Search results

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.

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.

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.

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.

This paper aims to study the issues of output reachable set estimation for the linear singular Markovian jump systems (SMJSs) with time-varying delay based on a proportional plus derivative (PD) bumpless transfer (BT) output feedback (OF) control scheme.

To begin with, a sufficient criterion is given in the form of a linear matrix inequality based on the Lyapunov stability theory. Then, a PD-BT OF controller is designed to keep all the output signs of the system are maintain within a predetermined ellipsoid. Finally, numerical and practical examples are used to demonstrate the efficiency of the approach.

Based on PD control and BT control method, an OF control strategy for the linear SMJSs with time-varying delay is proposed.

The output reachable set synthesis of linear SMJSs with time-varying delay can be solved by using the proposed approach. Besides, to obtain more general results, the restrictive assumptions of some parameters are removed. Furthermore, a sufficiently small ellipsoid can be obtained by the design scheme adopted in this paper, which reduces the conservatism of the existing results.

This paper aims to propose a new linear parameter varying (LPV) controller for the robot tracking control problem. Using the identification of the robot dynamics in different work space points about modeling trajectory based on the least square of error algorithm, an LPV model for the robotic arm is extracted.

Parameter set mapping based on parameter component analysis results in a reduced polytopic LPV model that reduces the complexity of the implementation. An approximation of the required torque is computed based on the reduced LPV models. The state-feedback gain of each zone is computed by solving some linear matrix inequalities (LMIs) to sufficiently decrease the time derivative of a Lyapunov function. A novel smoothing method is used for the proposed controller to switch properly in the borders of the zones.

The polytopic set of the resulting gains creates the smooth switching polytopic LPV (SS-LPV) controller which is applied to the trajectory tracking problem of the six-degree-of-freedom PUMA 560 robotic arm. A sufficient condition ensures that the proposed controller stabilizes the polytopic LPV system against the torque estimation error.

Smoothing of the switching LPV controller is performed by defining some tolerances and creating some quasi-zones in the borders of the main zones leading to the compressed main zones. The proposed torque estimation is not a model-based technique; so the model variation and other disturbances cannot destroy the performance of the suggested controller. The proposed control scheme does not have any considerable computational load, because the control gains are obtained offline by solving some LMIs, and the torque computation is done online by a simple polytopic-based equation.

In this paper, a new SS-LPV controller is addressed for the trajectory tracking problem of robotic arms. Robot workspace is zoned into some main zones in such a way that the number of models in each zone is almost equal. Data obtained from the modeling trajectory is used to design the state-feedback control gain.

One of the common approaches to improve systems reliability is using standby redundancy. Although many works are available in the literature on the applications of standby redundancy, the system components are assumed to be independent of each other. But, in reality, the system components can be dependent on one another, causing the failure of each component to affect the failure rate of the remaining active components. In this paper, a standby two-unit system is considered, assuming a dependency between the switch and its associated active component.

This paper assumes that the failures between the switch and its associated active component follow the Marshall–Olkin exponential bivariate exponential distribution. Then, the reliability analysis of the system is done using the continuous-time Markov chain method.

The derived equations application to determine the system steady-state availability, system reliability and sensitivity analysis on the mean time to failure is demonstrated using a numerical illustration.

All previous models assumed independency between the switch and the associated active unit in the standby redundancy approach. In this paper, the switch and its associated component are assumed to be dependent on each other.

Multilevel inverters play a major role in the development of high-power industrial applications. In traditional low-level inverters (e.g. 2-level), the switching frequency is restricted and the harmonic spectrum of the system is hard to meet power requirements. Similarly, high-level inverters consist of a large number of switches, complex modulation techniques and complex hardware architecture, which results in high power loss and a significant amount of harmonic distortion. Furthermore, it is a must to ensure that every switch experiences the same stress of voltage and current. The purpose of this paper is to present an inverter topology with lower conduction and switching losses via reduced number of switches and equal voltage source-sharing technique.

Herein, the authors present a cascaded multilevel inverter having less power switches, a simple modulation technique and an equal voltage source-sharing phenomenon implementation.

The modulation technique becomes more complex when equal voltage source-sharing is to be implemented. In this study, a novel topology for the multilevel inverter with fewer switches, novel modulation technique, equal voltage source-sharing and Inductor-Capacitor-Inductor filter implementation is demonstrated to the reduce harmonic spectrum and power losses of the proposed system.

The nine-level inverter design is validated using software simulations and hardware prototype testing; the power losses of the proposed inverter design are elaborated and compared with the traditional approach.

Commercial property development builds floor space in anticipation of potential, but unknown, future demand, making it particularly prone to risk and uncertainty. The research explores the degree to which property developer decision-making is objective and rational and the degree to which it relies on behavioural instincts and intuition. Decision-making theory, including heuristics, is considered and its prevalence in the field of commercial property development is examined.

A “dual-processing” decision-making model, comprising intuitive System 1 and objective System 2 processing, is proposed and tested. Inductive research using template analysis of interviews, with “high status” commercial property developers, explored whether the model offers an accurate representation of developers' behaviour and effective lens through which to examine decisions made under conditions of risk and uncertainty.

Participants believed they adopted objective and rational approaches to complex commercial property development decisions. Analysis of interviews reveals that System 1 heuristics and intuition play significant roles in decision-making behaviour, leading to potential bias and systematic error. The research concludes that the dual-processing model provides a useful lens through which to better understand the decision-making approach adopted by commercial property developers.

The research represents the rare application of behavioural theory to the realm of commercial property development and provides new and original insight as to how important investment decisions are made under conditions of risk and uncertainty, with implications for professional practice.

Because of the shortage of energy, the development of green and reliable energy is particularly important. As a green and clean energy, wind power is widely used. As the core component of wind power generation, it is particularly important to choose generators with high reliability. Switched reluctance machine is widely used as generators because of its strong fault tolerance and high reliability. Therefore, this paper aims to propose a power converter and its control strategy to improve the efficiency of switched reluctance generators.

In this paper, a full-bridge power converter (FBPC) instead of the asymmetric half-bridge power converter (AHBPC) is adopted to drive the switched reluctance generator (SRG) system. Compare the FBPC with the AHBPC, the FBPC has several advantages including low cost and modularization, and operation process of SRG winding current direction is variable.

The results show that the SRG system can keep smooth operation by the FBPC with relatively high efficiency.

The FBPC is suitable to drive the SRG system. Meanwhile, this paper introduces two excitation modes of the FBPC as three-phase three-beat mode and six-phase six-beat mode. When the six-phase six-beat control strategy is adopted, the dead band time of the converter can be avoided. At the same time, the SRG has higher efficiency.

Quantitative reliability analysis can effectively identify the time the driving system needs to be maintained. Then, the potential safety problems can be found, and some catastrophic failures can be effectively prevented. Therefore, this paper aims to evaluate the reliability of the switched reluctance generator (SRG) driving system.

In this paper, a method considering different thermal stresses and fault tolerance capacity is proposed to analyze the reliability of an SRG. A full-bridge power converter (FBPC) instead of the asymmetric half-bridge power converter (AHBPC) is adopted to drive the SRG system. First, the primary fault modes of the SRG system are introduced, and a fault criterion is proposed to determine whether the system fails. Second, the thermal circuit model of the converter is established to quickly and accurately obtain the junction temperature of the devices. At last, the Markov models of different levels are established to evaluate the reliability of the system.

The results show that the two-level Markov model is the most suitable when compared to the static model and the one-level Markov model.

The driving system of SRG will be more reliable after the reliability of the system is evaluated by the Markov model. At the same time, an FBPC is adopted to drive the SRG. The FBPCs have the advantages of fewer switching devices, higher integration and lower cost. The proposed driving strategy of the FBPC avoids the current reversal and the generation of dead zone time, which has the advantage of reliable operation. In addition, a precise thermal circuit model of the FBPC is proposed, and the junction temperature of each device can be obtained, respectively.

A switching depth controller based on a variable buoyancy system (VBS) is proposed to improve the performance of small autonomous underwater vehicles (AUVs). First, the requirements of VBS for small AUVs are analyzed. Second, a modular VBS with high extensibility and easy integration is proposed based on the concepts of generality and interchangeability. Subsequently, a depth-switching controller is proposed based on the modular VBS, which combines the best features of the linear active disturbance rejection controller and the nonlinear active disturbance rejection controller.

The controller design and endurance of tiny AUVs are challenging because of their low environmental adaptation, limited energy resources and nonlinear dynamics. Traditional and single linear controllers cannot solve these problems efficiently. Although the VBS can improve the endurance of AUVs, the current VBS is not extensible for small AUVs in terms of the differences in individuals and operating environments.

The switching controller’s performance was examined using simulation with water flow and external disturbances, and the controller’s performance was compared in pool experiments. The results show that switching controllers have greater effectiveness, disturbance rejection capability and robustness even in the face of various disturbances.

A high degree of standardization and integration of VBS significantly enhances the performance of small AUVs. This will help expand the market for small AUV applications.

This solution improves the extensibility of the VBS, making it easier to integrate into different models of small AUVs. The device enhances the endurance and maneuverability of the small AUVs by adjusting buoyancy and center of gravity for low-power hovering and pitch angle control.

To simplify the circuit design and control complexity of the magnetic coupling resonant wireless charging system, the radio energy transmission constant current and constant voltage charging is realized.

The purpose of this study is to simplify the circuit design and control complexity of the magnetic coupling resonance wireless charging system, in order to achieve constant current and constant voltage charging for wireless energy transmission. First, the principle of LCC/S-S compensation structure is analyzed, and the equivalent mathematical model is established; then, the system characteristics under constant current and constant voltage mode are analyzed, and the design method of system parameters is given; finally, a simulation and experimental system is built to verify the correctness and feasibility of the theoretical analysis.

The results show that the proposed hybrid topology can achieve a constant current output of 2 A and a constant voltage output of 30 V under variable load conditions, and effectively suppress the current distortion problem under light load conditions. The waveform distortion rate of the inverter current is reduced from 33.97% to 10.45%.

By changing the high-order impedance characteristics of the compensation structure, the distortion of the current waveform under light load is suppressed, and the overall stability and efficiency of the system are improved.