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Open Access
Article
Publication date: 2 June 2023

Sebastian Topczewski and Przemyslaw Bibik

The purpose of this study is to test the performance of the designed automatic control system based on the Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG…

Abstract

Purpose

The purpose of this study is to test the performance of the designed automatic control system based on the Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) algorithms during landing of the helicopter on the ship deck. This paper is a further development of the series based on Topczewski et al. (2020).

Design/methodology/approach

The system consists of two automatic control algorithms based on LQR and the LQG. It is integrated with the ship motion prediction system based on autoregressive algorithm with parameters calculated using Burg’s method. It is assumed that the source of necessary navigation data is integrated Inertial Navigation System with Global Positioning System. Landing of the helicopter on the ship deck is performed in automatic way, based on the preselected procedure. Performance of the control system is analyzed when all necessary navigation data is available for the system and in case when one of the parameters is unavailable during performing the procedure.

Findings

In this paper, description of the designed control system developed for performing the approach and landing of the helicopter using selected procedure is presented. Helicopter dynamic model is validated using the manufacturer data and by test pilots, overview is presented. Necessary information about ship motion model is also included. Tests showing mission performance while using LQR and LQG algorithms applied to the control system are presented and analyzed, taking into account both situations when full navigation data is available/unavailable for the control system.

Practical implications

Results of the system performance analyses can be used for selection of the proper control methodology for prospective helicopters autopilots. Furthermore, the system can be used to analyze the mission safety when information about one of the navigation parameters is identified by the navigation system as unavailable or incorrect and therefore unavailable during landing on the ship deck.

Originality/value

In this paper, control system dedicated for the automatic landing of the helicopter on the ship deck, based on two different control algorithms is presented. Influence of lack of information about one of the navigation parameters on the mission performance is analyzed.

Details

Aircraft Engineering and Aerospace Technology, vol. 95 no. 9
Type: Research Article
ISSN: 1748-8842

Keywords

Article
Publication date: 15 August 2023

Zul-Atfi Ismail

At the beginning of the Corona Virus Disease 2019 (COVID-19) pandemic, a digitalized construction environments surfaced in the heating, ventilation and air conditioning (HVAC…

Abstract

Purpose

At the beginning of the Corona Virus Disease 2019 (COVID-19) pandemic, a digitalized construction environments surfaced in the heating, ventilation and air conditioning (HVAC) systems in the form of a modern delivery system called demand controlled ventilation (DCV). Demand controlled ventilation has the potential to solve the building ventilation's biggest problem of managing indoor air quality (IAQ) for controlling COVID-19 transmission in indoor environments. However, the improper evaluation and information management of infection prevention on dense crowd activities such as measurement errors and volatile organic compound (VOC) generation failure rates, is fragmented so the aim of this research is to integrate this and explore potentials with machine learning algorithms (MLAs).

Design/methodology/approach

The method used is a thorough systematic literature review (SLR) approach. The results of this research consist of a detailed description of the DCV system and digitalized construction process of its IAQ elements.

Findings

The discussion revealed that DCV has a potential for being further integrated by perceiving it as a MLAs and hereby enabling the management of IAQ level from the perspective of health risk function mechanism (i.e. VOC and CO2) for maintaining a comfortable thermal environment and save energy of public and private buildings (PPBs). The appropriate MLA can also be selected in different occupancy patterns for seasonal variations, ventilation behavior, building type and locations, as well as current indoor air pollution control strategies. Furthermore, the conceptual framework showed that MLA application such as algorithm design/Model Predictive Control (MPC) integration can alleviate the high spread limitation of COVID-19 in the indoor environment.

Originality/value

Finally, the research concludes that a large unexploited potential within integration and innovation is recognized in the DCV system and MLAs which can be improved to optimize level of IAQ from the perspective of health throughout the building sector DCV process systems. The requirements of CO2 based DCV along with VOC concentrations monitoring practice should be taken into consideration through further research and experience with adaption and implementation from the ventilation control initial stage of the DCV process.

Details

Open House International, vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 0168-2601

Keywords

Article
Publication date: 25 August 2023

Shuai Yue, Ben Niu, Huanqing Wang, Liang Zhang and Adil M. Ahmad

This paper aims to study the issues of adaptive fuzzy control for a category of switched under-actuated systems with input nonlinearities and external disturbances.

Abstract

Purpose

This paper aims to study the issues of adaptive fuzzy control for a category of switched under-actuated systems with input nonlinearities and external disturbances.

Design/methodology/approach

A control scheme based on sliding mode surface with a hierarchical structure is introduced to enhance the responsiveness and robustness of the studied systems. An equivalent control and switching control rules are co-designed in a hierarchical sliding mode control (HSMC) framework to ensure that the system state reaches a given sliding surface and remains sliding on the surface, finally stabilizing at the equilibrium point. Besides, the input nonlinearities consist of non-symmetric saturation and dead-zone, which are estimated by an unknown bounded function and a known affine function.

Findings

Based on fuzzy logic systems and the hierarchical sliding mode control method, an adaptive fuzzy control method for uncertain switched under-actuated systems is put forward.

Originality/value

The “cause and effect” problems often existing in conventional backstepping designs can be prevented. Furthermore, the presented adaptive laws can eliminate the influence of external disturbances and approximation errors. Besides, in contrast to arbitrary switching strategies, the authors consider a switching rule with average dwell time, which resolves control problems that cannot be resolved with arbitrary switching signals and reduces conservatism.

Details

Robotic Intelligence and Automation, vol. 43 no. 5
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 31 October 2023

Lei Xiong, Hongjun Shi and Qixin Zhu

This study aims to construct a novel maximum power tracking control system for the direct drive permanent magnet synchronous generator (PMSG) of the wind energy conversion system…

Abstract

Purpose

This study aims to construct a novel maximum power tracking control system for the direct drive permanent magnet synchronous generator (PMSG) of the wind energy conversion system (WECS) to solve the following problems: how to effectively eliminate the system’s model parameter disturbances and speed up the dynamic performance of the system; and how to eliminate harmonics in WECS under different wind speeds.

Design/methodology/approach

To obtain the maximum output power of PMSG at WECS under different wind speeds, the following issues should be considered: (1) how to effectively eliminate the system’s model parameter disturbances and speed up the dynamic performance of the system; and (2) how to suppress system harmonics. For Problem 1, adding dq compensation factors to active disturbance rejection control (ADRC) for the current loop realizes the dq axis decoupling control, which speeds up the dynamic performance of the system. For Problem 2, the resonant controller is introduced into the ADRC for the current loop to suppress harmonic current in WECS under different wind speeds.

Findings

The simulation results demonstrate that the proposed control method is simpler and more reliable than conventional controllers for maximum power tracking.

Originality/value

Compared with traditional controllers, the proposed controller can speed up the dynamic performance of the system and suppress the current harmonic effectively, thus better achieving maximum power tracking.

Details

Robotic Intelligence and Automation, vol. 43 no. 6
Type: Research Article
ISSN: 2754-6969

Keywords

Article
Publication date: 7 July 2023

Vinayambika S. Bhat, Thirunavukkarasu Indiran, Shanmuga Priya Selvanathan and Shreeranga Bhat

The purpose of this paper is to propose and validate a robust industrial control system. The aim is to design a Multivariable Proportional Integral controller that accommodates…

92

Abstract

Purpose

The purpose of this paper is to propose and validate a robust industrial control system. The aim is to design a Multivariable Proportional Integral controller that accommodates multiple responses while considering the process's control and noise parameters. In addition, this paper intended to develop a multidisciplinary approach by combining computational science, control engineering and statistical methodologies to ensure a resilient process with the best use of available resources.

Design/methodology/approach

Taguchi's robust design methodology and multi-response optimisation approaches are adopted to meet the research aims. Two-Input-Two-Output transfer function model of the distillation column system is investigated. In designing the control system, the Steady State Gain Matrix and process factors such as time constant (t) and time delay (?) are also used. The unique methodology is implemented and validated using the pilot plant's distillation column. To determine the robustness of the proposed control system, a simulation study, statistical analysis and real-time experimentation are conducted. In addition, the outcomes are compared to different control algorithms.

Findings

Research indicates that integral control parameters (Ki) affect outputs substantially more than proportional control parameters (Kp). The results of this paper show that control and noise parameters must be considered to make the control system robust. In addition, Taguchi's approach, in conjunction with multi-response optimisation, ensures robust controller design with optimal use of resources. Eventually, this research shows that the best outcomes for all the performance indices are achieved when Kp11 = 1.6859, Kp12 = −2.061, Kp21 = 3.1846, Kp22 = −1.2176, Ki11 = 1.0628, Ki12 = −1.2989, Ki21 = 2.454 and Ki22 = −0.7676.

Originality/value

This paper provides a step-by-step strategy for designing and validating a multi-response control system that accommodates controllable and uncontrollable parameters (noise parameters). The methodology can be used in any industrial Multi-Input-Multi-Output system to ensure process robustness. In addition, this paper proposes a multidisciplinary approach to industrial controller design that academics and industry can refine and improve.

Details

Journal of Engineering, Design and Technology , vol. ahead-of-print no. ahead-of-print
Type: Research Article
ISSN: 1726-0531

Keywords

Open Access
Article
Publication date: 27 April 2023

Frank Nana Kweku Otoo, Manpreet Kaur and Nissar Ahmed Rather

Internal control systems are critical to an organization's efficiency and promotes the adherence to norms and rules. The purpose of this study is to evaluate the impact of…

7198

Abstract

Purpose

Internal control systems are critical to an organization's efficiency and promotes the adherence to norms and rules. The purpose of this study is to evaluate the impact of internal control systems on banking industry effectiveness.

Design/methodology/approach

Data were collected from 15 commercial and 20 rural banks. The hypothesized relationships were supported by the data. A structural equation modeling was applied in testing the conceptual model and hypothesis. Confirmatory factor analysis was conducted to establish validity and reliability of the dimensions.

Findings

The results show that organizational effectiveness was significantly impacted by three dimensions of internal control systems: control activities, control environments and risk assessment. However, the impact of monitoring of control on organizational effectiveness was not significant. The results also show a nonsignificant impact of information and communication on organizational effectiveness.

Research limitations/implications

Since the current study concentrated on the banking sector with its distinct characteristics, the generalizability of the conclusions may be limited.

Practical implications

The study's findings may aid decision-makers and stakeholders in the adoption, designing and implementation of proactive internal control system to enhance operational efficiency, effectiveness and competitive advantage.

Originality/value

The study advances the literature by empirically evidencing that internal control systems impact organizational effectiveness.

Details

LBS Journal of Management & Research, vol. 21 no. 1
Type: Research Article
ISSN: 0972-8031

Keywords

Article
Publication date: 31 January 2023

Fabio Parisi, Valentino Sangiorgio, Nicola Parisi, Agostino M. Mangini, Maria Pia Fanti and Jose M. Adam

Most of the 3D printing machines do not comply with the requirements of on-site, large-scale multi-story building construction. This paper aims to propose the conceptualization of…

Abstract

Purpose

Most of the 3D printing machines do not comply with the requirements of on-site, large-scale multi-story building construction. This paper aims to propose the conceptualization of a tower crane (TC)-based 3D printing controlled by artificial intelligence (AI) as the first step towards a large 3D printing development for multi-story buildings. It also aims to overcome the most important limitation of additive manufacturing in the construction industry (the build volume) by exploiting the most important machine used in the field: TCs. It assesses the technology feasibility by investigating the accuracy reached in the printing process.

Design/methodology/approach

The research is composed of three main steps: firstly, the TC-based 3D printing concept is defined by proposing an aero-pendulum extruder stabilized by propellers to control the trajectory during the extrusion process; secondly, an AI-based system is defined to control both the crane and the extruder toolpath by exploiting deep reinforcement learning (DRL) control approach; thirdly the proposed framework is validated by simulating the dynamical system and analysing its performance.

Findings

The TC-based 3D printer can be effectively used for additive manufacturing in the construction industry. Both the TC and its extruder can be properly controlled by an AI-based control system. The paper shows the effectiveness of the aero-pendulum extruder controlled by AI demonstrated by simulations and validation. The AI-based control system allows for reaching an acceptable tolerance with respect to the ideal trajectory compared with the system tolerance without stabilization.

Originality/value

In related literature, scientific investigations concerning the use of crane systems for 3D printing and AI-based systems for control are completely missing. To the best of the authors’ knowledge, the proposed research demonstrates for the first time the effectiveness of this technology conceptualized and controlled with an intelligent DRL agent.

Practical implications

The results provide the first step towards the development of a new additive manufacturing system for multi-storey constructions exploiting the TC-based 3D printing. The demonstration of the conceptualization feasibility and the control system opens up new possibilities to activate experimental research for companies and research centres.

Details

Construction Innovation , vol. 24 no. 1
Type: Research Article
ISSN: 1471-4175

Keywords

Article
Publication date: 22 December 2022

Hang Gao and Chao Ma

The purpose of this paper is to propose a novel event-triggered aperiodic intermittent sliding-mode control (ETAI-SMC) algorithm for master–slave bilateral teleoperation robotic…

Abstract

Purpose

The purpose of this paper is to propose a novel event-triggered aperiodic intermittent sliding-mode control (ETAI-SMC) algorithm for master–slave bilateral teleoperation robotic systems to further save communication resources while maintaining synchronization precision.

Design/methodology/approach

By using the Lyapunov theory, a new event-triggered aperiodic intermittent sliding-mode controller is designed to synchronize master–slave robots in a discontinuous method. Unlike traditional periodic time-triggered continuous control strategy, a new ETAI condition is discussed for less communication pressure. Then, the exponential reaching law is adopted to accelerate sliding-mode variables convergence, which has a significant effect on synchronization performance. In addition, the authors use quantizers to make their algorithm have obvious progress in saving communication resources.

Findings

The proposed control algorithm performance is validated by an experiment developed on a practical bilateral teleoperation system with two PHANToM Omni robotic devices. As a result, the synchronization error is limited within a small range and the control frequency is evidently reduced. Compared with a conventional control algorithm, the experimental results illustrate that the proposed control algorithm is more sensitive to system states changes and it can further save communication resources while guaranteeing the system synchronization accuracy, which is more practical for real bilateral teleoperation robotic systems.

Originality/value

A novel ETAI-SMC for bilateral teleoperation robotic systems is proposed to find a balance between reducing the control frequency and synchronization control precision. Combining the traditional sliding-mode control algorithm with the periodic intermittent control strategy and the event-triggered control strategy has produced obvious effect on our control performance. The proposed ETAI-SMC algorithm helps the controller be more sensitive to system states changes, which makes it possible to achieve precise control with lower control frequency. Moreover, we design an environment contact force feedback algorithm for operators to improve the perception of the slave robot working environment. In addition, quantizers and the exponential convergence law are adopted to help the proposed algorithm perform better in saving communication resources and improving synchronization precision.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 19 December 2022

Meby Mathew, Mervin Joe Thomas, M.G. Navaneeth, Shifa Sulaiman, A.N. Amudhan and A.P. Sudheer

The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this…

Abstract

Purpose

The purpose of this review paper is to address the substantial challenges of the outdated exoskeletons used for rehabilitation and further study the current advancements in this field. The shortcomings and technological developments in sensing the input signals to enable the desired motions, actuation, control and training methods are explained for further improvements in exoskeleton research.

Design/methodology/approach

Search platforms such as Web of Science, IEEE, Scopus and PubMed were used to collect the literature. The total number of recent articles referred to in this review paper with relevant keywords is filtered to 143.

Findings

Exoskeletons are getting smarter often with the integration of various modern tools to enhance the effectiveness of rehabilitation. The recent applications of bio signal sensing for rehabilitation to perform user-desired actions promote the development of independent exoskeleton systems. The modern concepts of artificial intelligence and machine learning enable the implementation of brain–computer interfacing (BCI) and hybrid BCIs in exoskeletons. Likewise, novel actuation techniques are necessary to overcome the significant challenges seen in conventional exoskeletons, such as the high-power requirements, poor back drivability, bulkiness and low energy efficiency. Implementation of suitable controller algorithms facilitates the instantaneous correction of actuation signals for all joints to obtain the desired motion. Furthermore, applying the traditional rehabilitation training methods is monotonous and exhausting for the user and the trainer. The incorporation of games, virtual reality (VR) and augmented reality (AR) technologies in exoskeletons has made rehabilitation training far more effective in recent times. The combination of electroencephalogram and electromyography-based hybrid BCI is desirable for signal sensing and controlling the exoskeletons based on user intentions. The challenges faced with actuation can be resolved by developing advanced power sources with minimal size and weight, easy portability, lower cost and good energy storage capacity. Implementation of novel smart materials enables a colossal scope for actuation in future exoskeleton developments. Improved versions of sliding mode control reported in the literature are suitable for robust control of nonlinear exoskeleton models. Optimizing the controller parameters with the help of evolutionary algorithms is also an effective method for exoskeleton control. The experiments using VR/AR and games for rehabilitation training yielded promising results as the performance of patients improved substantially.

Research limitations/implications

Robotic exoskeleton-based rehabilitation will help to reduce the fatigue of physiotherapists. Repeated and intention-based exercise will improve the recovery of the affected part at a faster pace. Improved rehabilitation training methods like VR/AR-based technologies help in motivating the subject.

Originality/value

The paper describes the recent methods for signal sensing, actuation, control and rehabilitation training approaches used in developing exoskeletons. All these areas are key elements in an exoskeleton where the review papers are published very limitedly. Therefore, this paper will stand as a guide for the researchers working in this domain.

Details

Industrial Robot: the international journal of robotics research and application, vol. 50 no. 3
Type: Research Article
ISSN: 0143-991X

Keywords

Article
Publication date: 10 June 2022

Hong-Sen Yan, Zhong-Tian Bi, Bo Zhou, Xiao-Qin Wan, Jiao-Jun Zhang and Guo-Biao Wang

The present study is intended to develop an effective approach to the real-time modeling of general dynamic nonlinear systems based on the multidimensional Taylor network (MTN).

Abstract

Purpose

The present study is intended to develop an effective approach to the real-time modeling of general dynamic nonlinear systems based on the multidimensional Taylor network (MTN).

Design/methodology/approach

The authors present a detailed explanation for modeling the general discrete nonlinear dynamic system by the MTN. The weight coefficients of the network can be obtained by sampling data learning. Specifically, the least square (LS) method is adopted herein due to its desirable real-time performance and robustness.

Findings

Compared with the existing mainstream nonlinear time series analysis methods, the least square method-based multidimensional Taylor network (LSMTN) features its more desirable prediction accuracy and real-time performance. Model metric results confirm the satisfaction of modeling and identification for the generalized nonlinear system. In addition, the MTN is of simpler structure and lower computational complexity than neural networks.

Research limitations/implications

Once models of general nonlinear dynamical systems are formulated based on MTNs and their weight coefficients are identified using the data from the systems of ecosystems, society, organizations, businesses or human behavior, the forecasting, optimizing and controlling of the systems can be further studied by means of the MTN analytical models.

Practical implications

MTNs can be used as controllers, identifiers, filters, predictors, compensators and equation solvers (solving nonlinear differential equations or approximating nonlinear functions) of the systems of ecosystems, society, organizations, businesses or human behavior.

Social implications

The operating efficiency and benefits of social systems can be prominently enhanced, and their operating costs can be significantly reduced.

Originality/value

Nonlinear systems are typically impacted by a variety of factors, which makes it a challenge to build correct mathematical models for various tasks. As a result, existing modeling approaches necessitate a large number of limitations as preconditions, severely limiting their applicability. The proposed MTN methodology is believed to contribute much to the data-based modeling and identification of the general nonlinear dynamical system with no need for its prior knowledge.

Details

Kybernetes, vol. 52 no. 10
Type: Research Article
ISSN: 0368-492X

Keywords

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