Compensation Of Perturbations Research Articles

Divided Attention Has Limited Effects on Speech Sensorimotor Control.

When vowel formants are externally perturbed, speakers change their production to oppose that perturbation both during the ongoing production (compensation) and in future productions (adaptation). To date, attempts to explain the large variability across individuals in these responses have focused on trait-based characteristics such as auditory acuity, but evidence from other motor domains suggests that attention may modulate the motor response to sensory perturbations. Here, we test the extent to which divided attention impacts sensorimotor control for supralaryngeal articulation. Neurobiologically healthy speakers were exposed to random (Experiment 1) or consistent (Experiment 2) real-time auditory perturbation of vowel formants to measure online compensation and trial-to-trial adaptation, respectively. In both experiments, participants completed two conditions: one with a simultaneous visual distractor task to divide attention and one without this secondary task. Divided visual attention slightly reduced online compensation, but only starting > 300 ms after vowel onset, well beyond the typical duration of vowels in speech. Divided attention had no effect on adaptation. The results from both experiments suggest that the use of sensory feedback in typical speech motor control is a largely automatic process unaffected by divided visual attention, suggesting that the source of cross-speaker variability in response to formant perturbations likely lies within the speech production system rather than in higher-level cognitive processes. Methodologically, these results suggest that compensation for formant perturbations should be measured prior to 300 ms after vowel onset to avoid any potential impact of attention or other higher-order cognitive factors.

Adaptive Auxiliary Loop for Output-Based Compensation of Perturbations in Linear Systems

Adaptive Auxiliary Loop for Output-Based Compensation of Perturbations in Linear Systems

Trajectory tracking control of wearable upper limb rehabilitation robot based on Laguerre model predictive control

Wearable rehabilitation robots have become an important auxiliary tool in rehabilitation therapy, providing effective rehabilitation training and helping to recover damaged muscles and joints. In response to the difficulty of traditional control methods in solving various constraints in the trajectory tracking process of the Upper Limb Rehabilitation Robot (ULRR), this study uses model predictive control to study the trajectory tracking problem of the upper limb rehabilitation robot. Firstly, based on the Lagrangian dynamic model of wearable rehabilitation robots, an extended state space model with pseudo linearization of the system was established. Given the performance indicators and various constraints of the system, a corresponding model predictive controller is designed based on the Laguerre model to ensure system performance while greatly reducing the computational complexity of predictive control. Secondly, the stability of the model predictive controller is demonstrated, and a disturbance observer is introduced into the controller to achieve compensation for slow-varying perturbations; a joint space sliding mode variable is also introduced to achieve simultaneous tracking of the joint’s desired position and desired velocity. Finally, taking a planar two bar robot as an example, comparative simulation verification was conducted on unconstrained joint trajectory tracking and constrained joint trajectory tracking. The simulation results show that the model predictive controller can achieve simultaneous tracking of joint expected trajectory and expected speed while meeting various constraints. It has good effects in improving patient motion control ability and reducing patient fatigue, providing new research ideas and methods for the field of rehabilitation therapy.

Predefined time backstepping control of photovoltaic grid connected inverter

The large-scale grid connection of photovoltaic (PV) systems creates great hazards to the operation of power equipment and has a great impact on the stability and reliability of power systems. To achieve stable control and flexible management of PV grid connection, a predefined time adaptive backstepping control method based on the predefined boundary is proposed. Based on the predefined boundary time-varying function, the user’s predefined boundary design of the control signal is accomplished to ensure the boundedness of the global signal, which is independent of the initial state of the system. The controller with predefined boundaries is designed based on backstepping control, and the estimation and compensation of perturbations are attained based on adaptive control. The global predefined time stability of the predefined boundary of the closed-loop system is certified using the Lyapunov function. Simulation studies attest to the performance of the predefined time control strategy.

Hierarchical perturbation compensation system with ERL sliding mode controller in a quadrotor

This article addresses the problem of perturbation in Unmanned Air Vehicle (UAV) quadrotors. Three subsystems are designed to provide a continuous and precise estimation of perturbation and residual perturbation. The three subsystems form a Hierarchical Perturbation Compensator (HPC), which is built to compensate for system dynamics uncertainties, non-modeled dynamics, and external disturbances. The nonlinear control Exponential Reaching Law Sliding Mode (ERLSM) is utilized with the HPC. Lyapunov stability analysis proves the stability of the entire compensator-controller system. This system has the ability to decrease unknown perturbation either external or internal. It also has the ability to maintain full control of the six-degree-of-freedom quadrotor. The system performance for position, altitude, and attitude control is demonstrated by analysis, simulation, and experiments.

Right, but not left, posterior superior temporal gyrus is causally involved in vocal feedback control

The posterior superior temporal gyrus (pSTG) has been implicated in the integration auditory feedback and motor system for controlling vocal production. However, the question as to whether and how the pSTG is causally involved in vocal feedback control is currently unclear. To this end, the present study selectively stimulated the left or right pSTG with continuous theta burst stimulation (c-TBS) in healthy participants, then used event-related potentials to investigate neurobehavioral changes in response to altered auditory feedback during vocal pitch regulation. The results showed that, compared to control (vertex) stimulation, c-TBS over the right pSTG led to smaller vocal compensations for pitch perturbations accompanied by smaller cortical N1 and larger P2 responses. Enhanced P2 responses received contributions from the right-lateralized temporal and parietal regions as well as the insula, and were significantly correlated with suppressed vocal compensations. Surprisingly, these effects were not found when comparing c-TBS over the left pSTG with control stimulation. Our findings provide evidence that supports a causal relationship between right, but not left, pSTG and auditory-motor integration for vocal pitch production. This lends support to a right-lateralized contribution of the pSTG in not only detecting vocal feedback errors but also driving motor commands for error correction.

A Two-Step Continuous-Control-Set MPC for Modular Multilevel Converters Operating With Variable Output Voltage and Frequency

This paper presents a new enhanced single-stage two-step Continuous Control Set Model Predictive Control (CCS-MPC) algorithm, for Modular Multilevel Converters (MMCs) operating with variable output frequency at the AC port. The proposed two-step CCS-MPC allows the implementation of feed-forward compensation of the one-step ahead perturbations at the AC side, using an algorithm based on the Moore-Penrose pseudoinverse matrix. Limitations of the current and voltages in the MMC clusters are implemented to avoid overmodulation and overcurrents, being the solution of the constrained CCS-MPC online solved using the active-set method. Without losing generality, the experimental validation of the single-stage CCS-MPC is performed using an 18-cell MMC prototype, driving a 7.5 kW cage induction machine operating in a wide speed range. A dSPACE MicroLabBox platform is used to control the MMC-based drive by implementing the CCS-MPC algorithm, the modulation stage and the active-set method. It is experimentally demonstrated that the compensation of the low-frequency perturbations allows a considerable reduction in the required circulating currents at the low-frequency operation of the drive. Reduction in the capacitor voltage ripple, improved efficiency, and a smaller Total Harmonic Distortion (THD) in the output currents are also achieved with the proposed single-stage two-step CCS-MPC.

A method for compensation of permanent magnetic field perturbation (PMFP) testing signal based on lift-off measurement

This paper proposes a novel composite measurement method for defect detection, which integrates PMFP (permanent magnetic field perturbation) testing and lift-off measurement. The PMFP method is used to detect defects, while the permanent magnet is utilized to construct a magnetic bridge for lift-off measurement. In PMFP testing, the variation of lift-off can significantly affect the signal. To mitigate this effect, the proposed method compensates for the defect signal using the measured lift-off information, which effectively reduces the impact of lift-off variation during the testing. Therefore, this paper constructs a magnetic dipole model based on the PMFP method and analyzes the numerical relationship between the defect signal and lift-off. Based on this, a composite lift-off measurement method for PMFP with a signal compensation function is proposed. This multifunctional sensing method has a compact structure, which significantly reduces the impact of lift-off on the defect signal. The experimental results demonstrate that the confidence level can reach 93% after compensating for the amplitude of the defect signal. The proposed method exhibits excellent performance in practical applications.

Right, but not left, posterior superior temporal gyrus is causally involved in vocal feedback control

The posterior superior temporal gyrus (pSTG) has been implicated in the integration of auditory feedback and motor system for controlling vocal production. However, the question as to whether and how the pSTG is causally involved in vocal feedback control is currently unclear. To this end, the present study selectively stimulated the left or right pSTG with continuous theta burst stimulation (c-TBS) in healthy participants, then used event-related potentials to investigate neurobehavioral changes in response to altered auditory feedback during vocal pitch regulation. The results showed that, compared to control (vertex) stimulation, c-TBS over the right pSTG led to smaller vocal compensations for pitch perturbations accompanied by smaller cortical N1 and larger P2 responses. Enhanced P2 responses received contributions from the right-lateralized temporal and parietal regions as well as the insula, and were significantly correlated with suppressed vocal compensations. Surprisingly, these effects were not found when comparing c-TBS over the left pSTG with control stimulation. Our findings provide evidence, for the first time, that supports a causal relationship between right, but not left, pSTG and auditory-motor integration for vocal pitch regulation. This lends support to a right-lateralized contribution of the pSTG in not only the bottom-up detection of vocal feedback errors but also the involvement of driving motor commands for error correction in a top-down manner.

Transcranial direct current stimulation over left dorsolateral prefrontal cortex facilitates auditory-motor integration for vocal pitch regulation.

A growing body of literature has implicated the left dorsolateral prefrontal cortex (DLPFC) in the online monitoring of vocal production through auditory feedback. Specifically, disruption of or damage to the left DLPFC leads to exaggerated compensatory vocal responses to altered auditory feedback. It is conceivable that enhancing the cortical excitability of the left DLPFC may produce inhibitory influences on vocal feedback control by reducing vocal compensations. We used anodal transcranial direct current stimulation (a-tDCS) to modulate cortical excitability of the left DLPFC and examined its effects on auditory-motor integration for vocal pitch regulation. Seventeen healthy young adults vocalized vowel sounds while hearing their voice pseudo-randomly pitch-shifted by ±50 or ±200 cents, either during (online) or after (offline) receiving active or sham a-tDCS over the left DLPFC. Active a-tDCS over the left DLPFC led to significantly smaller peak magnitudes and shorter peak times of vocal compensations for pitch perturbations than sham stimulation. In addition, this effect was consistent regardless of the timing of a-tDCS (online or offline stimulation) and the size and direction of the pitch perturbation. These findings provide the first causal evidence that a-tDCS over the left DLPFC can facilitate auditory-motor integration for compensatory adjustment to errors in vocal output. Reduced and accelerated vocal compensations caused by a-tDCS over left DLPFC support the hypothesis of a top-down neural mechanism that exerts inhibitory control over vocal motor behavior through auditory feedback.

Anticipatory compensation of step-down perturbation is influenced by muscle force decrease

Anticipatory compensation of step-down perturbation is influenced by muscle force decrease

Adaptive Nonlinear Incremental Flight Control for Systems With Unknown Control Effectiveness

This article exposes that although some sensor-based nonlinear fault-tolerant control frameworks including incremental nonlinear dynamic inversion control can passively resist a wide range of actuator faults and structural damage without requiring an accurate model of the dynamic system, their stability heavily relies on a sufficient condition, which is unfortunately violated if the control direction is unknown. Consequently, it is proved in this article that no matter, which perturbation compensation technique (adaptive, disturbance observer, sliding-mode) is implemented, none of the existing nonlinear incremental control methods can guarantee closed-loop stability. Therefore, this article proposes a Nussbaum function-based adaptive incremental control framework for nonlinear dynamic systems with partially known (control direction is unknown) or even completely unknown control effectiveness. Its effectiveness is proved in the Lyapunov sense and is also verified via numerical simulations of an aircraft attitude tracking problem in the presence of sensing errors, parametric model uncertainties, structural damage, actuator faults, as well as inversed and unknown control effectiveness.

Theta burst stimulation over left cerebellum does not modulate auditory feedback control of vocal production.

Accumulating evidence has shown significant contributions of the right cerebellum to auditory-motor integration for vocal production. Whether the left cerebellum is likewise involved in vocal motor control, however, remains unclear. By applying neuronavigated continuous and intermittent theta burst stimulation (cTBS/iTBS) over the left cerebellar lobule VII (Crus I), the present event-related potential (ERP) study investigated whether the left cerebellum exerts causal effects in modulating auditory feedback control of vocal pitch production. After receiving cTBS, iTBS, or sham stimulation over the left cerebellum, a group of fifteen young adults produced sustained vowels while hearing their voice unexpectedly shifted in pitch upwards or downwards by 200 cents. The effects of cerebellar stimulation were assessed by measuring the vocal and ERP (N1/P2) responses to pitch perturbations across the conditions. When compared to sham stimulation, cTBS or iTBS over the left cerebellar lobule VII (Crus I) led to no systematic changes in vocal compensations for pitch perturbations in auditory feedback. Also, the cortical N1/P2 responses did not vary significantly across the three stimulation sessions. These findings present the first neurobehavioral evidence suggesting that the left cerebellum is not causally associated with auditory feedback control of vocal production. Together with previously reported causal effects of the right cerebellum in modulating vocal pitch regulation, the present study lends support to the hypothesis that there is a functional lateralization of the cerebellum in vocal motor control though auditory feedback.

A causal link between left supplementary motor area and auditory-motor control of vocal production: Evidence by continuous theta burst stimulation

The supplementary motor area (SMA) has been implicated in the feedforward control of speech production. Whether this region is involved in speech motor control through auditory feedback, however, remains uncertain. The present event-related potential (ERP) study examined the role of the left SMA in vocal pitch regulation in a causal manner by combining auditory feedback manipulations and neuronavigated continuous theta bust stimulation (c-TBS). After receiving c-TBS over the left SMA or the control site (vertex), twenty young adults vocalized the vowel sound /u/ while hearing their voice unexpectedly pitch-shifted -50 or -200 cents. Compared to the control stimulation, c-TBS over the left SMA led to decreased vocal compensations for pitch perturbations of -50 and -200 cents. A significant decrease of N1 and P2 responses to -200 cents perturbations was also found when comparing active and control stimulation. Major neural generators of decreased P2 responses included the right-lateralized superior and middle temporal gyrus and angular gyrus. Notably, a significant correlation was found between active-control differences in the vocal compensation and P2 responses for the -200 cents perturbations. These findings provide neurobehavioral evidence for a causal link between the left SMA and auditory-motor integration for vocal pitch regulation, suggesting that the left SMA receives auditory feedback information and mediates vocal compensations for feedback errors in a bottom-up manner.

The left inferior frontal gyrus is causally linked to vocal feedback control: evidence from high-definition transcranial alternating current stimulation.

Current models of speech motor control propose a role for the left inferior frontal gyrus (IFG) in feedforward control of speech production. There is evidence, however, that has implicated the functional relevance of the left IFG for the neuromotor processing of vocal feedback errors. The present event-related potential (ERP) study examined whether the left IFG is causally linked to auditory feedback control of vocal production with high-definition transcranial alternating current stimulation (HD-tACS). After receiving active or sham HD-tACS over the left IFG at 6 or 70Hz, 20 healthy adults vocalized the vowel sounds while hearing their voice unexpectedly pitch-shifted by ±200 cents. The results showed that 6 or 70Hz HD-tACS over the left IFG led to larger magnitudes and longer latencies of vocal compensations for pitch perturbations paralleled by larger ERP P2 responses than sham HD-tACS. Moreover, there was a lack of frequency specificity that showed no significant differences between 6 and 70Hz HD-tACS. These findings provide first causal evidence linking the left IFG to vocal pitch regulation, suggesting that the left IFG is an important part of the feedback control network that mediates vocal compensations for auditory feedback errors.

An Adaptive Sinusoidal-Disturbance-Strategy Sparrow Search Algorithm and Its Application.

In light of the problems of slow convergence speed, insufficient optimization accuracy and easy falling into local optima in the sparrow search algorithm, this paper proposes an adaptive sinusoidal-disturbance-strategy sparrow search algorithm (ASDSSA) and its mathematical equation. Firstly, the initial population quality of the algorithm is improved by fusing cubic chaos mapping and perturbation compensation factors; secondly, the sinusoidal-disturbance-strategy is introduced to update the mathematical equation of the discoverer's position to improve the information exchange ability of the population and the global search performance of the algorithm; finally, the adaptive Cauchy mutation strategy is used to improve the ability of the algorithm to jump out of the local optimal solutions. Through the optimization experiments on eight benchmark functions and CEC2017 test functions, as well as the Wilcoxon rank-sum test and time complexity analysis, the results show that the improved algorithm has better optimization performance and convergence efficiency. Further, the improved algorithm was applied to optimize the parameters of the long short term memory network (LSTM) model for passenger flow prediction on selected metro passenger flow datasets. The effectiveness and feasibility of the improved algorithm were verified by experiments.

Continuous theta burst stimulation over left supplementary motor area facilitates auditory-vocal integration in individuals with Parkinson's disease.

Accumulating evidence suggests that impairment in auditory-vocal integration characterized by abnormally enhanced vocal compensations for auditory feedback perturbations contributes to hypokinetic dysarthria in Parkinson’s disease (PD). However, treatment of this abnormality remains a challenge. The present study examined whether abnormalities in auditory-motor integration for vocal pitch regulation in PD can be modulated by neuronavigated continuous theta burst stimulation (c-TBS) over the left supplementary motor area (SMA). After receiving active or sham c-TBS over left SMA, 16 individuals with PD vocalized vowel sounds while hearing their own voice unexpectedly pitch-shifted two semitones upward or downward. A group of pairwise-matched healthy participants was recruited as controls. Their vocal responses and event-related potentials (ERPs) were measured and compared across the conditions. The results showed that applying c-TBS over left SMA led to smaller vocal responses paralleled by smaller P1 and P2 responses and larger N1 responses in individuals with PD. Major neural generators of reduced P2 responses were located in the right inferior and medial frontal gyrus, pre- and post-central gyrus, and insula. Moreover, suppressed vocal compensations were predicted by reduced P2 amplitudes and enhanced N1 amplitudes. Notably, abnormally enhanced vocal and P2 responses in individuals with PD were normalized by c-TBS over left SMA when compared to healthy controls. Our results provide the first causal evidence that abnormalities in auditory-motor control of vocal pitch production in PD can be modulated by c-TBS over left SMA, suggesting that it may be a promising non-invasive treatment for speech motor disorders in PD.

Lower extremity joint compensatory effects during the first recovery step following slipping and stumbling perturbations in young and older subjects

BackgroundThe lower extremity may play a crucial role in compensating for gait perturbations. The study aimed to explore the mechanism of perturbation compensation by investigating the gait characteristics and lower extremity joint moment effects in young (YS) and older subjects (OS) during the first recovery gait following slipping (slipping_Rec1) and stumbling (stumbling_Rec1).MethodAn automatic perturbation-triggered program was developed using D-Flow software based on the Gait Real-time Analysis Interactive Lab to induce the two aforementioned perturbations. Marker trajectories and ground reaction forces were recorded from 15 healthy YS (age: 26.53 ± 3.04 years; body height: 1.73 ± 0.07 m; body mass: 66.81 ± 11.44 kg) and 15 healthy OS (age: 68.33 ± 3.29 years; body height: 1.76 ± 0.10 m; body mass: 81.13 ± 13.99 kg). The Human Body Model was used to compute the variables of interest. One-way analysis of variance and independent samples t-test statistical analyses were performed.ResultsIn slipping_Rec1 and stumbling_Rec1, the change in gait pattern was mainly reflected in a significant increase in step width, no alterations in step length and stance/swing ratio were revealed. Based on perturbed task specificity, lower extremity joint moments increased or decreased at specific phases of the gait cycle in both YS and OS in slipping_Rec1 and stumbling_Rec1 compared to normal gait. The two perturbed gaits reflected the respective compensatory requirements for the lower extremity joints, with both sagittal and frontal joint moments producing compensatory effects. The aging effect was not reflected in the gait pattern, but rather in the hip extension moment during the initial stance of slipping_Rec1.ConclusionsSlipping appears to be more demanding for gait recovery than stumbling. Gait perturbation compensatory mechanisms for OS should concentrate on ankle strategy in the frontal plane and counter-rotation strategy around the hip.

Adaptive active fault-tolerant MPPT control of variable-speed wind turbine considering generator actuator failure

In order to ensure that the wind power system (WPS) can realize maximum power point tracking (MPPT) under generator side fault, an MPPT control system with adaptive active fault tolerance capability is proposed in this paper. The basic idea of the proposed control strategy is that a perturbation term containing model uncertainties, system nonlinearities and unknown disturbances (generator actuator failure and disturbance torque) is estimated in real-time by a designed observer. The estimated perturbation is used for the compensation of actual perturbation. Then, an adaptive feedback linearizing control of variable-speed wind turbine (VSWT) system can be realized. Therefore, the control strategy neither requires detailed system model and full state measurements, nor relies on fault detection, diagnosis and isolation techniques when the generator actuator fails. Simulation results show that the proposed control scheme has smaller tracking error and better dynamic performance than the traditional PI control and MPPT control, and higher robustness against system parameter uncertainties, disturbance torque and generator actuator failure than the nonlinear static state feedback based MPPT (NSSF-MPPT) control, traditional PI control and MPPT control.

Robust nonlinear adaptive pressure control of polymer electrolyte membrane fuel cells considering sensor failures based on perturbation compensation

The large deviations between the partial pressure of oxygen and hydrogen can lead to severe membrane damage, which reduces the life of the polymer electrolyte membrane fuel cell (PEMFC). The deviation of pressure can be restrained by effective control of partial pressure. Considering the actual operating environment of PEMFC, its control system is not only affected by load changes, but also affected by some unknown disturbances, such as system parameter variations, failures, etc. Considering the above factors, this paper has proposed a robust nonlinear adaptive pressure control (RNAPC) employing the perturbation estimation technique to suppress the deviations. The proposed controller does not need to identify or estimate the system parameters in real time like the conventional controller based on parameter estimation technology, nor does it need to rely on the fault diagnosis and isolation technology to detect and estimate the failures in real time. It only uses the variations of system state variables caused by failures to provide the required failure information for the controller. In the design of RNAPC, an observer is designed to estimate a perturbation term containing system uncertainties, nonlinearities, and disturbances. The estimation of perturbation is used for the compensation of actual perturbation. Then, an adaptive FLC of PEMFC system can be realized. Therefore, the RNAPC requires only a few state measurements and is independent of an accurate system model. Simulation results show that the RNAPC method has smaller deviations of partial pressure of oxygen and hydrogen and better dynamic performance than traditional PI control under load disturbance, and obtains higher robustness against uncertainties and sensor failures than traditional PI control and FLC. The maximum error of partial pressure can be limited within 0.5% under four different simulation scenarios under the RNAPC.