Pub Date : 2020-11-24DOI: 10.5772/intechopen.91817
F. Mirelez-Delgado, José Ronaldo Díaz-Paredes, Miguel Abraham Gallardo-Carreón
This document presents the design of a digital PID control for a Stewart-Gough platform, delimited by six degrees of freedom (DoF) that allow the final effector to have displacement in the XYZ axes and rotation with warpage, pitch, and yaw restrictions. It includes the study and resolution of the direct and inverse kinematics of the platform, as well as the workspace described by the final effector and its corresponding simulation of movements and joints to study extreme points and possible singularities. From the definition of characteristics, the CAD design generated from the generalized mathematical model of the public domain, and the general selection of materials for the construction of the functional prototype, a study of applied forces is generated to observe the points with stress concentrators, the safety factor, and possible deformations. The estimation of the sampling period for the selection of the microcontroller and an approximate definition of the response time are also considered. The development of this prototype and its documentation are proposed as didactic material for the study, design, and control of parallel mechanisms.
{"title":"Stewart-Gough Platform: Design and Construction with a Digital PID Controller Implementation","authors":"F. Mirelez-Delgado, José Ronaldo Díaz-Paredes, Miguel Abraham Gallardo-Carreón","doi":"10.5772/intechopen.91817","DOIUrl":"https://doi.org/10.5772/intechopen.91817","url":null,"abstract":"This document presents the design of a digital PID control for a Stewart-Gough platform, delimited by six degrees of freedom (DoF) that allow the final effector to have displacement in the XYZ axes and rotation with warpage, pitch, and yaw restrictions. It includes the study and resolution of the direct and inverse kinematics of the platform, as well as the workspace described by the final effector and its corresponding simulation of movements and joints to study extreme points and possible singularities. From the definition of characteristics, the CAD design generated from the generalized mathematical model of the public domain, and the general selection of materials for the construction of the functional prototype, a study of applied forces is generated to observe the points with stress concentrators, the safety factor, and possible deformations. The estimation of the sampling period for the selection of the microcontroller and an approximate definition of the response time are also considered. The development of this prototype and its documentation are proposed as didactic material for the study, design, and control of parallel mechanisms.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"33 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-11-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85031347","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 : 2020-11-18DOI: 10.5772/intechopen.94524
Olalekan Samuel Ogunleye, B. Kalema
The economy of the Modern Work Platform is becoming increasingly relevant due to the spread of information and communication technology. As a result, digital work has gained popularity as a source of employment, especially in an economy where finding decent work is becoming increasingly difficult. Computer algorithms are now being used to alter and change the way people operate in increasing job specialization, handling large-scale human labour in a distributed manner. In these structures, human works are delegated, supplemented, and analyzed using tracked data and algorithms. Building on emerging algorithmic literature and qualitative examination, this article assesses the mechanisms by which the digital network manages staff in the sense of Uber, Bolt (formerly Taxify). It describes the difference in the degree to which such platforms limit freedoms over schedules and activities relevant to gig work. Based on in-depth interviews with 41 respondents working on different digital media and a survey of 105 staff on the same platform, the study finds that while all digital work platforms use algorithm management to delegate and assess work, substantial cross-platform variation. Uber, the largest network for ride-sharing, exercises a type of control called “algorithmic despotism” that controls the time and activities of staff more strictly than other network distribution firms. We end with a debate on the implications for the future of work of the spectrum of algorithmic power. It also addresses how algorithmic management and data-driven systems can be developed to build an improved workplace with intelligent machines, with implications for future work.
{"title":"Evaluation of Algorithmic Management of Digital Work Platform in Developing Countries","authors":"Olalekan Samuel Ogunleye, B. Kalema","doi":"10.5772/intechopen.94524","DOIUrl":"https://doi.org/10.5772/intechopen.94524","url":null,"abstract":"The economy of the Modern Work Platform is becoming increasingly relevant due to the spread of information and communication technology. As a result, digital work has gained popularity as a source of employment, especially in an economy where finding decent work is becoming increasingly difficult. Computer algorithms are now being used to alter and change the way people operate in increasing job specialization, handling large-scale human labour in a distributed manner. In these structures, human works are delegated, supplemented, and analyzed using tracked data and algorithms. Building on emerging algorithmic literature and qualitative examination, this article assesses the mechanisms by which the digital network manages staff in the sense of Uber, Bolt (formerly Taxify). It describes the difference in the degree to which such platforms limit freedoms over schedules and activities relevant to gig work. Based on in-depth interviews with 41 respondents working on different digital media and a survey of 105 staff on the same platform, the study finds that while all digital work platforms use algorithm management to delegate and assess work, substantial cross-platform variation. Uber, the largest network for ride-sharing, exercises a type of control called “algorithmic despotism” that controls the time and activities of staff more strictly than other network distribution firms. We end with a debate on the implications for the future of work of the spectrum of algorithmic power. It also addresses how algorithmic management and data-driven systems can be developed to build an improved workplace with intelligent machines, with implications for future work.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"114 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-11-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87999802","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 : 2020-07-16DOI: 10.5772/intechopen.93027
I. O. Bucak
In this study, a sliding mode control scheme with a bounded region and its convergence analysis are explained to the finest detail and are applied to robotic manipulators which represent the best examples for strongly coupled, highly nonlinear, time-varying dynamical systems. Simulation studies have been applied separately to two different control systems in order to demonstrate the feasibility, performance, and effectiveness of the proposed control methodology through the design of the sliding mode controller: firstly, the position control of an armature-controlled dc servo motor subject to a varying external disturbance, and secondly, a two-link robot manipulator that were also analyzed in terms of its robustness by adding extra mass to one of the joints to be able to maintain the trajectory in the sliding surface. Simulations show that a fast convergence rate, and therefore quick response, the ability to reject the varying external disturbances, and the robustness against the model uncertainty assumed to be unbounded and fast-varying have all achieved its purpose entirely. This study also examines the advantages of SMC and PID comparably. The results given here do not contradict the view that one can use it instead of the other without losing too much performance, and confirm the success of the presented approach.
{"title":"An In-Depth Analysis of Sliding Mode Control and Its Application to Robotics","authors":"I. O. Bucak","doi":"10.5772/intechopen.93027","DOIUrl":"https://doi.org/10.5772/intechopen.93027","url":null,"abstract":"In this study, a sliding mode control scheme with a bounded region and its convergence analysis are explained to the finest detail and are applied to robotic manipulators which represent the best examples for strongly coupled, highly nonlinear, time-varying dynamical systems. Simulation studies have been applied separately to two different control systems in order to demonstrate the feasibility, performance, and effectiveness of the proposed control methodology through the design of the sliding mode controller: firstly, the position control of an armature-controlled dc servo motor subject to a varying external disturbance, and secondly, a two-link robot manipulator that were also analyzed in terms of its robustness by adding extra mass to one of the joints to be able to maintain the trajectory in the sliding surface. Simulations show that a fast convergence rate, and therefore quick response, the ability to reject the varying external disturbances, and the robustness against the model uncertainty assumed to be unbounded and fast-varying have all achieved its purpose entirely. This study also examines the advantages of SMC and PID comparably. The results given here do not contradict the view that one can use it instead of the other without losing too much performance, and confirm the success of the presented approach.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"1 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-07-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"81143935","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 : 2020-07-11DOI: 10.5772/intechopen.93138
Ivan Virgala, M. Kelemen, E. Prada
This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area of manipulators kinematics. Subsequently, the rigid body motion is presented and basic mathematical apparatus is introduced. Based on rigid body conventions, the forward kinematic model is established including one of the most used approaches in robot kinematics, namely the Denavit-Hartenberg convention. The last section of the chapter analyzes inverse kinematic modeling including analytical, geometrical, and numerical solutions. The chapter offers several examples of serial manipulators with its mathematical solution.
{"title":"Kinematics of Serial Manipulators","authors":"Ivan Virgala, M. Kelemen, E. Prada","doi":"10.5772/intechopen.93138","DOIUrl":"https://doi.org/10.5772/intechopen.93138","url":null,"abstract":"This book chapter deals with kinematic modeling of serial robot manipulators (open-chain multibody systems) with focus on forward as well as inverse kinematic model. At first, the chapter describes basic important definitions in the area of manipulators kinematics. Subsequently, the rigid body motion is presented and basic mathematical apparatus is introduced. Based on rigid body conventions, the forward kinematic model is established including one of the most used approaches in robot kinematics, namely the Denavit-Hartenberg convention. The last section of the chapter analyzes inverse kinematic modeling including analytical, geometrical, and numerical solutions. The chapter offers several examples of serial manipulators with its mathematical solution.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"1970 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-07-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"91359619","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 : 2020-06-27DOI: 10.5772/intechopen.93080
A. Shahzad, M. Kashif, T. Munir, M. He
In this chapter, we report the design and fabrication of an improved speed synchronizer device in which two dc motors has been controlled on different sequences programmed by microcontroller. Depending on the programmed software, the device is used to command a rolling of machines, synchronizes the dc motors speed, and displays the result on liquid crystal display (LCD). Flash memory of the microcontroller is used to program for controlling this device where permanent memory is needed to store different parameters (codes for motor speed, LCD display, ratio control, and rotary encoder’s feedback). The present simulation gives new reliable results with better performance for the speed and direction than the earlier available synchronizers. It has been shown that the speed and direction are dependent on both the ratio setting and frequency of encoder in two dc motors speed synchronizer. It is shown that this device is applicable for controlling, monitoring, and synchronizing identical processes and can be implemented in multiple domains, from textile industry and home control applications to industrial instruments.
{"title":"DC Motor Synchronization Speed Controller Based on Microcontroller","authors":"A. Shahzad, M. Kashif, T. Munir, M. He","doi":"10.5772/intechopen.93080","DOIUrl":"https://doi.org/10.5772/intechopen.93080","url":null,"abstract":"In this chapter, we report the design and fabrication of an improved speed synchronizer device in which two dc motors has been controlled on different sequences programmed by microcontroller. Depending on the programmed software, the device is used to command a rolling of machines, synchronizes the dc motors speed, and displays the result on liquid crystal display (LCD). Flash memory of the microcontroller is used to program for controlling this device where permanent memory is needed to store different parameters (codes for motor speed, LCD display, ratio control, and rotary encoder’s feedback). The present simulation gives new reliable results with better performance for the speed and direction than the earlier available synchronizers. It has been shown that the speed and direction are dependent on both the ratio setting and frequency of encoder in two dc motors speed synchronizer. It is shown that this device is applicable for controlling, monitoring, and synchronizing identical processes and can be implemented in multiple domains, from textile industry and home control applications to industrial instruments.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"35 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-06-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83733926","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 : 2020-06-10DOI: 10.5772/intechopen.92667
N. H. Amer, K. Hudha, H. Zamzuri, V. R. Aparow, A. F. Z. Abidin, Zulkiffli Abd Kadir, M. Murrad
This chapter discusses the development of an adaptive path tracking controller equipped with a knowledge-based supervisory algorithm for an autonomous heavy vehicle. The controller was developed based on a geometric/kinematic controller, the Stanley controller. One of the mostly known issues with any geometric/kinematic controller is that a properly tuned controller may not be valid in a different operating region than the one it was being tuned/optimised on. Therefore, this study proposes an adaptive algorithm to automatically choose an optimal controller parameter depending on the manoeuvring and vehicle conditions. An optimal knowledge database is developed for an adaptive algorithm to automatically obtain the parameter values based on the vehicle speed, v, and heading error, ϕ. Several simulations are carried out with different trajectories and speeds to evaluate the effectiveness of the controller against its predecessors, namely, Stanley and the non-adaptive modified Stanley (Mod St) controllers. The simulated steering actions are then compared against human driver’s experimental data along the predefined paths. It was shown that the proposed adaptive algorithm managed to guide the heavy vehicle successfully and adapt to various trajectories with different vehicle speeds while recording lateral error improvement of up to 82% compared to the original Stanley controller.
{"title":"Knowledge-Based Controller Optimised with Particle Swarm Optimisation for Adaptive Path Tracking Control of an Autonomous Heavy Vehicle","authors":"N. H. Amer, K. Hudha, H. Zamzuri, V. R. Aparow, A. F. Z. Abidin, Zulkiffli Abd Kadir, M. Murrad","doi":"10.5772/intechopen.92667","DOIUrl":"https://doi.org/10.5772/intechopen.92667","url":null,"abstract":"This chapter discusses the development of an adaptive path tracking controller equipped with a knowledge-based supervisory algorithm for an autonomous heavy vehicle. The controller was developed based on a geometric/kinematic controller, the Stanley controller. One of the mostly known issues with any geometric/kinematic controller is that a properly tuned controller may not be valid in a different operating region than the one it was being tuned/optimised on. Therefore, this study proposes an adaptive algorithm to automatically choose an optimal controller parameter depending on the manoeuvring and vehicle conditions. An optimal knowledge database is developed for an adaptive algorithm to automatically obtain the parameter values based on the vehicle speed, v, and heading error, ϕ. Several simulations are carried out with different trajectories and speeds to evaluate the effectiveness of the controller against its predecessors, namely, Stanley and the non-adaptive modified Stanley (Mod St) controllers. The simulated steering actions are then compared against human driver’s experimental data along the predefined paths. It was shown that the proposed adaptive algorithm managed to guide the heavy vehicle successfully and adapt to various trajectories with different vehicle speeds while recording lateral error improvement of up to 82% compared to the original Stanley controller.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"42 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89637186","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 : 2020-06-01DOI: 10.5772/intechopen.92558
J. Ritonja
Synchronous generators produce almost 95% of the world’s electricity. Even a small improvement in their efficiency represents huge savings. Electromechanical oscillations of synchronous generators are harmful—they cause losses and can even lead to instability. An additional control system, called a power system stabilizer (PSS), is used to damp the oscillations of synchronous generators. The commercial realizations of the power system stabilizers are based on the use of the linear control theory. The effectiveness of these power system stabilizers is small, because of the nonlinear and time-varying characteristics of the synchronous generators. The application of robust and adaptive control represents an adequate theoretical basis for ensuring optimal damping of the electromechanical oscillations in a wide operating range. This work reviews the applicability of the advanced control theories to develop power system stabilizers. The work is focused on selecting the appropriate robust and adaptive control theories for the power system stabilizer implementation. The applicability and advantages are presented of the sliding mode control and the direct adaptive control, along with an evaluation of their impact on the operation improvement.
{"title":"Robust and Adaptive Control for Synchronous Generator’s Operation Improvement","authors":"J. Ritonja","doi":"10.5772/intechopen.92558","DOIUrl":"https://doi.org/10.5772/intechopen.92558","url":null,"abstract":"Synchronous generators produce almost 95% of the world’s electricity. Even a small improvement in their efficiency represents huge savings. Electromechanical oscillations of synchronous generators are harmful—they cause losses and can even lead to instability. An additional control system, called a power system stabilizer (PSS), is used to damp the oscillations of synchronous generators. The commercial realizations of the power system stabilizers are based on the use of the linear control theory. The effectiveness of these power system stabilizers is small, because of the nonlinear and time-varying characteristics of the synchronous generators. The application of robust and adaptive control represents an adequate theoretical basis for ensuring optimal damping of the electromechanical oscillations in a wide operating range. This work reviews the applicability of the advanced control theories to develop power system stabilizers. The work is focused on selecting the appropriate robust and adaptive control theories for the power system stabilizer implementation. The applicability and advantages are presented of the sliding mode control and the direct adaptive control, along with an evaluation of their impact on the operation improvement.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"1 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89340771","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 : 2020-05-19DOI: 10.1504/IJAAC.2020.10020855
Chiranjit Sain, A. Banerjee, P. Biswas, V. Balas
In this proposed work, a substantial comparative performance optimisation has been established between the PI, lead, lead-lag and fuzzy logic controllers towards the closed loop control strategies of a simplified permanent magnet synchronous motor (PMSM) drive. By the introduction of sinusoidal pulse width modulation (PWM) control strategy, it is expected that the nature of armature current would be nearly sinusoidal and generated torque ripples will be lesser. In this proposed structure of a PMSM drive, the speed reference has been incorporated with a speed controller to fortify that the exact speed of the proposed motor match with the base speed with null speed error. The overall structure of the PMSM drive is separated into two loop control structure, inner current loop and outer speed loop. All the necessary performance indices of the proposed PMSM drive system are tested in a MATLAB/Simulink environment. Moreover, the performance of a fuzzy logic speed controlled PMSM drive as compared to all classical controllers provides better dynamic as well as steady state performance with reduced torque ripples. Therefore, the entire performance of the proposed simplified PMSM drive in closed loop control strategy is executed and efficacy of controllers is resolved under various operating conditions. Hence, the superiority of intelligent speed controller (fuzzy logic controller) for this proposed PMSM drive model over all classical controllers is validated and optimised for high performance applications. Finally, an auto-tuning control strategy for the fuzzy intelligent speed controller is also proposed for optimal operation of the drive system.
{"title":"Performance Optimization for Closed Loop Control Strategies towards Simplified Model of a PMSM Drive by Comparing with Different Classical and Fuzzy Intelligent Controllers","authors":"Chiranjit Sain, A. Banerjee, P. Biswas, V. Balas","doi":"10.1504/IJAAC.2020.10020855","DOIUrl":"https://doi.org/10.1504/IJAAC.2020.10020855","url":null,"abstract":"In this proposed work, a substantial comparative performance optimisation has been established between the PI, lead, lead-lag and fuzzy logic controllers towards the closed loop control strategies of a simplified permanent magnet synchronous motor (PMSM) drive. By the introduction of sinusoidal pulse width modulation (PWM) control strategy, it is expected that the nature of armature current would be nearly sinusoidal and generated torque ripples will be lesser. In this proposed structure of a PMSM drive, the speed reference has been incorporated with a speed controller to fortify that the exact speed of the proposed motor match with the base speed with null speed error. The overall structure of the PMSM drive is separated into two loop control structure, inner current loop and outer speed loop. All the necessary performance indices of the proposed PMSM drive system are tested in a MATLAB/Simulink environment. Moreover, the performance of a fuzzy logic speed controlled PMSM drive as compared to all classical controllers provides better dynamic as well as steady state performance with reduced torque ripples. Therefore, the entire performance of the proposed simplified PMSM drive in closed loop control strategy is executed and efficacy of controllers is resolved under various operating conditions. Hence, the superiority of intelligent speed controller (fuzzy logic controller) for this proposed PMSM drive model over all classical controllers is validated and optimised for high performance applications. Finally, an auto-tuning control strategy for the fuzzy intelligent speed controller is also proposed for optimal operation of the drive system.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"14 1","pages":"469-493"},"PeriodicalIF":1.2,"publicationDate":"2020-05-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"44071323","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 : 2020-04-22DOI: 10.5772/intechopen.92013
Kangsoo Kim
In this chapter, we present an approach of reconfigurable minimum-time guidance of autonomous marine vehicles moving in variable sea currents. Our approach aims at suboptimality in the minimum-time travel between two points within a sea area, compensating for environmental uncertainties. Real-time reactive revisions of ongoing guidance followed by tracking controls are the key features of our reconfigurable approach. By its reconfigurable nature, our approach achieves suboptimality rather than optimality. As the basic tool for achieving minimum-time travel, a globally working numerical procedure deriving the solution of an optimal heading guidance law is presented. The developed solution procedure derives optimal reference headings that achieve minimum-time travel of a marine vehicle in any deterministic sea currents including uncertainties, whether stationary or time varying. Pursuing suboptimality, our approach is robust to environmental uncertainties compared to others seeking rigorous optimality. As well as minimizes the traveling time, our suboptimal approach works as a fail-safe or fault-tolerable strategy for its optimal counterpart, under the condition of environmental uncertainties. The efficacy of our approach is validated by simulated vehicle routings in variable sea currents.
{"title":"Reconfigurable Minimum-Time Autonomous Marine Vehicle Guidance in Variable Sea Currents","authors":"Kangsoo Kim","doi":"10.5772/intechopen.92013","DOIUrl":"https://doi.org/10.5772/intechopen.92013","url":null,"abstract":"In this chapter, we present an approach of reconfigurable minimum-time guidance of autonomous marine vehicles moving in variable sea currents. Our approach aims at suboptimality in the minimum-time travel between two points within a sea area, compensating for environmental uncertainties. Real-time reactive revisions of ongoing guidance followed by tracking controls are the key features of our reconfigurable approach. By its reconfigurable nature, our approach achieves suboptimality rather than optimality. As the basic tool for achieving minimum-time travel, a globally working numerical procedure deriving the solution of an optimal heading guidance law is presented. The developed solution procedure derives optimal reference headings that achieve minimum-time travel of a marine vehicle in any deterministic sea currents including uncertainties, whether stationary or time varying. Pursuing suboptimality, our approach is robust to environmental uncertainties compared to others seeking rigorous optimality. As well as minimizes the traveling time, our suboptimal approach works as a fail-safe or fault-tolerable strategy for its optimal counterpart, under the condition of environmental uncertainties. The efficacy of our approach is validated by simulated vehicle routings in variable sea currents.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"1 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-04-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85733731","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 : 2020-04-08DOI: 10.5772/intechopen.91966
Kuo-Chi Chang, Kai-Chun Chu, Yuh-Chung Lin, Jeng-Shyang Pan
Automatic control refers to the use of a control device to make the controlled object automatically run or keep the state unchanged without the participation of people. The guiding ideology of intelligent control is based on people’s way of thinking and ability to solve problems, in order to solve the current methods that require human intelligence. We already know that the complexity of the controlled object includes model uncertainty, high nonlinearity, distributed sensors/actuators, dynamic mutations, multiple time scales, complex information patterns, big data process, and strict characteristic indicators, etc. In addition, the complexity of the environment manifests itself in uncertainty and uncertainty of change. Based on this, various researches continue to suggest that the main methods of intelligent control can include expert control, fuzzy control, neural network control, hierarchical intelligent control, anthropomorphic intelligent control, integrated intelligent control, combined intelligent control, chaos control, wavelet theory, etc. However, it is difficult to want all the intelligent control methods in a chapter, so this chapter focuses on intelligent control based on fuzzy logic, intelligent control based on neural network, expert control and human-like intelligent control, and hierarchical intelligent control and learning control, and provide relevant and useful programming for readers to practice.
{"title":"Overview of Some Intelligent Control Structures and Dedicated Algorithms","authors":"Kuo-Chi Chang, Kai-Chun Chu, Yuh-Chung Lin, Jeng-Shyang Pan","doi":"10.5772/intechopen.91966","DOIUrl":"https://doi.org/10.5772/intechopen.91966","url":null,"abstract":"Automatic control refers to the use of a control device to make the controlled object automatically run or keep the state unchanged without the participation of people. The guiding ideology of intelligent control is based on people’s way of thinking and ability to solve problems, in order to solve the current methods that require human intelligence. We already know that the complexity of the controlled object includes model uncertainty, high nonlinearity, distributed sensors/actuators, dynamic mutations, multiple time scales, complex information patterns, big data process, and strict characteristic indicators, etc. In addition, the complexity of the environment manifests itself in uncertainty and uncertainty of change. Based on this, various researches continue to suggest that the main methods of intelligent control can include expert control, fuzzy control, neural network control, hierarchical intelligent control, anthropomorphic intelligent control, integrated intelligent control, combined intelligent control, chaos control, wavelet theory, etc. However, it is difficult to want all the intelligent control methods in a chapter, so this chapter focuses on intelligent control based on fuzzy logic, intelligent control based on neural network, expert control and human-like intelligent control, and hierarchical intelligent control and learning control, and provide relevant and useful programming for readers to practice.","PeriodicalId":45089,"journal":{"name":"International Journal of Automation and Control","volume":"42 1","pages":""},"PeriodicalIF":1.2,"publicationDate":"2020-04-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85135165","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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