Disturbance Handling Research Articles

Integrating Disturbance Handling into Control Strategies for Swing-up And Stabilization of Rotary Inverted Pendulum

The rotary inverted pendulum (RIP) is an underactuated mechanical system with fewer input controls than output controls. The application of the RIP model is to investigate the control of nonlinear systems and in other fields as well, as it is simple to analyze the dynamics and test despite its high nonlinearity. The two fundamental control issues in the RIP are achieving the desired balance position of the pendulum and maintaining stability. The energy-based swing-up controller is used for the model to bring the pendulum to an upright position. Regarding the issue of stability control, the LQR linear controller is well-known for its effectiveness and good stability, but it lacks stability in the presence of disturbance. The sliding mode controller (SMC) is able to resist the impact of disturbances when they affect the model. Therefore, this paper combines both controllers to address the balancing stability problem of the RIP system. The LQR-based SMC controller uses the LQR controller as the basic controller to stabilize the pendulum and employs the SMC controller to resist the impact of disturbance. In addition, it is necessary to accurately estimate the velocity of the pendulum and arm in order to apply them to the real model. This paper designs an observer to solve this problem. The simulation results show that the proposed controller performs well in the presence of input disturbance.

Workpiece temperature control in friction stir welding of Inconel 718 through integrated numerical analysis and process control

Friction stir welding (FSW) offers significant advantages over fusion welding, particularly for high-strength alloys like Inconel 718. However, achieving optimal surface quality in Inconel 718 FSW remains challenging due to its sensitivity to temperature fluctuations during welding. This study integrates finite element simulations, statistical analysis, and advanced control methodologies to enhance weld surface quality through adequate thermal management. High-fidelity simulations of the FSW process were conducted using a validated 3D transient COMSOL Multiphysics model, producing a comprehensive dataset correlating process parameters (rotational speed, axial force, and welding speed) with workpiece temperature. This dataset facilitated statistical analysis and parameter optimization through Analysis of variance (ANOVA) method, leading to a deeper understanding of process variables. A nonlinear state-space system model was subsequently developed using experimental data and the system identification toolbox in Matlab, incorporating domain-specific insights. This model was rigorously validated with an independent dataset to ensure predictive accuracy. Utilizing the validated model, tailored control strategies, including proportional-integral-derivative (PID) and model predictive control (MPC) in both single and multivariable configurations, were designed and evaluated. These control strategies excelled in maintaining welding temperatures within optimal ranges, demonstrating robustness in response times and disturbance handling. This precision in thermal management is poised to significantly refine the FSW process, enhancing both surface integrity and microstructural uniformity. The strategic implementation of these controls is anticipated to substantially improve the quality and consistency of welding outcomes.

A frequency domain fractional order tilted integral derivative controller design for fractional order time delay processes

AbstractIn real‐time processes, time delays are inherent due to various factors, such as delays in volume, mass, and information transfer, leading to a deterioration in process performance and stability. Therefore, this paper proposes a fractional‐order tilted integral derivative (TID) controller design for stable and unstable fractional‐order processes with time delay, where the optimal controller parameters are designed using a deterministic approach. An inner loop controller is designed using stability analysis and a graphical approach for unstable fractional‐order time delay processes. The proposed approach offers flexibility and fine‐tuning in designing the controller for a specific application. A systematic reference to the disturbance ratio is carried out to assess the disturbance handling capacity of the proposed controller. It shows the sensitivity of the designed controller against disturbances in the frequency spectrum graphically. Numerous performance indices and time‐domain parameters are computed and compared with state‐of‐the‐art techniques to analyze the efficacy. Furthermore, it is validated on the experimental setup of a four‐tank system. Simulation and experimental results demonstrate that the proposed approach outperforms recent techniques in terms of process control and disturbance rejection.

[formula omitted]adaptive resonance ratio control for series elastic actuator with guaranteed transient performance

[formula omitted]adaptive resonance ratio control for series elastic actuator with guaranteed transient performance

Optimizing control efficiency in discrete-time multi-agent systems via event-triggered containment techniques combining disturbance handling and input delay management

The goal of this paper is to mitigate disturbances and input delays while optimizing controller actuation updates for discrete-time multi-agent systems through the use of an event-triggered confinement control system, especially in resource-constrained scenarios. This approach when combined with event-triggered control techniques, then every follower in the system adjusts its condition at specified times based on an event-triggered condition that is suggested. The containment control system issue in the presence of disturbances and input delays was tackled by using both decentralized and centralized event-triggered control systems. Using matrix theory and the Lyapunov technique, convergence analysis is conducted to show that the proposed strategy stays free of zeno phenomena. Numerical boosts are used to further illustrate the impact of theoretical results.

Predefined-Time Tracking Control of Unmanned Surface Vehicle under Complex Time-Varying Disturbances

Aiming at the unmanned surface vehicle (USV) trajectory tracking control under complex time-varying environment, a predefined-time convergence sliding mode disturbance observer (PTC-SMO) is introduced to effectively handle the internal parameter uncertainties and external environmental disturbances, thereby guaranteeing precise compensation of the lumped disturbance term within a set time. Then, in order to achieve precise tracking of the desired trajectory using USV under a predetermined time constraint, a novel fast trajectory tracking control strategy with predefined-time convergence (PTC-FTTCS) is established to improve tracking performance and ensure that the trajectory tracking error converges quickly in the predefined time. Through rigorous comparative simulation under ideal conditions and time-varying disturbances, the results demonstrate reliable trajectory tracking and disturbance handling effects, and the tracking performance and disturbance observation performance are significantly better than state-of-the-art methods.

Application and progress of water colour remote sensing technology in monitoring chlorophyll concentration changes in seawater

This paper provides an in-depth discussion on the application and progress of water colour remote sensing technology in monitoring changes in chlorophyll concentration in seawater. The hydrochromatic remote sensing technique uses spectral data acquired by remote sensing satellites and airborne platforms to monitor and analyse the distribution of marine chlorophyll, which is of great significance for understanding and protecting marine ecosystems. The article first introduces the basic principles and development history of this technology, and then discusses in detail its applications in global ocean monitoring, including resource management, environmental assessment, and ecological protection. In the discussion, we highlight the advantages of water colour remote sensing technology in providing large-scale and efficient ocean monitoring, while also pointing out the challenges it faces in terms of data accuracy, atmospheric disturbance handling and algorithm development. In particular, these challenges are gradually being overcome with the application of advanced computational techniques, such as machine learning and artificial intelligence, resulting in significant improvements in monitoring accuracy and efficiency. Finally, this paper looks at the future direction of water colour remote sensing technology, including technological innovation, data integration and interdisciplinary collaboration, highlighting the potential value of this technology in addressing global climate change and marine environmental protection. Through this comprehensive analysis, we have gained a deeper understanding and appreciation of the important role of water colour remote sensing technology in global ocean monitoring and management.

Empowering Women through the Role of the Village Head.

A Qualitative Analysis" presents an investigation into the empowerment of women in Semambung Village, Kec. Wonoayu Kab. Sidoarjo. The research aims to describe and analyze the role of the Village Head in empowering women, utilizing qualitative methods such as observation, interviews, and documentation. The results indicate that the Village Head plays a significant role in women's empowerment through various dimensions, including entrepreneurship, disturbance handling, resource allocation, and negotiation. The implication of the study highlights the importance of the Village Head's involvement in empowering women at the local level, contributing to the overall welfare and development of the community. The title "Empowering Women: Unveiling the Role of Female Village Heads" encapsulates the essence of the study and its focus on the impactful role of female village heads in empowering women, making it appealing to a global audience of researchers and practitioners. Highlight : Entrepreneurship: The Village Head plays a significant role in empowering women through entrepreneurship, providing support and resources for women to start and grow their own businesses. Disturbance Handling: The Village Head's ability to handle disturbances and conflicts effectively contributes to a stable and supportive environment for women's empowerment. Resource Allocation: The Village Head's involvement in resource allocation ensures that resources are distributed fairly and effectively, contributing to the overall welfare and development of the community. Keywords: Women's Empowerment, Village Head, Entrepreneurship, Disturbance Handling, Resource Allocation

Navigating the social media overload via control abilities: coping strategies and practices

ABSTRACT Based on the stress coping theory, the present paper aims to investigate the influence of users’ networking ability and profile control ability in mitigating the negativity of social media overload. This paper argues that in the social media context, instead of discontinuance, users tend to develop comprehensive strategies and practices to manage their social media usage. Via an exploratory factor analysis (EFA) study, five practices were identified, including continuous usage, reduced usage, setting adjustment, support seeking, and information avoidance. The results show that social media overload leads to both the perception of emotional exhaustion and disturbance handling while networking and profile control ability make users focus on disturbance handling. Besides, networking ability is found to weaken the relationship between social media overload and emotional exhaustion while profile control ability exaggerates that relationship. Finally, emotional exhaustion and disturbance handling both predict users’ different social media management practices.

Evaluation of Hospital Information Management System (HIMS) by using the method Coping Model of User Adaption (CMUA) at the Siti Khodijah Sepanjang Hospital

The Siti Khodijah Muhammdiyah Sepanjang Hospital uses EHOS as a means of providing HIMS. Preliminary study found that in outpatient units consisting of 30 clinics, 1 clinic did not record on the EHOS application, namely home care in filling out data, it was known that filling was still incomplete on patient identity sheets, general consent, initial assessment, and special examinations. The porposed this study to improve the utilization of HISM technology at siti khodijah sepanjang hospital based on the CMUA method using a sample of 135 respondents determination of the number of samples used the formula estimate a proportional in finite population with minimal 117 samples. Simple random sampling was used. This study was conducted from September to December 2022 at Siti Khodijah Sepanjang Hospital. The results of this study are 8 hypotheses, most of which have significant value, including H1: the perception of using HIMS as an opportunity (PO) will positively influence the adoption of a benefit-maximizing strategy (BM) of significant value (sig.0.007). H2: the perception of using HIMS as an opportunity (PO) will positively influence the adoption of a benefit satisfaction strategy (BS) with significant value (sig. 0.00). H3: The manager's perception of the use of HIMS as a threat (PT) will positively influence the disturbance management strategy (DH), with a significant value (sig. 0.000). H5: when managers perceive a situation as an opportunity, the more control they feel over the benefits of HIMS, the more likely they are to adopt a benefit maximizing (BM) strategy of significant value (sig. 0.000). H6: When managers perceive a situation as an opportunity, the more control they feel over the benefits of HIMS, the more likely they are to adopt a significant value benefit satisfaction (BS) strategy (sig. 0.016). H7: when a manager perceives the use of HIMS as a threat, the greater the perceived control over the implementation of security measures, the more he or she will adopt an intrusion management strategy (SP) of significant value (sig. 0.004). It was concluded that in using HIMS to optimize its use from the perspective of threats and opportunities, managers can adopt benefit maximizing strategies, benefit satisficing strategies, and disturbance handling strategies.

Model Predictive Control Based Voltage Regulation Strategy Using Wind Farm as Black-Start Source

A coordinated voltage regulation method based on model predictive control (MPC) is proposed in this paper for utilizing wind farms (WF) as black-start (BS) source to start up a thermal generating unit. The reactive power regulation devices with different dynamic response characteristics including wind turbine generators (WTGs), energy storage system (ESS), and static var generator (SVG) are coordinated by the proposed MPC to handle disturbances caused by ancillary machine start during the BS process. The reactive power sharing between WTGs is optimized to maximize the dynamic reactive power reserve. The capabilities of ESS and SVG in providing sufficient dynamic reactive power against disturbances are also fully exploited, which helps accelerate voltage recovery for low voltage ride through to avoid the tripping incidents of WTGs. The impact of active power on bus voltage variation due to low <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">X</i> / <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">R</i> ratio is also considered. The reactive power and active power of WTGs and ESS are coordinately controlled for handling voltage disturbance without harming frequency control. A WF with 33 WTGs rated 1.5 MW each is used in case studies to demonstrate the enhanced disturbance handling capability of the proposed voltage regulation strategy during BS progress.

Dynamic job shop scheduling based on deep reinforcement learning for multi-agent manufacturing systems

Dynamic job shop scheduling based on deep reinforcement learning for multi-agent manufacturing systems

A control strategy for merging a single vehicle into a platoon at highway on-ramps

An important topic of research regarding cooperative platoons is merging vehicles into a platoon at highway on-ramps. This paper proposes a control strategy for the merging of a single cooperative automated vehicle into a platoon of vehicles at highway on-ramps. The proposed strategy can handle large differences in initial positions and velocities, sensor noise, and disturbances caused by the platoon leader. Furthermore, the required controller transitions are designed such that the switch between regular platooning and the merging maneuver can easily be made by all vehicles. The proposed strategy is validated using simulations. In the simulation environment communication delays, sensor noise, and disturbances of the platoon leader have been included. The proposed strategy is compared to a traditional strategy and shows a clear improvement in terms of noise handling. Furthermore, the proposed strategy behaves satisfactory considering safety, efficiency, passenger comfort, and disturbance handling.

Brain Emotional Learning and Adaptive Model Predictive Controller for Induction Motor Drive: A New Cascaded Vector Control Topology.

With the development of high-speed microprocessors, it is now possible to implement mathematically complex vector control algorithms without compromising on the performance of motor drive. Among vector control techniques space vector proportional-integral (PI), direct-torque control (DTC), field-oriented control (FOC), model-predictive control (MPC) are being widely used in industries. But their limitations have urged researchers to develop more advance techniques. In this paper, a new technique learning and adaptive model - based predictive control (termed as LAMPC) is proposed for the vector control of three phase induction motor. In the proposed method, the dynamic model of induction motor is updated adaptively based on prediction (receding horizon principle) for the inner control loop (current control) while the brain emotional learning-based intelligent controller (BELIC) is used for the outer control loop (speed control). The proposed methodology offers desired dynamic response, precise tracking, good disturbance handling capability along with satisfactory steady-state performance. To show the effectiveness of the proposed approach, benchmark simulation results for various inputs are presented using MATLAB/Simulink. Finally, the detailed qualitative and quantitative comparison of the proposed LAMPC is made with the most relevant vector techniques to show its significance.

Positioning Control of DC Servomotor-Based Antenna Using PID Tuned Compensator

Direct current (DC) servomotor-based parabolic antenna is automatically positioned using control technique to track satellite by maintaining the desired line of sight for quality transmission and reception of electromagnetic wave signals in telecommunication and broadcast applications. With several techniques proposed in the literature for parabolic antenna position control, there is still a need to improve the tracking error and robustness of the control system in the presence of disturbance. This paper has presented positioning control of DC servomotor-based antenna using proportional-integral-derivative (PID) tuned compensator (TC). The compensator was designed using the control and estimation tool manager (CETM) of MATLAB based on the PID tuning design method using robust response time tuning technique with interactive (adjustable performance and robustness) design mode at a bandwidth of 40.3 rad/s. The compensator was added to the position control loop of the DC servomotor–based satellite antenna system. Simulations were carried out in a MATLAB environment for four separate cases by applying unit forced input to examine the various step responses. In the first and second cases, simulations were conducted without the compensator (PID TC) in the control loop assuming zero input disturbance and unit input disturbance. The results obtained in terms of time-domain response parameters showed that with the introduction of unit disturbance, the rise time improved by 36 % (0.525–0.336 s) while the peak time, peak percentage overshoot, and settling time deteriorate by 16.3 % (1.29–1.50 s), 43.5 % (34.7–49.8 %), and 7.6 % (4.35–4.68 s), respectively. With the introduction of the PIDTC for the third case, there was an improvement in the system’s overall transient response performance parameters. Thus to provide further information on the improved performance offered by the compensator, the analysis was done in percentage improvement. Considering the compensated system assuming zero disturbance, the time-domain response performance parameters of the system improved by 94.1, 94.7, 73.1, and 97.1 % in terms of rising time (525–30.8 ms), peak time (1,290–67.9 ms), peak percentage overshoot (34.7–9.35 %), and settling time (4.35–0.124 s), respectively. In the fourth case, the compensator’s ability to provide robust performance in the presence of disturbance was examined by comparing the step response performance parameters of the uncompensated system with unit input disturbance to the step response performance parameters of the compensated system tagged: with PID TC + unit disturbance. The result shows that PID TC provided improved time-domain transient response performance of the disturbance handling of the system by 91.0, 95.4, 80.0, and 93.1 % in terms of rising time (336–30.5 ms), peak time (1500–69.1 ms), peak percentage overshoot (34.7–10.0), and settling time (4.68–0.325 s), respectively. The designed compensator provided improved robust and tracking performance while meeting the specified time-domain performance parameters in the presence of disturbance.

High-sensitivity image encryption algorithm with random cross diffusion based on dynamically random coupled map lattice model

High-sensitivity image encryption algorithm with random cross diffusion based on dynamically random coupled map lattice model

Real-Time Processor-in-Loop Investigation of a Modified Non-Linear State Observer Using Sliding Modes for Speed Sensorless Induction Motor Drive in Electric Vehicles

Tracking performance and stability play a major role in observer design for speed estimation purpose in motor drives used in vehicles. It is all the more prevalent at lower speed ranges. There was a need to have a tradeoff between these parameters ensuring the speed bandwidth remains as wide as possible. This work demonstrates an improved static and dynamic performance of a sliding mode state observer used for speed sensorless 3 phase induction motor drive employed in electric vehicles (EVs). The estimated torque is treated as a model disturbance and integrated into the state observer while the error is constrained in the sliding hyperplane. Two state observers with different disturbance handling mechanisms have been designed. Depending on, how they reject disturbances, based on their structure, their performance is studied and analyzed with respect to speed bandwidth, tracking and disturbance handling capability. The proposed observer with superior disturbance handling capabilities is able to provide a wider speed range, which is a main issue in EV. Here, a new dimension of model based design strategy is employed namely the Processor-in-Loop. The concept is validated in a real-time model based design test bench powered by RT-lab. The plant and the controller are built in a Simulink environment and made compatible with real-time blocksets and the system is executed in real-time targets OP4500/OP5600 (Opal-RT). Additionally, the Processor-in-Loop hardware verification is performed by using two adapters, which are used to loop-back analog and digital input and outputs. It is done to include a real-world signal routing between the plant and the controller thereby, ensuring a real-time interaction between the plant and the controller. Results validated portray better disturbance handling, steady state and a dynamic tracking profile, higher speed bandwidth and lesser torque pulsations compared to the conventional observer.

Coping Strategies and Paradoxes Related to BYOD Information Security Threats in France

Bring Your Own Device (BYOD) refers to the provision and use of personal mobile devices by employees for both private and business purposes. Although there has been research on BYOD, little attention has been paid to employees' perception of threats to their personal information security (ISS) when using a BYOD, especially in a professional context. This article investigates employee coping strategies related to BYOD ISS threats in France. The results of a survey of 223 employees indicate that while perceived behavioral control exerts only direct effects on problem-focused (i.e., disturbance handling) and emotion-focused (i.e., self-preservation) coping strategies, ISS concern exhibits significant direct and moderating influences. Several security paradoxes could be identified, namely, discrepancies between the respondents' ISS concern and the adopted coping strategies. This article offers the first insights into the French context and can serve as a basis for comparisons in future research and to help improve employees' personal ISS in the professional context.

Human Factor Preparedness for Decentralized Crisis Management and Communication in Cyber-Physical Systems

Crises are influencing the corporate sustainability. Long-term stakeholder value built in decades can be ruined by a middle scale crisis. In the new world of cyber-physical systems, scholars emphasize the decentralized, human–machine cooperation based disturbance handling. From information technology and communication (ICT) point of view the cyber-physical systems are ready for a sustainable, decentralized crisis management. The aim of the article is to present results of a research that has as objective to study the readiness of the human component of cyber-physical systems for a decentralized crisis management approach in industrial organizations. Two highly regulated industries—automotive and pharmaceutical industry- was selected; in all the studied organizations the continuous human-machine cooperation is a reality. The sample consisted of 151 respondents and a questionnaire-based survey was used. The study revealed the need for guidance and education for the personnel regarding the roles and competences of the different departments regarding the relationship with certain stakeholders. The study also reveals that apart from some explicitly regulated by law areas—fire safety, occupational health and safety, and some issues related to technological failures—the studied organizations are not prepared for unexpected situations. Also, our survey revealed that the members of the organization, others than top managers, are not prepared to handle ‘off the job-description’ situations.

System Identification and Model Predictive Control using CVXGEN for Electro-Hydraulic Actuator

Hydraulics have been widely used in heavy industries for decades. The demand for intelligent hydraulic control system has been increasing as tough robotic researches are getting more popular. Despite the high power to weight ratio delivery, the hydraulic actuator suffers from nonlinearity properties that cause difficulties in applying precise position control. In this paper we proposed Model Predictive Control (MPC) to control an Electro-Hydraulic Actuator (EHA) where its dynamic characteristics is obtained through system identification method. Control signal generation optimisation and constraint handling are seldom included in the conventional control system design process. Therefore we introduce CVXGEN, a Code Generator for Embedded Convex Optimization that utilises the Quadratic Programming (QP) interior-point solver for MPC optimisation problem. Predictive Functional Control (PFC) is used to validate the CVXGEN-MPC and both algorithms are implemented in simulation and experiment of EHA position control to highlight the optimisation and constraint handling problem. Control performance, control effort, constraint handling and disturbance handling of both methods are discussed.