Hybrid Control Research Papers - Academia.edu (original) (raw)

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- Hybrid Systems, Surface Mount Technology, Hybrid Control
- by V Balamurugan
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- Civil Engineering, Optimal Control, Finite element method, Vibration Control
- by Joaquin Alvarez
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- Engineering, Experimental Study, Mechanical systems, Second Order
- by Silvia Siri and +1
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- Model Predictive Control (MPC), Traffic control, Accounting and Auditing, Traffic Flow
- by Antonio Dourado
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- Model Predictive Control, Neural Network, Hybrid Control, Predictive Control

This paper presents a framework for multimodal human-robot interaction. The proposed framework is being implemented in a personal robot called Maggie, developed at RoboticsLab of the University Carlos III of Madrid for social interaction research. The control architecture of this personal robot is a hybrid control architecture called AD (automatic-deliberative) that incorporates an emotion control system (ECS). Maggie's main goal is to interact establish a peer-to-peer relationship with humans. To achieve this goal, a set of human-robot interaction skills are developed based on the proposed framework. The human-robot interaction skills imply tactile, visual, remote voice and sound modes. The multi-modal fusion and synchronization are also presented in this paper

- by Khamis M. Khamis
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- Social Interaction, Control system, Human Robot Interaction, Peer to Peer
- by daniel castro
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- Digital Control, Control system, Sensory Integration, Tactile Sensor

Piezoelectric actuators are popularly applied as actuators in high precision systems due to their small displacement resolution, fast response and simple construction. However, the hysteresis nonlinear behavior limits the dynamic modeling and tracking control of piezoelectric actuators. This thesis studies a dynamic model of a moving stage driven by piezoelectric stack actuator. The Bouc-Wen model is introduced and analyzed to express the nonlinear hysteresis term of the piezoelectric stack actuator, where the values of the parameters of the model have been taken from a previous work. The simulated results using MATLAB/Simulink demonstrate the existence of the hysteresis phenomenon between the input voltage and the output displacement of the piezoelectric stack actuator, and validate the correctness of the model. Moreover, a Luenberger observer is designed to estimate the hysteresis nonlinearity of the system, and then combined with the voltage input signal to form a Luenberger-based feedforward controller to control the displacement of the system. Furthermore, a Proportional-Integral-Derivative (PID) feedback controller is integrated with the feedforward controller to achieve more accurate output displacement, where the gains of the PID controller are optimized using Particle Swarm Optimization. Several performance index formulas have been studied to get the best solution of the PID’s gains. An Integral Time Squared Error plus Absolute Error performance index formula has been proposed to achieve zero overshoot and steady-state error. The simulated results accomplished using MATLAB/Simulink show the ability of the designed controllers to vastly reduce the amount of error of the output displacement and the response time of the system.

- by Mih Bogdan
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- Trajectory, Remotely Operated Vehicles, Closed Loop Control, Mathematical Model

This research work introduces an efficient hybrid control methodology through combining the traditional proportional-integral-derivative (PID) controller and linear quadratic regulator (LQR) optimal controlher. The proposed hybrid control approach is adopted to design three degree of freedom (3DOF) stabilizing system for helicopter. The gain parameters of the classic PID controller are determined using the elements of the LQR feedback gain matrix. The dynamic behaviour of the LQR based PID controller, is modeled in state space form to enable utlizing state feedback controller technique. The performance of the proposed LQR based LQR controller is improved by using Genetic Algorithm optimization method which are adopted to obtain optimum values for LQR controller gain parameters. The LQR-PID hybrid controller is simulated using Matlab environment and its performance is evaluated based on rise time, settling time, overshoot and steady state error parameters to validate the proposed 3DOF helicopter balancing system. Based on GA tuning approach, the simulation results suggest that the hybrid LQR-PID controller can be effectively employed to stabilize the 3DOF helicopter system.

- by Prashant Kumar Tripathi
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- FPGA, Vibration Control, Skyhook, Groundhook

The main contributions of this paper are the development of a forward-looking hybrid vehicle simulation tool, and its application to the design of a power management control algorithm. The hybrid electric vehicle simulation tool (HE-VESIM) was developed at the Automotive Research Center of the University of Michigan to study the potential fuel economy and emission benefits of the parallel hybrid

- by Dennis Assanis
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- Power Management, Automotive Engineering, Hybrid Vehicle, Fuel economy

The purpose of this paper is to analyze effect of skyhook, groundhook and hybrid control strategies on semiactive suspension system through computer simulation of quarter-car model in MATLAB/SIMULINK. The ride comfort and handling characteristics of suspension system were observed for step input. The performance of passive suspension system model was compared with skyhook, groundhook and hybrid controlled semiactive suspension system performance. The result shows that skyhook control will offer better ride and handling as compared to other controllers.

- by Ansar Mulla
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- Suspension, Semiactive Suspensions, Skyhook, Groundhook
- by Bruno Allard
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- Engineering, Field Programmable Gate Array, Vector control, Hybrid Control
- by Sunderesh Heragu and +1
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- Engineering, Art, Intelligent Agents, Control Systems

This paper provides a constructive procedure for the implementation of a multiechelon single-product optimal, reactive distributed inventory planner. The paper serves as an illustration of the design procedure for generating models for a network of hybrid agents (Multiple Agent Hybrid Control Architecture, MAHCA) that implement the inventory planner. The objective of the planner is to generate a distributed stocking policy

- by Vladimir Brayman
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- Software Agent, Hybrid Control, Hybrid System, Generic model

Recent advances in control engineering suggest that hybrid control strategies, integrating some ideas and paradigms existing in different soft computing techniques, such as fuzzy logic, genetic algorithms, rough set theory, and neural networks, may provide improved control performance in wastewater treatment processes. This paper presents an innovative hybrid control algorithm leading to integrate the distinct aspects of indiscernibility capability of rough set theory and search capability of genetic algorithms with conventional neural-fuzzy controller design. The methodology proposed in this study employs a three-stage analysis that is designed in series for generating a representative state function, searching for a set of multi-objective control strategies, and performing a rough set-based autotuning for the neural-fuzzy logic controller to make it applicable for controlling an industrial wastewater treatment process. Research findings in the case study clearly indicate that the ...

- by Ni-Bin Chang
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- Engineering, Artificial Intelligence, Machine Learning, Optimal Control
- by Vivek Dua
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- Mechanical Engineering, Chemical Engineering, Sensitivity Analysis, Upper Bound
- by Aveek K Das
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- Automation, Lyapunov Stability Theory, Switching Control, Formation Control
- by Eric Feron
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- Computational Complexity, Vehicle Dynamics, Motion control, Automata

Piezo-actuated stages are composed of a piezoelectric actuator (PEA) and a positioning mechanism. Hysteresis behavior of PEAs limits the position accuracy of the piezo-actuated stages. This paper presents a hybrid control approach for precise positioning of a piezo-actuated stage, where Bouc-Wen hysteresis model is used to represent the hysteresis behavior of the PEA. A Luenberger observer-based feedforward controller is designed, and then integrated with a Particle Swarm Optimization (PSO)-based Proportional-Integral-Derivative (PID) controller to form a hybrid controller. Optimal PID gains are obtained based on a fitness function proposed to reduce the displacement error and achieve fast response time. The results show that using the proposed hybrid controller reduces the hysteresis effect significantly, and thus the maximum error is minimized to 0.127 11m, which is 0.17 % of the maximum displacement of 72.1 μm.

- by Marwan Nafea
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- Hysteresis, Piezoelectric ceramics, PID controller design, Feedback Control
- by Andrew Kurdila
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- Membranes, Composites, Composite Materials, Actuators
- by Tobias Geyer and +2
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- Applied Mathematics, Optimal Control, Power Electronics, Model Predictive Control
- by Lars Petersson and +1
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- Performance Analysis, Control Structure, Behavior-Based Control, Robot Manipulator
- by DEBJYOTI PAUL
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- Control Systems Engineering, Renewable Energy, Pattern Recognition, Neural Network
- by Ronny Cacau
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- High Voltage, digital PID controller, Theoretical Analysis, Control Strategy
- by Gina Lee-glauser
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- Civil Engineering, Structural Engineering, Vibration Control, Base Isolation
- by RICARDO GARCIA DUARTE
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- Civil Engineering, Intelligent Control, European Union, Fuzzy Control
- by Sunderesh Heragu and +1
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- Mechanical Engineering, Control system, Intelligent Agent, Manufacturing Engineering

This paper describes the UJI librarian robot, a mobile manipulator that is able to autonomously locate a book in an ordinary library, and grasp it from a bookshelf, by using eye-in-hand stereo vision and force sensing. The robot is only provided with the book code, a library map and some knowledge about its logical structure and takes advantage of the spatio-temporal constraints and regularities of the environment by applying disparate techniques such as stereo vision, visual tracking, probabilistic matching, motion estimation, multisensor-based grasping, visual servoing and hybrid control, in such a way that it exhibits a robust and dependable performance. The system has been tested, and experimental results show how it is able to robustly locate and grasp a book in a reasonable time without human intervention.

- by Ester Martínez
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- Cognitive Science, Motion estimation, Visual tracking, Temporal Constraints
- by Roque Martinez and +1
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- Engineering, Experimental Study, Mechanical systems, Second Order
- by P. Maccarini and +1
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- Biomedical Engineering, Computer Aided Design, Automatic Control, Control system

"Ride comfort and vehicle handling of heavy off-road vehicles can be improved with the help of a controlled suspension system. This paper describes the impact of a semi-active and passive system on the driving behaviour of a heavy off-road 4 × 4 wheeled vehicle. The analysis is based on a military vehicle model used for simulating off-road vehicle drives and handling. The analysis covers both transient responses and transmissibility response in frequency domain. To start with, the fundamental skyhook, groundhook and hybrid principles are used for controlling. Frequency response and sprung mass
accelerations, suspension and tyre deflection response in time domain are clearly improved using semi-active control policie compare to passive system."

- by Ben Lahcene Zohir. PhD
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- Skyhook, Groundhook, Off Road Vehicle, Full Car Model

Abstract−In this research, double-command control of a nonlinear chemical system is addressed. The system is a stirred tank reactor; two flows of liquid with different concentrations enter the system through two valves and another flow exits the tank with a concentration between the two input concentrations. Fuzzy logic was employed to design a model-free double-command controller for this system in the simulation environment. In order to avoid output chat-tering and frequent change of control command (leading to frequent closing-opening of control valves, in practice) a damper rule is added to the fuzzy control system. A feedforward (steady state) control law is also derived from the nonlinear mathematical model of the system to be added to feedback (fuzzy) controller generating transient control command. The hybrid control system leads to a very smooth change of control input, which suits real applications. The proposed control system offers much lower error integral, control comm...

- by Morteza Mohammadzaheri
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- Fuzzy Control, Key words, Nonlinear system, Hybrid Control
- by Mohd Anwar Zawawi
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- Fuzzy Logic, Motion control, Fuzzy Control, Trajectory
- by Ben Cazzolato
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- Engineering, Low Frequency, Active Control, Convergence Rate
- by Ricardo Carelli
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- Mobile Robot, Petri Net, Hybrid Architecture, Discrete Event
- by Fernando Lizarralde
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- Adaptive Control, Machine Vision, Control Systems, Control system
- by Dennis Assanis
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- Power Management, Automotive Engineering, Hybrid Vehicle, Fuel economy

- by Rafael Rivas
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- Social Interaction, Control system, Human Robot Interaction, Peer to Peer

Use of Control theory within process control industries has changed rapidly due to the increase complexity of instrumentation, real time requirements, minimization of operating costs and highly nonlinear characteristics of chemical process. Previously developed process control technologies which are mostly based on a single controller are not efficient in terms of signal transmission delays, processing power for computational needs and signal to noise ratio. Hybrid controller with efficient system modelling is essential to cope with the current challenges of process control in terms of control performance. This paper presents an optimized mathematical modelling and advance hybrid controller (Fuzzy Logic and PID) design along with practical implementation and validation of pH neutralization pilot plant. This procedure is particularly important for control design and automation of Physico-chemical systems for process control industry.

In this paper we show how hybrid control and modeling techniques can be put to work for solving a problem of industrial relevance in Surface Mount Technology (SMT) manufacturing. In particular, by closing the loop over the stencil printing process, we obtain a robust system that can recover from faulty initial settings, adapt to environmental changes and unscheduled interrupts, and remove discrepancies associated with bidirectional printing machines. Moreover, a timed Petri net argument is invoked for bounding the control effort in such a way that the throughput of the system is unaffected by the introduction of the closed-loop controller. The soundness of the approach is verified on a real SMT manufacturing line.

- by abhinav saxena
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- Hybrid Systems, Surface Mount Technology, Hybrid Control
- by Eckhard Groll
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- Engineering, Design, Modeling, Refrigeration
- by Nader Jalili
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- Engineering, Technology, High Frequency, Physical sciences

This paper addresses the stabilization of a class of nonlinear systems in the presence of disturbances, using hybrid control. To this effect we introduce two new classes of switched systems and provide conditions under which they are input-to-state practically stable (ISpS). These results lead to a control design methodology called switched seesaw control design that allows for the development of

- by Joao Hespanha
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- Nonlinear Control, Autonomous Underwater Vehicle, Control Design, Nonlinear system
- by Antonio Dourado
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- Model Predictive Control, Neural Network, Hybrid Control, Predictive Control