Control System Design Research Articles

Normalized acceleration based online tuning of variable-order fractional derivatives: a case study on quadcopter position control

In recent years, the use of Variable-Order (VO) fractional operators in control system design has been gaining popularity due to their adaptive nature, enabled by their dynamically adjustable fractional derivative and integral orders. This paper presents an online tuning method for adjusting the VO fractional derivatives in fractional controllers. The method is formulated to strategically accelerate or decelerate the system response's rate of change to enhance reference tracking and disturbance rejection performance while preserving closed-loop stability. It uses the normalised acceleration of the system response, a metric that provides insights into the ‘fastness’ or ‘slowness’ of the system response. The effectiveness of the proposed online tuning method is validated through a case study on quadcopter position control. Our research includes both simulation and real-time testing of Variable-Order Fractional PD (VOFPD) controllers, which utilise our online tuning method to adjust their fractional derivatives in real-time. Stability analysis via the D-decomposition method confirms that the quadcopter's closed-loop stability is preserved. Comparative results show significant improvements in reference tracking and disturbance rejection in terms of time-domain criteria.

Adaptive Two-Degree-of-Freedom Robust Gain-Scheduling Control Strategy

This study introduces a novel tracking control strategy tailored to aeroengines, which are highly nonlinear and characterized by significant uncertainty. The proposed method entails a robust extended Kalman filter (REKF) enhanced by a forgetting factor for improved performance. An accompanying augmented, mixed onboard adaptive model based on the REKF precisely estimates and manages engine performance degradation. This advanced model effectively counters the degradation term in the perturbation block of the engine’s uncertain model. Using this strategic approach, a robust gain-scheduling controller was constructed and was found to outperform its predecessors, marking a notable advancement in control system design. Controlling twin rotor multi-input, multi-output (MIMO) systems is a highly complex process due to model uncertainties and unpredictable external disturbances. To address these challenges, we constructed an adaptive two-degree-of-freedom robust gain-scheduling controller (ATDF-RGSC) using a mixed sensitivity approach. Rigorous performance analysis confirms that this controller offers enhanced robustness, faster tracking, and more precise disturbance attenuation compared to other methods. These advanced control strategies successfully manage uncertainties and disturbances, improving performance metrics in both simulated and experimental scenarios. The proposed method may significantly enhance the safety and reliability of aeroengines and MIMO systems in practical applications.

Application and optimisation of intelligent control system for home robots

Abstract. As a significant part of the smart home, intelligent home robots can provide a variety of convenient home services such as automatic cleaning, elderly care, entertainment interaction, etc., which are highly valued and favoured by the majority of home users, and the market scale is expanding. However, the design and optimization of the control system represents a crucial technical challenge to truly realize the intelligence and autonomy of home robots. This paper presents a comprehensive analysis of the design and optimization of automatic control systems for intelligent home robots, which aims to improve the performance and user experience of intelligent home robots and better meet the needs of families. Through collection and analysis of the research on domestic robots and their control technology ,the core technical elements of the control system are summarized and refined, and the hardware structure and software framework of the control system are analyzed. The research results provide valuable insights for improving the performance and capabilities of home robot control systems to better meet the diverse needs and expectations of home users. These innovations provide a solid foundation for advancing the development of intelligent robots in the home. Future trends in control systems may include enhanced perceptual capabilities and decision-making intelligence to enable robots to better understand and meet the needs of home users.

Design and optimization of PD control system based on saturation

Abstract. Designing PI, PD, and PID controllers is challenging, but it is an inevitable step if engineers want their systems to perform well. Consequently, control theory was purposed and the system became more complicated. Unfortunately, saturation is hard to prevent. The degree of saturation is an important aspect of the electrical signal process. This paper investigates the concepts of saturation for PD,PI, and PID control. It involves the discussion of properties of passive components, excessive input/output concerning the design maximum or minimum, and the saturation function. The main purpose of the paper is to give an insight into how to prevent control saturation. The investigation will be mainly based on current control theory, research processes from other papers, and the online simulations. To avoid saturation, applying analysis on the gain of all controllers and saturation function is crucial.

Recent Advances in controlled manipulation of micro/nano particles: A review

Abstract This review discusses the transformative impact of micro/nano particle manipulation techniques across scientific and technological disciplines. Emphasizing the pivotal role of precise control at the micro and nanoscale, the paper categorizes manipulation strategies into mechanical/surface force-based, field-control manipulation, and microfluidics manipulation. It addresses challenges specific to the submicrometer scale, highlighting the strengths and limitations of each approach. The unique behaviors exhibited by objects at the micro–nano scale influence the design and operation of manipulators, algorithms, and control systems, particularly in interactions with biological systems. The review covers dielectrophoresis and magnetic manipulation, showcasing their applications in particle manipulation and microfluidics. The evolution of optical tweezers, including holographic, surface plasmon-based, and optical fiber tweezers, is discussed, emphasizing their contributions in various scientific fields. Additionally, the paper also explores the manipulation of micro/nano particle in microfluidic platforms. The comprehensive review underscores the significance of understanding manipulation strategies in diverse environments, anticipating further advancements in science and technology.

Autonomous Systems Control Design Using Neuro Evolution

This paper explores the application of neuro-evolution techniques in the design of control systems for autonomous systems. Neuro-evolution merges neural networks with evolutionary algorithms to develop adaptive, real-time control strategies for autonomous platforms. This approach is particularly effective in dynamic and complex environments, where traditional control methods struggle to ensure optimal performance. By evolving neural network structures, neuro-evolution provides robust and flexible control solutions, with promising applications in fields such as robotics, autonomous vehicles, and drone navigation. The design of autonomous systems has rapidly advanced, fueled by the need for intelligent, adaptive control in environments that are complex and unpredictable. Traditional control systems often lack the flexibility required to handle dynamic changes, making them less effective in highly variable conditions. Neuro-evolution, which combines neural networks with evolutionary algorithms, offers a promising solution by enabling autonomous systems to develop and refine control strategies on their own. This approach leverages evolutionary principles to optimize neural network architectures, producing control systems that adapt in real-time and improve through experience. Neuro-evolution has gained significant attention for applications in robotics, self- driving vehicles, and aerospace, where autonomous, robust control is essential. This paper explores the role of neuro-evolution in enhancing control design, focusing on its advantages over conventional methods and its potential to drive further innovations in autonomous systems.

Agreeing to Disagree: Translating Representations to Uncover a Unified Representation for Social Robot Actions

Researchers and designers of social robots often approach robot control system design from a single perspective; such as designing autonomous robots, teleoperated robots, or robots programmed by an end-user. While each design approach presents a tradeoff between some advantages and limitations, there is an opportunity to integrate these approaches where people benefit from the best-fit approach for their use case. In this work, we propose integrating these seemingly distinct robot control approaches to uncover a common data representation of social actions defining social expression by a robot. We demonstrate the value of integrating an authoring system, teleoperation interface, and robot planning system by integrating instances of these systems for robot storytelling. By relying on an integrated system, domain experts can define behaviors through end-user interfaces that teleoperators and autonomous robot programmers can use directly thus providing a cohesive expert-driven robot system.

Research on Triplex Redundant Flight Control System Based on M1394B Bus

In the modern aviation field, flight control systems’ reliability and safety are paramount. This paper presents a triplex redundant flight control system based on the M1394B bus and designs several key algorithms to enhance system performance. Firstly, a triplex redundant flight control system with a redundant bus structure is constructed based on the characteristics of the M1394B bus. Secondly, a periodic synchronization algorithm with automatic adjustment capabilities is designed to achieve periodic synchronization among the Vehicle Management Computers. An improved voting algorithm based on a sliding window is proposed to enhance the decision-making accuracy and reliability of the control commands output by the flight control system. Additionally, a system reconstruction algorithm is designed to promptly identify and isolate faults, enabling the recovery and reallocation of system resources. Finally, experiments validate the effectiveness of the synchronization algorithm, voting algorithm, and system reconstruction algorithm. The results indicate that the system can effectively address practical engineering challenges and significantly improve reliability and stability. This research provides an essential theoretical foundation and practical reference for the design of future flight control systems for unmanned aerial vehicles and aircraft, holding significant relevance to application.

Linear Disturbance Observer-Enhanced Continuous-Time Predictive Control for Straight-Line Path-Following Control of Small Unmanned Aerial Vehicles

This paper studies the straight-line path-following problem on the lateral plane for fixed-wing unmanned aerial vehicles (FWUAVs) which are susceptible to uncertainties. Firstly, based on the natural frame’s location on the prescribed reference paths, the command yaw angle (which is the basis for yaw angle control system design) is solved analytically by combining it with the errors of path following, attack angle, sideslip angle, attitude angles, and geometric parameters of the prescribed reference paths. Secondly, by considering complicated dynamic characteristics, a linear extended state observer is designed to estimate uncertainties such as nonlinearities, couplings, and unmodeled dynamics whose estimated values are incorporated into the continuous-time predictive controllers for feedback compensation. Finally, numerical simulations are conducted to demonstrate the advantages of the proposed method, including reduced tracking errors and enhanced robustness in the closed-loop system, as compared to the conventional nonlinear dynamic inversion and sliding mode control approaches.

Periodic event-triggered data-driven control for networked control systems with time-varying delays

This article focuses on data-driven analysis and controller design for networked control systems (NCSs) with network-induced delays. The study considers a linear time-invariant (LTI) system controlled through a periodic event-triggering mechanism. First, by leveraging data-based representations, we establish data-based stability conditions for NCSs with time-varying delays. Furthermore, we propose the data-based method for co-designing the controller and the periodic event-triggering scheme. In addition, we present novel data-based conditions for verifying dissipativity properties of NCSs. The effectiveness of our proposed methods is validated through a simulation and a turbofan engine hardware-in-the-loop (HIL) experiment.

A Neural-Metaheuristic Kalman Filter for Moving Microburst Wind Shear Identification

Microburst wind shears (MB) are powerful localized three dimensional (3D) columns of wind that occur when cooled air drops from the base of thunderstorms at high speeds. They eventually hit the ground and spread out in all directions. As such MBs are considered a major atmospheric hazard for aircrafts (ACs), especially in terminal flight phases. Though pilots train regularly to survive it, yet the most recommended practice within the aviation community is to avoid its encounter upon detection. Some modern aircrafts have predictive wind shear warning systems, but they have limited short range capability and do not provide quantitative data for engineering application. In this sense, accurate onboard detection and identification of MBs and its characteristics is of importance for flight safety, whose success can lead to design of automatic flight control systems (FCSs) that reduce the risk of aircraft crash landings and accidents. Even though there are some studies on FCS designs for MB encounter, research on MB identification is rare but ongoing. To this aim, the present study is among the firsts that focuses on online identification of multiple and moving MB parameters using onboard aircraft air data and inertial sensors. The identification task is initially performed using the aircraft six degrees of freedom (6DoF) equations of motion (EOM) integrated with a 3D MB model via the utility of nonlinear Kalman filtering (KF) algorithms. Subsequently, an enhanced neural metaheuristic Kalman filter (NMKF) is proposed that improves the estimation accuracy of the MB model parameters. The results demonstrate the efficacy of the proposed NMKF in comparison with previous studies.

Research on the design of posture adjustment structure and control system of carrying robot based on the bionic characteristics of pupae structure

Research on the design of posture adjustment structure and control system of carrying robot based on the bionic characteristics of pupae structure

Arduino performance in control systems for converting air-to-water

Humans are unable to function without water. Water is therefore necessary for living. This study will address the advantages of converting air into drinkable water based on this premise. Regarding the condensation process itself, it is not the best option to use it in remote locations because it needs a lot of energy and equipment. Consequently, thermoelectric technology was used in this study to replace the condensation process. This tool's easier thermoelectric operation makes it suitable for usage in remote locations. The design of an effective Arduino program control system should take into account the effects of temperature and humidity condition parameters on the environment to maximize water production. This will allow the performance between supporting sensors and the main components to be automatically optimized under a variety of environmental conditions and produce water without wasting excessive energy. As a result, the trial where the average temperature was 30°C and the average humidity was 81% produced the highest results for the researchers when they calculated the environmental condition factors that were already known. Within the hour-long study session, 6 milliliters of water were created. In addition to the efficiency with which the Arduino program is commanded, from all sensors to the primary thermoelectric components, it can execute commands automatically and optimally. It can also resolve issues that affect the air-to-water converter controller's performance in a way that ensures proper operation of all controllers by taking into account the relevant factors. to the fullest without squandering too much energy

Organizing the automated system of dispatch control over pump units at water pumping stations

The design and operation of modern dispatch control systems for pumping units involves comprehensive solution to separate engineering, technical, and scientific problems. The object of research is information processes enabling the operational modes of electrically driven pumping units at water pumping stations. This paper solves the scientific and technical task related to developing topology, hardware, and software tools, control algorithms, dispatch interface, and researching the modes of operation of pumping units in dispatch control systems at water pumping stations. Algorithms for controlling pumping units have been implemented, the advantage of which is the possibility of automated calculation of parameters for technological PID-controllers, taking into account the current electrical parameters of the frequency-controlled electric drive of pumping units and operating conditions. The WEB-oriented dispatch interface of the SCADA-based pumping unit control system was designed and tested, which enables control process in real time. Features of the developed dispatch control system are improved topology, expanded functionality, energy-saving control modes, and the possibility of further modernization based on the principles of standardization and unification of hardware and software tools and design procedures. The developed dispatch control system for pumping units at water pumping stations has been implemented and is successfully operated at an industrial water supply enterprise. The results provided for an increase in technical and economic indicators during the operation of technological equipment due to the efficiency of control and management procedures, energy-saving operational modes of the frequency-controlled electric drive of pumping units.

Parameter-coupled state space models based on quasi-Gaussian fuzzy approximation

The accuracy of a fuzzy system’s approximation is closely tied to the performance of fuzzy control systems design, while this system’s interpretability depends on the description of a mechanical model using human language. This research introduces a quasi-Gaussian membership function characterized by a pair of parameters to achieve the sensitivity of a triangular membership function along with the interpretability of Gaussian membership functions. Consequently, a two-dimensional (2-D) quasi-Gaussian membership function is derived, and a method for establishing quasi-Gaussian fuzzy systems (QGFS) using a rectangular grid is proposed. After validating the approximation properties using the sine function for the one-dimensional (1-D) and 2-D QGFS, the systems are applied to approximate the depyrogenation tunnel, a significant piece of equipment in the pharmaceutical industry with various mechanical designs. Validation results indicate that the 1-D and 2-D QGFS can achieve an approximation error varying within a ± 5% range. Meanwhile, the 1-D and 2-D QGFSs are applied to mechanical models of the depyrogenation tunnel with satisfactory final approximation results. Lastly, the 2-D QGFS is capable of demonstrating an excellent description of models with coupled parameters.

Design and Implementation of a Microcontroller-Based Adaptive Four-Way Traffic Light Control System for Traffic Optimization

This paper presents the design and construction of a microcontroller-based four-way traffic light control system aimed at optimizing traffic flow by automatically adjusting signal timing based on traffic density at each intersection. The system is built around an Arduino ATmega328 microcontroller inter-faced with break beam infrared (IR) sensors (transmitters and receivers) and LED displays. The IR sensors are installed on both sides of the lanes at regulated intervals to detect traffic density. The system is powered by a 12V DC battery and a 5V, 3A power supply is provided using a buck converter IC (LM2596), which steps down the 12V from the battery to 5V, 3A. This 5V power is used to run the Arduino microcontroller and the Darlington pair ICs for current sinking and sourcing. As vehicles pass through the areas monitored by the IR sensors, the traffic density is measured for each opposing lane, allowing the system to determine which lane should be prioritized for traffic flow. The corresponding LED indicators are then activated accordingly.

Management Control System Design and Innovation: A Systematic Literature Review

AbstractThe purpose of this study is to examine through a systematic review the management accounting research that focuses on the role of management control systems (MCS) in enhancing innovation within organizations. For that purpose, a total of 19 articles from publications spanning from 2000 to 2022 were selected using the keywords of management control system and innovation. The findings indicate that the Levers of Control (LoC) is the most widely studied topic. The next popular topic being examined is formal and informal control mechanisms. The aspect of innovation in that literature mainly focuses on product innovation, management and organizational innovation, and environmental innovation and sustainability. Future research can explore more the role of the MCS in the combined mechanism of LoC to encourage innovation. This paper contributes to the MCS literature by examining the suitable mechanisms affecting the success of innovation in a rapidly changing environment. Keywords:Management Control System, Innovation, Review Literature, Levers Of Control, New Product Development

Multi Combustor Turbine Engine Acceleration Process Control Law Design

Abstract Focusing on the collaborative fuel supply and acceleration problem of multi combustor turbine engine, a variable geometry composite regulation acceleration control law design method based on the combination of compressor intermediate stage air bleed(CIB) and low-pressure turbine guide vanes(LTGV) is proposed. The multi combustor collaborative fuel supply law and variable geometry regulation law during acceleration process are obtained by Particle Swarm Optimization-Sequence Quadratic Program (PSO-SQP) optimization, and the composite regulation acceleration control strategy of dual/single combustion chamber idle acceleration process is explored. The multi combustor acceleration process simulation results indicate that the variable geometry composite regulation method can effectively alleviate the stability margin limitation of the compressor during the initial acceleration stage. Compared with conventional acceleration methods, the maximum relative reduction in acceleration time of our method reaches 26%; Enhancing the combustion exergy efficiency during the acceleration process can significantly improve the engine's acceleration performance.; For the acceleration process from single combustion chamber idle operation to normal operation of a dual combustion chamber, simultaneous fuel supply from both combustion chambers during acceleration has a shorter acceleration time. The research results of this paper can provide important references for the design of transition state control systems for multi combustor turbine engines.

Analysis and design of wire winding tension control system based on genetic algorithm and fuzzy PID

Wire winding is a key process in transformer manufacturing, and the accuracy of tension control directly affects the quality of the products. To achieve the requirement of constant tension winding of wire, the influence of roll diameter, speed, and other factors on the dynamic performance of tension is analyzed by establishing the dynamic model of unwinding and winding as well as the pendulum part. A control strategy combining proportional-integral-derivative (PID) control with fuzzy control is adopted, and the parameters of the fuzzy PID controller are optimized using an improved genetic algorithm. Simulation results demonstrate that the optimized fuzzy PID controller significantly reduces tension overshoot and effectively suppresses the tension fluctuation when the speed and roll diameter change, and the tension fluctuation is controlled within 2%. Finally, the feasibility of the optimized fuzzy PID controller in the tension control system is experimentally validated.

Design and test of reel speed control system for soybean combine harvester in the strip intercropping mode

At present, the speed of the reel of soybean combine harvester is mainly adjusted manually, and basically does not have the ability to automatically adjust the speed of the reel according to changes in crops or working speed. In the maize-soybean strip intercropping mode, soybean plants are densely planted. During harvesting, the feeding rate increases, making it even more necessary to adjust the reel speed according to the growth status of the crops. This article uses PLC as the main control platform to design a reel speed control system for the existing combine harvester. Tests have shown that the control system can meet the requirements for reel speed control. The relative error of the reel control system’s speed test is 2.6%, the relative error of the operating speed is 6.77%, and the maximum relative error of the automatic control of the reel speed is 5.38%. Compared with traditional reel, it reduces header loss by 2.12%. The soybean combine harvester reel speed control system designed in this article can realize automatic adjustment of the reel speed, reduce feeding losses caused by changes in crop height, changes in feed volume, and untimely adjustment of the reel, and can reduce header loss, increased crop yield.