Andrzej Ordys | Politechnika warszawska (original) (raw)
Papers by Andrzej Ordys
Research Square (Research Square), Feb 16, 2024
This paper presents a novel robust Fuzzy controller for a planar manipulator robot. Also, the Mod... more This paper presents a novel robust Fuzzy controller for a planar manipulator robot. Also, the Model Predictive Control (MPC) and PID techniques are used to compare the results with the proposed method. The control system of the manipulator robots must have some special features that guarantee stability, fast tracking, practicability of the control signals, smooth control, etc. A comparative analysis can provide a clearer picture of the control system's performance. This study presents a comparative analysis between a novel robust Fuzzy technique, MPC and PID controllers for a two-link planar manipulator robot. Simulink/MATLAB is used for simulations of the controllers. The results show that the proposed robust Fuzzy method performs better and is more robust than other methods. The Integral of the Absolute value of the Error (IAE) and Integral of the Time Absolute value of the Error (ITAE) performance indexes are employed for a better and more logical comparison. Moreover, the control methods are compared with the essential control features such as accuracy, fast-tracking, robustness, etc. And in all the features, the proposed Fuzzy method is better than others.
Proceedings Of The Institution Of Mechanical Engineers, Part I: Journal Of Systems And Control Engineering, Jun 1, 2000
This paper describes tests performed on a laser scanner system to assess the feasibility of H 2 c... more This paper describes tests performed on a laser scanner system to assess the feasibility of H 2 control and generalized predictive control design techniques in achieving a required performance in a trajectory following problem. The two methods are compared with respect to achieved scan times, tracking errors and overshooting. The results are illustrated on a simulation example.
Lecture notes in networks and systems, 2023
The following paper introduces a new way of presenting the results of engineering simulations. Th... more The following paper introduces a new way of presenting the results of engineering simulations. The object of consideration is the motion of the snake robot on a flat surface. The robot's trajectory and control signals are calculated in MATLAB. Different approaches have been presented to show how the robot moves-from 2D plots and 3D animations observed from a computer screen to realistic visualisations displayed in the Virtual Reality headset. The proposed VR simulation will allow watching the simulation results and manipulating simulation parameters from inside of VR.
Lecture notes in networks and systems, 2023
Lecture notes in networks and systems, 2023
Sensors, Mar 20, 2023
This article is an open access article distributed under the terms and conditions of the Creative... more This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY
International Conference on System Science and Simulation in Engineering, Dec 16, 2006
This paper presents some algorithms for Model Based Predictive Control. The algorithms use states... more This paper presents some algorithms for Model Based Predictive Control. The algorithms use statespace models, which have recently become increasingly attractive to researchers. There are, however, a number of issues which should be taken into consideration when programming a state-space predictive controller. The algorithm will depend on the type of the model, the assumptions about disturbances acting on the system, the objectives of the controller and the form of the performance index. This article investigates these different cases and provides practical guidelines on how a predictive control algorithm should be constructed. A simple example illustrates the difficulties and shows how they may be overcome to enable successful implementation of MBPC in state space.
One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surg... more One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surgical instrument of the robot as it penetrates the human eye. Safe surgery requires accurate control of this force. In a teleoperated eye surgical system, there is likely to be a time delay that can affect the system control. This paper focuses on designing a predefined-time Sliding Mode Control (SMC) method to control a teleoperated robotic eye surgical system under an unknown time delay of the communication channel. The Lyapunov theory is used to prove the system stability. For the master and slave parts, manipulator robots are considered for designing and testing the controller. MATLAB software is used to simulate the controller. The simulation results show the robustness of the controller against the time delay of the communication channel.
International Journal of Applied Mathematics and Computer Science, 2000
This article looks at Combined Cycle (CC) and Combined Heat and Power (CHP) processes for energy ... more This article looks at Combined Cycle (CC) and Combined Heat and Power (CHP) processes for energy generation. In those processes heat energy and electrical energy are produced in one cycle, which enables more efficient energy usage than in systems with electricity and heat produced independently. Firstly, some typical configurations of CC/CHP processes are presented. Then, the main components are discussed. Combined Processes pose a challenge in terms of designing appropriate control system, which would take into consideration necessary coordination between the control of heat generation and the control of electricity generation. Also, those processes are required to be flexible in responding to changing demand (load). The typical control problems associated with Combined Processes and with their components are discussed in the article.
Archives of Control Sciences
One of the most critical problems in all practical systems is the presence of uncertainties, inte... more One of the most critical problems in all practical systems is the presence of uncertainties, internal and external disturbances, as well as disturbing noise, which makes the control of the system a challenging task. Another challenge with the physical systems is the possibility of cyber-attacks that the system's cyber security against them is a critical issue. The systems related to oil and gas industries may also be subjected to cyber-attacks. The subsets of these industries can be mentioned to the oil and gas transmission industry, where ships have a critical role. This paper uses the Quantitative Feedback Theory (QFT) method to design a robust controller for the ship course system, aiming towards desired trajectory tracking. The proposed controller is robust against all uncertainties, internal and external disturbances, noise, and various possible Deception, Stealth, and Denial-of-Service (DOS) attacks. The robust controller for the ship system is designed using the QFT method and the QFTCT toolbox in MATLAB software. Numerical simulations are performed in MATLAB/Simulink for two case studies with disturbances and attacks involving intermittent sinusoidal and random behavior to demonstrate the proposed controller.
IGI Global eBooks, 2019
The continual development of technology represents a challenge when preparing engineering student... more The continual development of technology represents a challenge when preparing engineering students for future employment. At the same time, the way students interact in everyday life is evolving: their extra-curricular life is filled with an enormous amount of stimulus, from online data to rich Web-based social interaction. This chapter provides an assessment of various learning technology-driven methods for enhancing both teaching and learning in the science and engineering disciplines. It describes the past, present, and future drivers for the implementation of hands-on teaching methods, incorporating industry standard software and hardware and the evolution of learning experiments into all-encompassing online environments that include socializing, learning, entertainment, and any other aspect of student life when studying science and engineering.
IFAC Proceedings Volumes, Jun 1, 2000
An overview is first provided of some of the most common formulations of Predictive Control, such... more An overview is first provided of some of the most common formulations of Predictive Control, such as Dynamic Matrix Control (DMC), Predictive Functional Control (PFC), Preview Control and Generalized Predictive Control (GPC). The main features, advantages and disadvantages are discussed, A new algorithm, based on a so called Linear Quadratic Generalized Predictive Controller (LQGPC) is then introduced. This algorithm combines features of Predictive Control with those of Linear Quadratic Gaussian Control, providing improved stability and robustness properties. Attention then turns to the state-space formulation of the problem. An algorithm called Dynamic Performance Predictive Control is briefly outlined and some links to the Linear Quadratic Generalized Predictive Controller are exploited. Finally, applications of new Predictive Control Techniques are discussed based on industrial examples from the Power and Steel industries. These are industrial fields where Predictive Control has not yet established a leading position. However, the new algorithms, due to their improved stability and robustness properties, have the potential to provide real quality and performance benefits.
IFAC Proceedings Volumes, Jun 1, 1996
Polymer-plastics Technology and Engineering, Jun 20, 2014
Tensile properties of plain and nanoclay reinforced epoxy matrix syntactic foams with three diffe... more Tensile properties of plain and nanoclay reinforced epoxy matrix syntactic foams with three different sizes of ceramic microballoons are investigated experimentally. Nine series of plain syntactic foams with 20, 40 and 60 volume fractions of microballoons are prepared and tested to study the volume fraction and size effects. Also nano syntactic foams specimens with six different weight fractions of nanoclay (0, 1, 2, 3, 5 & 7%) are tested and the effect of nanoclay content on the tensile properties is investigated. In addition to tensile tests, fracture modes of all syntactic foams are considered thoroughly by using scanning electron microscopy (SEM).
International Conference on Systems Engineering, 2009
Research Square (Research Square), Feb 16, 2024
This paper presents a novel robust Fuzzy controller for a planar manipulator robot. Also, the Mod... more This paper presents a novel robust Fuzzy controller for a planar manipulator robot. Also, the Model Predictive Control (MPC) and PID techniques are used to compare the results with the proposed method. The control system of the manipulator robots must have some special features that guarantee stability, fast tracking, practicability of the control signals, smooth control, etc. A comparative analysis can provide a clearer picture of the control system's performance. This study presents a comparative analysis between a novel robust Fuzzy technique, MPC and PID controllers for a two-link planar manipulator robot. Simulink/MATLAB is used for simulations of the controllers. The results show that the proposed robust Fuzzy method performs better and is more robust than other methods. The Integral of the Absolute value of the Error (IAE) and Integral of the Time Absolute value of the Error (ITAE) performance indexes are employed for a better and more logical comparison. Moreover, the control methods are compared with the essential control features such as accuracy, fast-tracking, robustness, etc. And in all the features, the proposed Fuzzy method is better than others.
Proceedings Of The Institution Of Mechanical Engineers, Part I: Journal Of Systems And Control Engineering, Jun 1, 2000
This paper describes tests performed on a laser scanner system to assess the feasibility of H 2 c... more This paper describes tests performed on a laser scanner system to assess the feasibility of H 2 control and generalized predictive control design techniques in achieving a required performance in a trajectory following problem. The two methods are compared with respect to achieved scan times, tracking errors and overshooting. The results are illustrated on a simulation example.
Lecture notes in networks and systems, 2023
The following paper introduces a new way of presenting the results of engineering simulations. Th... more The following paper introduces a new way of presenting the results of engineering simulations. The object of consideration is the motion of the snake robot on a flat surface. The robot's trajectory and control signals are calculated in MATLAB. Different approaches have been presented to show how the robot moves-from 2D plots and 3D animations observed from a computer screen to realistic visualisations displayed in the Virtual Reality headset. The proposed VR simulation will allow watching the simulation results and manipulating simulation parameters from inside of VR.
Lecture notes in networks and systems, 2023
Lecture notes in networks and systems, 2023
Sensors, Mar 20, 2023
This article is an open access article distributed under the terms and conditions of the Creative... more This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY
International Conference on System Science and Simulation in Engineering, Dec 16, 2006
This paper presents some algorithms for Model Based Predictive Control. The algorithms use states... more This paper presents some algorithms for Model Based Predictive Control. The algorithms use statespace models, which have recently become increasingly attractive to researchers. There are, however, a number of issues which should be taken into consideration when programming a state-space predictive controller. The algorithm will depend on the type of the model, the assumptions about disturbances acting on the system, the objectives of the controller and the form of the performance index. This article investigates these different cases and provides practical guidelines on how a predictive control algorithm should be constructed. A simple example illustrates the difficulties and shows how they may be overcome to enable successful implementation of MBPC in state space.
One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surg... more One of the most critical challenges in Robotic Eye Surgery (RES) is the applied force of the surgical instrument of the robot as it penetrates the human eye. Safe surgery requires accurate control of this force. In a teleoperated eye surgical system, there is likely to be a time delay that can affect the system control. This paper focuses on designing a predefined-time Sliding Mode Control (SMC) method to control a teleoperated robotic eye surgical system under an unknown time delay of the communication channel. The Lyapunov theory is used to prove the system stability. For the master and slave parts, manipulator robots are considered for designing and testing the controller. MATLAB software is used to simulate the controller. The simulation results show the robustness of the controller against the time delay of the communication channel.
International Journal of Applied Mathematics and Computer Science, 2000
This article looks at Combined Cycle (CC) and Combined Heat and Power (CHP) processes for energy ... more This article looks at Combined Cycle (CC) and Combined Heat and Power (CHP) processes for energy generation. In those processes heat energy and electrical energy are produced in one cycle, which enables more efficient energy usage than in systems with electricity and heat produced independently. Firstly, some typical configurations of CC/CHP processes are presented. Then, the main components are discussed. Combined Processes pose a challenge in terms of designing appropriate control system, which would take into consideration necessary coordination between the control of heat generation and the control of electricity generation. Also, those processes are required to be flexible in responding to changing demand (load). The typical control problems associated with Combined Processes and with their components are discussed in the article.
Archives of Control Sciences
One of the most critical problems in all practical systems is the presence of uncertainties, inte... more One of the most critical problems in all practical systems is the presence of uncertainties, internal and external disturbances, as well as disturbing noise, which makes the control of the system a challenging task. Another challenge with the physical systems is the possibility of cyber-attacks that the system's cyber security against them is a critical issue. The systems related to oil and gas industries may also be subjected to cyber-attacks. The subsets of these industries can be mentioned to the oil and gas transmission industry, where ships have a critical role. This paper uses the Quantitative Feedback Theory (QFT) method to design a robust controller for the ship course system, aiming towards desired trajectory tracking. The proposed controller is robust against all uncertainties, internal and external disturbances, noise, and various possible Deception, Stealth, and Denial-of-Service (DOS) attacks. The robust controller for the ship system is designed using the QFT method and the QFTCT toolbox in MATLAB software. Numerical simulations are performed in MATLAB/Simulink for two case studies with disturbances and attacks involving intermittent sinusoidal and random behavior to demonstrate the proposed controller.
IGI Global eBooks, 2019
The continual development of technology represents a challenge when preparing engineering student... more The continual development of technology represents a challenge when preparing engineering students for future employment. At the same time, the way students interact in everyday life is evolving: their extra-curricular life is filled with an enormous amount of stimulus, from online data to rich Web-based social interaction. This chapter provides an assessment of various learning technology-driven methods for enhancing both teaching and learning in the science and engineering disciplines. It describes the past, present, and future drivers for the implementation of hands-on teaching methods, incorporating industry standard software and hardware and the evolution of learning experiments into all-encompassing online environments that include socializing, learning, entertainment, and any other aspect of student life when studying science and engineering.
IFAC Proceedings Volumes, Jun 1, 2000
An overview is first provided of some of the most common formulations of Predictive Control, such... more An overview is first provided of some of the most common formulations of Predictive Control, such as Dynamic Matrix Control (DMC), Predictive Functional Control (PFC), Preview Control and Generalized Predictive Control (GPC). The main features, advantages and disadvantages are discussed, A new algorithm, based on a so called Linear Quadratic Generalized Predictive Controller (LQGPC) is then introduced. This algorithm combines features of Predictive Control with those of Linear Quadratic Gaussian Control, providing improved stability and robustness properties. Attention then turns to the state-space formulation of the problem. An algorithm called Dynamic Performance Predictive Control is briefly outlined and some links to the Linear Quadratic Generalized Predictive Controller are exploited. Finally, applications of new Predictive Control Techniques are discussed based on industrial examples from the Power and Steel industries. These are industrial fields where Predictive Control has not yet established a leading position. However, the new algorithms, due to their improved stability and robustness properties, have the potential to provide real quality and performance benefits.
IFAC Proceedings Volumes, Jun 1, 1996
Polymer-plastics Technology and Engineering, Jun 20, 2014
Tensile properties of plain and nanoclay reinforced epoxy matrix syntactic foams with three diffe... more Tensile properties of plain and nanoclay reinforced epoxy matrix syntactic foams with three different sizes of ceramic microballoons are investigated experimentally. Nine series of plain syntactic foams with 20, 40 and 60 volume fractions of microballoons are prepared and tested to study the volume fraction and size effects. Also nano syntactic foams specimens with six different weight fractions of nanoclay (0, 1, 2, 3, 5 & 7%) are tested and the effect of nanoclay content on the tensile properties is investigated. In addition to tensile tests, fracture modes of all syntactic foams are considered thoroughly by using scanning electron microscopy (SEM).
International Conference on Systems Engineering, 2009