AMT Starting Control as a Soft Starter for Belt Conveyors Using a Data-Driven Method

Li, Yunxia; Li, Lei; Zhang, Chengliang

doi:10.3390/sym13101808

Cited by 3 publications

(2 citation statements)

References 30 publications

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“…Designing the controller for systems with unknown dynamics also compromises control precisions. To tackle this problem, data-driven methods [16,17] which do not require the knowledge of the analytical models have been studied recently. However, practical constraints such as joint torque constraints and camera field of view constraints should be taken into account, posing additional challenges to dynamic-based UIBVS control methods.…”

Section: Introductionmentioning

confidence: 99%

Data-Driven Model Predictive Control for Uncalibrated Visual Servoing

Han,

Zhu,

2023

Symmetry

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This paper addresses the image-based visual servoing (IBVS) control problem with an uncalibrated camera, unknown dynamics, and constraints. A novel data-driven uncalibrated IBVS (UIBVS) strategy is proposed, incorporated with the Koopman-based model predictive control (KMPC) algorithm and the adaptive robust Kalman filter (ARKF). First, to alleviate the need for calibration of the camera’s intrinsic and extrinsic parameters, the ARKF with an adaptive factor is utilized to estimate the image Jacobian matrix online, thereby eliminating the laborious camera calibration procedures and improving robustness against camera disturbances. Then, a data-driven MPC strategy is proposed, wherein the unknown nonlinear dynamic model is learned using the Koopman operator theory, resulting in a linear Koopman prediction model. Only input–output data are used to construct the prediction model, and hence, the proposed approach is robust against model uncertainties. Furthermore, with a symmetric quadratic cost function, the proposed approach solves the quadratic programming problem online, and visibility constraints as well as joint torque constraints are taken into account. As a result, the proposed KMPC scheme can be implemented in real time, and the UIBVS performance degradation which arises from the control torque constraints can be avoided. Simulations and comparisons for a 2-DOF robotic manipulator demonstrate the feasibility of the proposed approach. Simulation results further validate that the computation time of the proposed approach is comparable to the one of kinematic-based methods.

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Section: Introductionmentioning

confidence: 99%

Data-Driven Model Predictive Control for Uncalibrated Visual Servoing

Han,

Zhu,

2023

Symmetry

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“…Introduction. Proportional-integral-derivative control (PID) is a well-known control theory widely utilized in engineering practice and in applied sciences [1,6,9,19,26,31,32,35,36]. The general idea to control a dynamical system into approaching a desired state trajectory is to define an error field and to take a driving signal as a linear combination of the error field, of the time-derivative of the error field and of a time-integral of the state-to-state error field.…”

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confidence: 99%

Synchronization of dynamical systems on Riemannian manifolds by an extended PID-type control theory: Numerical evaluation

Fiori

Cervigni

Ippoliti

et al. 2022

DCDS-B

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<p style='text-indent:20px;'>The present document outlines a non-linear control theory, based on the PID regulation scheme, to synchronize two second-order dynamical systems insisting on a Riemannian manifold. The devised extended PID scheme, referred to as M-PID, includes an unconventional component, termed 'canceling component', whose purpose is to cancel the natural dynamics of a system and to replace it with a desired dynamics. In addition, this document presents numerical recipes to implement such systems, as well as the devised control scheme, on a computing platform and a large number of numerical simulation results focused on the synchronization of Duffing-like non-linear oscillators on the unit sphere. Detailed numerical evaluations show that the canceling contribution of the M-PID control scheme is not critical to the synchronization of two oscillators, however, it possesses the beneficial effect of speeding up their synchronization. Simulation results obtained in non-ideal conditions, namely in the presence of additive disturbances and delays, reveal that the devised synchronization scheme is robust against high-frequency additive disturbances as well as against observation delays.</p>

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