J. Bendtsen
We consider the problem of designing control laws for a marine cooling system used for cooling the main engine and auxiliary components aboard several classes of container vessels. We focus on achieving simple set point control for the system and do not consider compensation of the non-linearities, closed circuit flow dynamics or transport delays that are present in the system. Control laws are therefore designed using classical control theory and the performance of the design is illustrated through a simulation example where it is compared to a reference control design.
{"title":"Control of non-linear marine cooling system","authors":"Michael Hansen, J. Stoustrup, J. Bendtsen","doi":"10.1109/CCA.2011.6044446","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044446","url":null,"abstract":"We consider the problem of designing control laws for a marine cooling system used for cooling the main engine and auxiliary components aboard several classes of container vessels. We focus on achieving simple set point control for the system and do not consider compensation of the non-linearities, closed circuit flow dynamics or transport delays that are present in the system. Control laws are therefore designed using classical control theory and the performance of the design is illustrated through a simulation example where it is compared to a reference control design.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"4 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128328344","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044449
Wei-Cheng Zeng, B. Xian, Chen Diao, Qiang Yin, Haotao Li, Yungao Yang
In this paper, a nonlinear adaptive regulation controller is presented for a class of underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle's dynamics is subject to modeling impression associated with the inertia matrix, aerodynamic damping coefficients, and some other system parameters. The on-line parameter estimation scheme is combined with feedback control to develop the adaptive control laws. Lyapunov based approaches are utilized to prove that the quadrotor UAV's position and yaw angle regulation errors are ultimately driven to zero under parametric uncertainties. Simulation results are included to demonstrate the performance of the control strategy.
{"title":"Nonlinear adaptive regulation control of a quadrotor unmanned aerial vehicle","authors":"Wei-Cheng Zeng, B. Xian, Chen Diao, Qiang Yin, Haotao Li, Yungao Yang","doi":"10.1109/CCA.2011.6044449","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044449","url":null,"abstract":"In this paper, a nonlinear adaptive regulation controller is presented for a class of underactuated quadrotor unmanned aerial vehicle (UAV). The vehicle's dynamics is subject to modeling impression associated with the inertia matrix, aerodynamic damping coefficients, and some other system parameters. The on-line parameter estimation scheme is combined with feedback control to develop the adaptive control laws. Lyapunov based approaches are utilized to prove that the quadrotor UAV's position and yaw angle regulation errors are ultimately driven to zero under parametric uncertainties. Simulation results are included to demonstrate the performance of the control strategy.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129961928","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044402
S. Prívara, Z. Vána, D. Gyalistras, J. Cigler, Carina Sagerschnig, M. Morari, L. Ferkl
Predictive control in buildings has undergone an intensive research in the past years. Model identification plays a central role in a predictive control approach. This paper presents a comprehensive study of modeling of a large multi-zone office building. Many of the common methods used for modeling of the buildings, such as a detailed modeling of the physical properties, RC modeling, etc., appeared to be unfeasible because of the complexity of the problem. Moreover, most of the research papers dealing with this topic presents identification (and control) of either a single-zone building, or a single building sub-system. On contrary, we proposed a novel approach combining a detailed modeling by a building-design software with a black-box subspace identification. The uniqueness of the presented approach is not only in the size of the problem, but also in the way of getting the model and interconnecting several computational and simulation tools.
{"title":"Modeling and identification of a large multi-zone office building","authors":"S. Prívara, Z. Vána, D. Gyalistras, J. Cigler, Carina Sagerschnig, M. Morari, L. Ferkl","doi":"10.1109/CCA.2011.6044402","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044402","url":null,"abstract":"Predictive control in buildings has undergone an intensive research in the past years. Model identification plays a central role in a predictive control approach. This paper presents a comprehensive study of modeling of a large multi-zone office building. Many of the common methods used for modeling of the buildings, such as a detailed modeling of the physical properties, RC modeling, etc., appeared to be unfeasible because of the complexity of the problem. Moreover, most of the research papers dealing with this topic presents identification (and control) of either a single-zone building, or a single building sub-system. On contrary, we proposed a novel approach combining a detailed modeling by a building-design software with a black-box subspace identification. The uniqueness of the presented approach is not only in the size of the problem, but also in the way of getting the model and interconnecting several computational and simulation tools.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"97 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117203860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044481
G. Calabrò, F. Maviglia, R. Albanese, G. Ambrosino, G. Artaserse, F. Crisanti, A. Cucchiaro, C. Labate, M. Mattei, A. Pironti, G. Ramogida, B. Viola
Fusion Advanced Studies Torus (FAST) conceptual study has been proposed as possible European ITER Satellite. This facility is aimed at exploring and preparing ITER operation scenarios as well as helping DEMO design and R&D. This paper presents the plasma position and shape control studies, focusing on the machine flexibility in terms of both operational space and physics that can be investigated. The optimization of a copper shell position inside the vacuum vessel provides a slowing down of the growth rate of the vertical instability around 13s−1. A sensitivity analysis of each poloidal field (PF) circuit and their effects on plasma shape is carried out. A SVD based PID control scheme has been used for controlling the plasma current, shape and position.
{"title":"Plasma modeling and magnetic control of FAST tokamak proposal","authors":"G. Calabrò, F. Maviglia, R. Albanese, G. Ambrosino, G. Artaserse, F. Crisanti, A. Cucchiaro, C. Labate, M. Mattei, A. Pironti, G. Ramogida, B. Viola","doi":"10.1109/CCA.2011.6044481","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044481","url":null,"abstract":"Fusion Advanced Studies Torus (FAST) conceptual study has been proposed as possible European ITER Satellite. This facility is aimed at exploring and preparing ITER operation scenarios as well as helping DEMO design and R&D. This paper presents the plasma position and shape control studies, focusing on the machine flexibility in terms of both operational space and physics that can be investigated. The optimization of a copper shell position inside the vacuum vessel provides a slowing down of the growth rate of the vertical instability around 13s−1. A sensitivity analysis of each poloidal field (PF) circuit and their effects on plasma shape is carried out. A SVD based PID control scheme has been used for controlling the plasma current, shape and position.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121549551","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044488
P. Gebraad, J. Wingerden, P. Fleming, A. Wright
In this paper we apply a state-of-the-art algorithm for subspace identification of linear parameter-varying (LPV) systems to identify the coupled dynamics of the drive-train and the edgewise bending motion of the rotor blades of three-bladed wind turbines. These dynamics are varying with the rotor speed. The identification algorithm uses a factorization which makes it possible to form predictors based on past inputs, outputs, and the known rotor speed. The predictors contain the LPV equivalent of the Markov parameters. Using the predictors, ideas from Predictor Based Subspace IDentification (PBSID) were developed to estimate the state sequence from which the LPV system matrices can be constructed. The algorithm was applied not only to synthetic data generated by a computer simulation of a reference wind turbine, but also to data measured from the CART3 research wind turbine at the National Wind Technology Center of the National Renewable Energy Laboratory (NREL). This paper demonstrates that the linear time-varying behavior of the aeroelastic dynamics of the wind turbine rotor can be captured in an LPV model identified with measured input-output data.
{"title":"LPV subspace identification of the edgewise vibrational dynamics of a wind turbine rotor","authors":"P. Gebraad, J. Wingerden, P. Fleming, A. Wright","doi":"10.1109/CCA.2011.6044488","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044488","url":null,"abstract":"In this paper we apply a state-of-the-art algorithm for subspace identification of linear parameter-varying (LPV) systems to identify the coupled dynamics of the drive-train and the edgewise bending motion of the rotor blades of three-bladed wind turbines. These dynamics are varying with the rotor speed. The identification algorithm uses a factorization which makes it possible to form predictors based on past inputs, outputs, and the known rotor speed. The predictors contain the LPV equivalent of the Markov parameters. Using the predictors, ideas from Predictor Based Subspace IDentification (PBSID) were developed to estimate the state sequence from which the LPV system matrices can be constructed. The algorithm was applied not only to synthetic data generated by a computer simulation of a reference wind turbine, but also to data measured from the CART3 research wind turbine at the National Wind Technology Center of the National Renewable Energy Laboratory (NREL). This paper demonstrates that the linear time-varying behavior of the aeroelastic dynamics of the wind turbine rotor can be captured in an LPV model identified with measured input-output data.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122042269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044367
K. Hidaka, Shintaro Takayama
This paper introduces a robust recognition for mobile robot by using Kalman filter. A novel disturbance rejection method by using Kalman filter is introduced. The covariant matrix of proposed Kalman gain varies to environment. The covariant matrix of Kalman gain has to change depending on the conditions of disturbance or brightness variation. Because these signals are usually unknown, this covariant value is assumed constant, however. Therefore, enough accuracy of rejection is not obtained by this method. We propose a time-varying Kalman gain based on template and show the validity of our method for path recognition of mobile robot under changes in illumination.
{"title":"Rejection of illuminance for trajectory control using Kalman filter","authors":"K. Hidaka, Shintaro Takayama","doi":"10.1109/CCA.2011.6044367","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044367","url":null,"abstract":"This paper introduces a robust recognition for mobile robot by using Kalman filter. A novel disturbance rejection method by using Kalman filter is introduced. The covariant matrix of proposed Kalman gain varies to environment. The covariant matrix of Kalman gain has to change depending on the conditions of disturbance or brightness variation. Because these signals are usually unknown, this covariant value is assumed constant, however. Therefore, enough accuracy of rejection is not obtained by this method. We propose a time-varying Kalman gain based on template and show the validity of our method for path recognition of mobile robot under changes in illumination.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125699474","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044508
Y. Noda, M. Zeitz, O. Sawodny, K. Terashima
The automatic pouring of molten metal from a ladle into a mold by a robot requires an high-precision tracking control of the flow rate. Due to the hydrodynamics of the liquid metal, the model of the pouring process is highly nonlinear which has to be considered for the model-based design of the tracking control. The two design approaches studied in the paper combine a feedforward and a feedback control in order to obtain a precise and robust tracking performance. Thereby, the property of differential flatness is used for the design of the tracking control, and the unmeasured states are reconstructed for the feedback control by an unscented Kalman filter. Two proposed control schemes are compared by simulations of the automatic pouring robot together with the pouring process.
{"title":"Flow rate control based on differential flatness in automatic pouring robot","authors":"Y. Noda, M. Zeitz, O. Sawodny, K. Terashima","doi":"10.1109/CCA.2011.6044508","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044508","url":null,"abstract":"The automatic pouring of molten metal from a ladle into a mold by a robot requires an high-precision tracking control of the flow rate. Due to the hydrodynamics of the liquid metal, the model of the pouring process is highly nonlinear which has to be considered for the model-based design of the tracking control. The two design approaches studied in the paper combine a feedforward and a feedback control in order to obtain a precise and robust tracking performance. Thereby, the property of differential flatness is used for the design of the tracking control, and the unmeasured states are reconstructed for the feedback control by an unscented Kalman filter. Two proposed control schemes are compared by simulations of the automatic pouring robot together with the pouring process.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"41 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128455804","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2011-10-13DOI: 10.1109/CCA.2011.6044382
M. Saadatzi, J. Poshtan, M. Saadatzi
Electric wheelchairs (EW) experience various terrains surfaces and slopes as well as occupants with diverse weights. This, in turn, imparts a substantial amount of perturbation to the EW dynamics. In this paper we make use of a two-degree-of-freedom control architecture called disturbance observer (DOB) which reduces sensitivity to model uncertainties while enhancing rejection of disturbances which occur when entering slopes. The feedback loop which is designed via characteristic loci method (CLM) is then augmented with a DOB containing a parameterized low-pass filter. According to the disturbance rejection, sensitivity reduction, and noise rejection of the whole controller, three performance indices are defined which enable us to pick the filter's optimal parameters using a multi-objective optimization (MOO) approach called non-dominated sorting genetic algorithm-II (NSGA-II). Finally, experimental results show desirable improvement in stiffness and disturbance rejection of the proposed controller as well as its robust stability.
电动轮椅(EW)体验各种地形表面和斜坡以及不同体重的乘客。这反过来又给电子束动力学带来了大量的扰动。在本文中，我们使用了一种称为干扰观测器(DOB)的二自由度控制体系，它降低了对模型不确定性的敏感性，同时增强了对进入斜坡时发生的干扰的抑制。通过特征轨迹法(CLM)设计反馈环路，然后用包含参数化低通滤波器的DOB进行增强。根据整个控制器的抗扰性、降灵敏度和抗噪性，定义了三个性能指标，使我们能够使用非支配排序遗传算法- ii (NSGA-II)的多目标优化(MOO)方法选择滤波器的最优参数。最后，实验结果表明，该控制器在刚度和抗扰性以及鲁棒稳定性方面都有较好的改善。
{"title":"Optimal multivariable two-degree-of-freedom control of electric wheelchair using non-dominated sorting genetic algorithm-II","authors":"M. Saadatzi, J. Poshtan, M. Saadatzi","doi":"10.1109/CCA.2011.6044382","DOIUrl":"https://doi.org/10.1109/CCA.2011.6044382","url":null,"abstract":"Electric wheelchairs (EW) experience various terrains surfaces and slopes as well as occupants with diverse weights. This, in turn, imparts a substantial amount of perturbation to the EW dynamics. In this paper we make use of a two-degree-of-freedom control architecture called disturbance observer (DOB) which reduces sensitivity to model uncertainties while enhancing rejection of disturbances which occur when entering slopes. The feedback loop which is designed via characteristic loci method (CLM) is then augmented with a DOB containing a parameterized low-pass filter. According to the disturbance rejection, sensitivity reduction, and noise rejection of the whole controller, three performance indices are defined which enable us to pick the filter's optimal parameters using a multi-objective optimization (MOO) approach called non-dominated sorting genetic algorithm-II (NSGA-II). Finally, experimental results show desirable improvement in stiffness and disturbance rejection of the proposed controller as well as its robust stability.","PeriodicalId":208713,"journal":{"name":"2011 IEEE International Conference on Control Applications (CCA)","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2011-10-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127299139","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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