Pub Date : 2013-12-01DOI: 10.1080/21642583.2013.864249
H. Ahmad, T. Namerikawa
In this paper, a theoretical study on extended Kalman filter (EKF)-based mobile robot localization with intermittent measurements is examined by analysing the measurement innovation characteristics. Even if measurement data are unavailable and existence of uncertainties during mobile robot observations, it is suggested that the mobile robot can effectively estimate its location in an environment. This paper presents the uncertainties bounds of estimation by analysing the measurement innovation to preserve good estimations although some measurements data are sometimes missing. Theoretical analysis of the EKF is proposed to demonstrate the conditions when the problem occurred. From the analysis of measurement innovation, Jacobian transformation has been found as one of the main factors that affects the estimation performance. Besides that, the initial state covariance, process and measurement noises must be kept smaller to achieve better estimation results. The simulation and experimental results obtained are showing consistent behaviour as proposed in this paper.
{"title":"Extended Kalman filter-based mobile robot localization with intermittent measurements","authors":"H. Ahmad, T. Namerikawa","doi":"10.1080/21642583.2013.864249","DOIUrl":"https://doi.org/10.1080/21642583.2013.864249","url":null,"abstract":"In this paper, a theoretical study on extended Kalman filter (EKF)-based mobile robot localization with intermittent measurements is examined by analysing the measurement innovation characteristics. Even if measurement data are unavailable and existence of uncertainties during mobile robot observations, it is suggested that the mobile robot can effectively estimate its location in an environment. This paper presents the uncertainties bounds of estimation by analysing the measurement innovation to preserve good estimations although some measurements data are sometimes missing. Theoretical analysis of the EKF is proposed to demonstrate the conditions when the problem occurred. From the analysis of measurement innovation, Jacobian transformation has been found as one of the main factors that affects the estimation performance. Besides that, the initial state covariance, process and measurement noises must be kept smaller to achieve better estimation results. The simulation and experimental results obtained are showing consistent behaviour as proposed in this paper.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88101878","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 : 2013-12-01DOI: 10.1080/21642583.2013.799448
Mchiri Mohamed, Khraief-Hadded Nahla, B. Safya
This paper deals with the design of nonlinear observers for a class of nonlinear mechanical systems in presence of uncertainties (or unknown inputs). Based on sliding-mode technique, a novel observer structure is developed in order to reconstruct the unmeasured velocity variable. The proposed observer guarantees an asymptotic velocity observation also in presence of uncertainties. Simulation results are included to show the effectiveness of our method.
{"title":"Design of a nonlinear observer for mechanical systems with unknown inputs","authors":"Mchiri Mohamed, Khraief-Hadded Nahla, B. Safya","doi":"10.1080/21642583.2013.799448","DOIUrl":"https://doi.org/10.1080/21642583.2013.799448","url":null,"abstract":"This paper deals with the design of nonlinear observers for a class of nonlinear mechanical systems in presence of uncertainties (or unknown inputs). Based on sliding-mode technique, a novel observer structure is developed in order to reconstruct the unmeasured velocity variable. The proposed observer guarantees an asymptotic velocity observation also in presence of uncertainties. Simulation results are included to show the effectiveness of our method.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75958261","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 : 2013-11-27DOI: 10.1080/21642583.2013.857619
Mohamed Ben Abdallah, M. Ayadi, F. Rotella, M. Benrejeb
It is shown that by the use of flatness the problem of pole placement, which consists in imposing closed-loop system dynamics, can be related to track desired trajectories in the finite-dimensional linear time-invariant case. Polynomial two-degree-of-freedom controller can then be designed with the use of an exact observer and without resolving the Bézout's equation. In this paper, an extension of these developments is proposed in the linear time-varying (LTV) framework. The proposed approach is illustrated with the control of nonlinear model of an anti-lock brake system. The time-varying controller obtained from the LTV model ensures the trajectory tracking of the nonlinear model.
{"title":"Time-varying controller based on flatness for nonlinear anti-lock brake system","authors":"Mohamed Ben Abdallah, M. Ayadi, F. Rotella, M. Benrejeb","doi":"10.1080/21642583.2013.857619","DOIUrl":"https://doi.org/10.1080/21642583.2013.857619","url":null,"abstract":"It is shown that by the use of flatness the problem of pole placement, which consists in imposing closed-loop system dynamics, can be related to track desired trajectories in the finite-dimensional linear time-invariant case. Polynomial two-degree-of-freedom controller can then be designed with the use of an exact observer and without resolving the Bézout's equation. In this paper, an extension of these developments is proposed in the linear time-varying (LTV) framework. The proposed approach is illustrated with the control of nonlinear model of an anti-lock brake system. The time-varying controller obtained from the LTV model ensures the trajectory tracking of the nonlinear model.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-11-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90565312","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 : 2013-11-11DOI: 10.1080/21642583.2013.842509
G. Wei, Licheng Wang, Fei Han
This paper is concerned with the probability-dependent gain-scheduled fault-tolerant control problem for a class of discrete-time stochastic nonlinear delayed systems with randomly occurring actuator faults (ROAFs) by utilizing parameter-based Lyapunov functional. The occurrence of the possible actuator faults is modeled by a random sequence in terms of a time-varying Bernoulli distribution with measurable probability in real time. The nonlinear functions are assumed to satisfy the sector nonlinearities. The purpose of the addressed fault-tolerant control problem is to design a controller with scheduled gains such that, for the admissible ROAFs, nonlinearities, time delays and noises, the closed-loop system is exponentially mean-square stable while preserving a guaranteed H∞ performance. By using the semi-definite programme method, the time-varying fault-tolerant controller is derived which is dependent on the occurrence probability of the actuator faults. Therefore, the main results lead to less conservatism than those obtained by conventional methods with fixed controller gains only. A simulation example is exploited to demonstrate the effectiveness of the proposed design procedures.
{"title":"A gain-scheduled approach to fault-tolerant control for discrete-time stochastic delayed systems with randomly occurring actuator faults","authors":"G. Wei, Licheng Wang, Fei Han","doi":"10.1080/21642583.2013.842509","DOIUrl":"https://doi.org/10.1080/21642583.2013.842509","url":null,"abstract":"This paper is concerned with the probability-dependent gain-scheduled fault-tolerant control problem for a class of discrete-time stochastic nonlinear delayed systems with randomly occurring actuator faults (ROAFs) by utilizing parameter-based Lyapunov functional. The occurrence of the possible actuator faults is modeled by a random sequence in terms of a time-varying Bernoulli distribution with measurable probability in real time. The nonlinear functions are assumed to satisfy the sector nonlinearities. The purpose of the addressed fault-tolerant control problem is to design a controller with scheduled gains such that, for the admissible ROAFs, nonlinearities, time delays and noises, the closed-loop system is exponentially mean-square stable while preserving a guaranteed H∞ performance. By using the semi-definite programme method, the time-varying fault-tolerant controller is derived which is dependent on the occurrence probability of the actuator faults. Therefore, the main results lead to less conservatism than those obtained by conventional methods with fixed controller gains only. A simulation example is exploited to demonstrate the effectiveness of the proposed design procedures.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-11-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86537636","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 : 2013-11-01DOI: 10.1080/21642583.2013.839966
T. Ishihara, Hai-Jiao Guo
The authors have introduced optimal disturbance cancellation controllers as a class of controllers minimizing a non-standard quadratic performance index explicitly including disturbances. This paper discusses the application of the classical loop transfer recovery (LTR) technique to the optimal disturbance cancellation controller for step disturbances entering the plant output. The estimation error dynamics of the Kalman filter jointly estimating the plant states and the disturbances is chosen as a target of the LTR design. The weighting coefficient of the performance index is used to recover the target which has guaranteed stability margins as in the standard LTR design. It is shown by a numerical example that the proposed design provides flexible tuning of the disturbance rejection capability with sufficient stability margins.
{"title":"Design of optimal output disturbance cancellation controllers via loop transfer recovery","authors":"T. Ishihara, Hai-Jiao Guo","doi":"10.1080/21642583.2013.839966","DOIUrl":"https://doi.org/10.1080/21642583.2013.839966","url":null,"abstract":"The authors have introduced optimal disturbance cancellation controllers as a class of controllers minimizing a non-standard quadratic performance index explicitly including disturbances. This paper discusses the application of the classical loop transfer recovery (LTR) technique to the optimal disturbance cancellation controller for step disturbances entering the plant output. The estimation error dynamics of the Kalman filter jointly estimating the plant states and the disturbances is chosen as a target of the LTR design. The weighting coefficient of the performance index is used to recover the target which has guaranteed stability margins as in the standard LTR design. It is shown by a numerical example that the proposed design provides flexible tuning of the disturbance rejection capability with sufficient stability margins.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89600884","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 : 2013-10-18DOI: 10.1080/21642583.2013.770375
D. Kumanan, B. Nagaraj
In this paper, a novel meta-heuristics algorithm, namely the firefly algorithm (FA), is applied to the proportional integral derivative (PID) controller parameter tuning for flow process. The controller is used to control flow rate and to maintain the desired set point. Simulation results indicate that the applied FA is effective and efficient. Good closed-loop system performance is achieved on the basis of the considered PID controllers tuning procedures. Moreover, the observed results are compared with the ones obtained by the Ziegler–Nichols method. The comparison of both meta-heuristics shows a superior performance for the FA PID controller tuning of the considered system than the Ziegler–Nichols tuned controller.
{"title":"Tuning of proportional integral derivative controller based on firefly algorithm","authors":"D. Kumanan, B. Nagaraj","doi":"10.1080/21642583.2013.770375","DOIUrl":"https://doi.org/10.1080/21642583.2013.770375","url":null,"abstract":"In this paper, a novel meta-heuristics algorithm, namely the firefly algorithm (FA), is applied to the proportional integral derivative (PID) controller parameter tuning for flow process. The controller is used to control flow rate and to maintain the desired set point. Simulation results indicate that the applied FA is effective and efficient. Good closed-loop system performance is achieved on the basis of the considered PID controllers tuning procedures. Moreover, the observed results are compared with the ones obtained by the Ziegler–Nichols method. The comparison of both meta-heuristics shows a superior performance for the FA PID controller tuning of the considered system than the Ziegler–Nichols tuned controller.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-10-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79329637","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 : 2013-10-04DOI: 10.1080/21642583.2013.850754
Khaled El-Tawil, Abdo Abou Jaoude
The prevention of failure and the evaluation of products state are the most important aims for industrialists since nonpredicted failure is very expensive in most cases. These can be done mainly by the evaluation of the “Remaining Useful Lifetime” (RUL) using the prognostic approaches that compensate the inconveniences of classical maintenance strategies. A proposed analytic prognostic methodology based on nonlinear damage laws is developed here to determine the RUL of the system. It permits to ensure a high availability and productivity with less cost for industrial systems. To make this approach more reliable, it is essential to introduce the stochastic description. In the case of the fatigue effect where the damage state is growing from macro-cracks to total failure, D(N) expresses an increasing scalar damage function in terms of loading cycles N. The RUL is estimated from a predefined threshold of damage DC. Pipelines tubes, subject to fatigue effects due to pressure–depression alternation, belong to vital mechanical systems in petrochemical industries that serve to transport natural gases or liquids. The prognostic evaluation of their states increases the tubes performance and the availability while minimizing their mission cost.
{"title":"Stochastic and nonlinear-based prognostic model","authors":"Khaled El-Tawil, Abdo Abou Jaoude","doi":"10.1080/21642583.2013.850754","DOIUrl":"https://doi.org/10.1080/21642583.2013.850754","url":null,"abstract":"The prevention of failure and the evaluation of products state are the most important aims for industrialists since nonpredicted failure is very expensive in most cases. These can be done mainly by the evaluation of the “Remaining Useful Lifetime” (RUL) using the prognostic approaches that compensate the inconveniences of classical maintenance strategies. A proposed analytic prognostic methodology based on nonlinear damage laws is developed here to determine the RUL of the system. It permits to ensure a high availability and productivity with less cost for industrial systems. To make this approach more reliable, it is essential to introduce the stochastic description. In the case of the fatigue effect where the damage state is growing from macro-cracks to total failure, D(N) expresses an increasing scalar damage function in terms of loading cycles N. The RUL is estimated from a predefined threshold of damage DC. Pipelines tubes, subject to fatigue effects due to pressure–depression alternation, belong to vital mechanical systems in petrochemical industries that serve to transport natural gases or liquids. The prognostic evaluation of their states increases the tubes performance and the availability while minimizing their mission cost.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-10-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85549830","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 : 2013-09-27DOI: 10.1080/21642583.2013.832642
M. Darouach, M. Chadli
This paper studies the admissibility of switched discrete-time singular systems. Sufficient conditions for this admissibility are derived in a form of a set of strict linear matrix inequalities. Design of both state feedback and static output feedback controllers is given. Numerical examples are presented to illustrate the proposed approaches.
{"title":"Admissibility and control of switched discrete-time singular systems","authors":"M. Darouach, M. Chadli","doi":"10.1080/21642583.2013.832642","DOIUrl":"https://doi.org/10.1080/21642583.2013.832642","url":null,"abstract":"This paper studies the admissibility of switched discrete-time singular systems. Sufficient conditions for this admissibility are derived in a form of a set of strict linear matrix inequalities. Design of both state feedback and static output feedback controllers is given. Numerical examples are presented to illustrate the proposed approaches.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"75777497","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 : 2013-06-20DOI: 10.1080/21642583.2013.817959
A. Mehrsai, H. Karimi, K. Thoben
Today, integration of supply networks (SNs) out of heterogeneous entities is quite challenging for industries. Individualized demands are getting continuously higher values in the global business and this fact forces traditional businesses for restructuring their organizations. In order to contribute to new performances in manufacturing networks, in this paper a collaborative approach is recommended out of modularity structure, cloud computing, and make-to-upgrade concept for improving flexibility as well as coordination of entities in networks. A cloud-based framework for inbound and outbound manufacturing is introduced for complying with the production of individualized products in the turbulent global market, with local decision-makings and integrated performances. Additionally, the complementary aspects of these techniques with new features of products are conceptually highlighted. The compatibility of this wide range of theoretical concepts and practical techniques is explained here. A discrete-event simulation out of an exemplary cloud-based SN is set up to define the applicability of the cloud and the recommended strategy.
{"title":"Integration of supply networks for customization with modularity in cloud and make-to-upgrade strategy","authors":"A. Mehrsai, H. Karimi, K. Thoben","doi":"10.1080/21642583.2013.817959","DOIUrl":"https://doi.org/10.1080/21642583.2013.817959","url":null,"abstract":"Today, integration of supply networks (SNs) out of heterogeneous entities is quite challenging for industries. Individualized demands are getting continuously higher values in the global business and this fact forces traditional businesses for restructuring their organizations. In order to contribute to new performances in manufacturing networks, in this paper a collaborative approach is recommended out of modularity structure, cloud computing, and make-to-upgrade concept for improving flexibility as well as coordination of entities in networks. A cloud-based framework for inbound and outbound manufacturing is introduced for complying with the production of individualized products in the turbulent global market, with local decision-makings and integrated performances. Additionally, the complementary aspects of these techniques with new features of products are conceptually highlighted. The compatibility of this wide range of theoretical concepts and practical techniques is explained here. A discrete-event simulation out of an exemplary cloud-based SN is set up to define the applicability of the cloud and the recommended strategy.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88103459","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 : 2013-06-19DOI: 10.1080/21642583.2013.804463
S. R. Desai, R. Prasad
A new method of model order reduction is introduced by combining the merits of big bang big crunch (BBBC) optimization technique and stability equation (SE) method. A linear-continuous single-input single-output system of higher order is considered and reduced to a lower order system. The denominator polynomial of the reduced system is obtained by SE method, whereas the numerator terms are generated using BBBC optimization. Furthermore, step and frequency responses of the original reduced system are plotted. The superiority of the proposed method is justified by solving numerical examples from the available literature and comparing the reduced systems in terms of error indices.
{"title":"A new approach to order reduction using stability equation and big bang big crunch optimization","authors":"S. R. Desai, R. Prasad","doi":"10.1080/21642583.2013.804463","DOIUrl":"https://doi.org/10.1080/21642583.2013.804463","url":null,"abstract":"A new method of model order reduction is introduced by combining the merits of big bang big crunch (BBBC) optimization technique and stability equation (SE) method. A linear-continuous single-input single-output system of higher order is considered and reduced to a lower order system. The denominator polynomial of the reduced system is obtained by SE method, whereas the numerator terms are generated using BBBC optimization. Furthermore, step and frequency responses of the original reduced system are plotted. The superiority of the proposed method is justified by solving numerical examples from the available literature and comparing the reduced systems in terms of error indices.","PeriodicalId":22127,"journal":{"name":"Systems Science & Control Engineering: An Open Access Journal","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2013-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83415252","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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