High-performance Control System Research Articles

New control model for autonomous vehicles using integration of Model Predictive and Stanley based controllers

In this paper, a robust control method is introduced for autonomous vehicle control in different scenarios. Dual controllers have been used in this method to ensure high performance and low errors during the vehicle’s trip. The new control system is called Model Predictive and Stanley based controller (MPS), which is an integration of a model predictive controller and a Stanley controller. Each of these two controllers has its drawbacks and weaknesses. The proposed method tries to overcome these points and come up with a high-performance control system. This hybrid way of combining two of the famous controllers has the benefit of using the best part of each one and trying to enhance the other part. The MPS is tested for both path-following and vehicle control in different scenarios and on both straight and curved roads. This controller has shown high performance and flexibility to deal with different scenarios of autonomous driving. The results are compared to previous types of controllers, and the proposed system outperformed these types.

FPGA-based control system for real-time driving of UHD Micro-LED display with color calibration

Micro-LED technology offers numerous advantages, including high brightness, low power consumption, and superior color performance. However, driving micro LED displays requires complex control algorithms and high-speed data processing. To address these challenges, this paper presents the development of a real-time FPGA-based control system for a 68-inch 4K/60Hz micro-LED display. The objective of this project was to create a high-performance control system capable of driving the micro-LED display with precise color accuracy, supporting 10-bit color depth for enhanced color rendition. One crucial aspect of the system is color calibration, which ensures accurate color reproduction across the display, maintaining consistent and vibrant colors. By incorporating advanced color calibration techniques, the system achieves excellent color consistency and fidelity, providing a visually stunning viewing experience. Moreover, the system incorporates hot plug functionality, allowing for seamless reconnection of the display after Ethernet disconnection. This feature ensures uninterrupted operation and enhances user experience. In FPGA design, the proposed system demonstrates the feasibility and effectiveness of real-time control in driving micro-LED displays, offering improved color performance and reliable operation in various applications.

Abstract B012: Developing applications for a new, fully automated, low-coherence, label free, time lapse holotomographic analysis platform-TomoCube HT-X1: Preparations for AI based analysis

Abstract Our groups are involved in the development of multifunctional nanoparticles and combinations primarily for applications in cancer research is one aspect, we are developing multi-functional for better targeting of the cancer cells. An important part of our efforts is to visualize the effects of the compounds either by visualization, or by quantitative measurements such as the generated by flow cytometry and by laser scanning cytometry. Label free holographic imaging is a new technology that employs laser interference to calculate the refractive index of the pixels. Deconvolution routines create 3-dimensional holograms, and we have developed techniques for 4-dimensional imaging. In Holotomographic imaging there is either a rotating mirror (Nanolive), or a multi-mirror display module (Tomocube) We currently have a Program of Excellence Agreement with Tomocube and are serving as beta testers for their new HT-X1 system. This new instrument abandons laser illumination in favor of low coherence LED illumination. It is a large instrument designed for completely automated operation including autofocus and detector settings, has an automated stage, and is coupled to a high-performance environmental control system. The HT-X1 will have AI capabilities. Some applications. such as accurate cell segmentation and lipid enumeration have already been developed, but have not been released yet. We were told that if we develop our own truth sets, they will be able to process them for us. To illustrate the imaging capabilities, we will use an experiment based on repurposing of an anti-microbial rifamycin as a breast cancer therapeutic. Breast cancer cells were seeded into a 24 well microtiter plate and allowed to attach. Row A was untreated, Row B was treated with free rifamycin, and Row C was treated with liposomal rifamycin. Two-fold dilutions of the drugs were applied starting with column 2. Plates were incubated overnight and imaged on the HT-X1. This experiment showed that at the higher concentration levels, the free rifamycin precipitated leaving rod shaped crystals which presumably reduce its efficacy. The effects of the liposomal rifamycin on the cell morphology is striking. A complete set of the images will be included in the presentation. One of our areas of research is the brain cancer glioblastoma. In previous work using label free tomographic imaging and videography, we identified what we believe to be proto-stem cells, and we made the observation that they are closely associated with nucleoli. In follow-up experiments, we are using a combination of fluorescent dyes, Hoechst 33342 for DNA, Mito tracker green and mitosox red to observe the expression patterns of ROS appearing first in the nucleoli, then spreading to the nucleus, and eventually to the entire cell and the microenvironment. We know that nucleoli are generated from ribosomal proteins at the start of each cell cycle round and disassembled before exiting the G2 phase in a tightly orchestrated sequence. Our hope is that we will be able to further elucidate this using AI. Citation Format: Ed A. Luther, Nina Filipczak, Janaina Artem Ataide, Vladimir P. Torchilin. Developing applications for a new, fully automated, low-coherence, label free, time lapse holotomographic analysis platform-TomoCube HT-X1: Preparations for AI based analysis [abstract]. In: Proceedings of the AACR Special Conference in Cancer Research: Translating Cancer Evolution and Data Science: The Next Frontier; 2023 Dec 3-6; Boston, Massachusetts. Philadelphia (PA): AACR; Cancer Res 2024;84(3 Suppl_2):Abstract nr B012.

Design and research of high-performance optical bus control system

Design and research of high-performance optical bus control system

Development of Boom Posture Adjustment and Control System for Wide Spray Boom

To obtain a more consistent droplet distribution and reduce spray drift, it is necessary to keep the entire spray boom parallel to the crop canopy or ground and maintain a certain distance from the spray nozzles to the crop canopy or ground. A high-performance boom active control system was developed for boom trapezoid suspension. The hydraulic system and hardware circuit of the boom control system were designed based on analyzing the configuration of active trapezoid suspension. The mathematical models of valve-controlled hydraulic cylinders and active boom suspensions were developed. Step response and frequency domain response analysis of passive suspension were conducted by Simulink simulations, and then key parameters of the boom suspension and hydraulic system were determined. A feedforward proportion integration differentiation (FPID) control algorithm was proposed to improve the tracking performance. The designed control system was assembled on a 24 m boom with trapezoid suspension. The response characteristic of the active boom control system was tested by the step signal and the sinusoidal signal from a six-degree-of-freedom hydraulic motion platform. Firstly, the tracking performance of the active balance control system for the PID (proportion integration differentiation) and FPID control algorithms was compared for a given 0.2 Hz sine signal. Then, for the ground-following control system, the response characteristics in challenging terrain and tracking performance in less challenging terrain were tested. Field experiment results indicate that the maximum rolling angle of the chassis was 3.896° while the maximum inclination angle of the boom was 0.453°. The results show that the designed boom adjustment and control system can effectively adjust the boom motion in real time and meet the requirements of field operation.

Design of Optoelectronic Tracking Platform Driven by Ultrasonic Motor with a Novel Limiter.

A high-performance servo control system is the basis for realizing high-precision photoelectric tracking. With high position resolution and power-off self-locking, ultrasonic motors have a wide range of applications for high-precision positioning control. An optoelectronic tracking platform driven by two ultrasonic motors is proposed in this study. The shaft structure of the tracking platform is designed and modeled. The shaft structure is simplified, and a dynamic model is established to analyze the motion characteristics. The parameters of the limit mechanism are optimized based on the analysis. The shaft structure is built to verify the response characteristics of the tracking platform at different velocities. The results show that the proposed design can fully utilize the self-locking of ultrasonic motors for rapid automatic alignment of the axis system. The maximum response time is less than 55 ms. When the operating velocity is less than 70°/s, the positioning error is less than 0.055°, and the lower the speed, the smaller the positioning error.

Implementation of third-order sliding mode for power control and maximum power point tracking in DFIG-based wind energy systems

In the field of generation systems, system performance, and power quality are greatly affected by traditional control techniques based on proportional-integral (PI) controllers, which are affected by internal and external factors. Wind power conversion systems based on doubly-fed induction generators are exposed to certain nonlinearities, uncertainties, and external disturbances. From another side, the extraction of the mechanical wind energy required a high-performance control system. This study proposes a robust nonlinear chattering-free third-order sliding mode control (TOSMC) based power control applied to fix its primary disadvantages which are the chattering phenomena and active and reactive power ripples. To show the potential of the proposed TOSMC control, a comparison study considering the TOSMC control, traditional sliding mode control, and the other existing controls is done in terms of power ripples, harmonic distortion of stator current, robustness, and response time. To ensure maximum power extractions and to protect the system, the maximum point power tracking technique based on TOSMC and the proposed control are also implemented. In addition, These techniques are used to control the stator powers. Finally, simulations (using Matlab software) are performed using different wind speeds with durability testing. The simulated results show that the proposed TOSMC control with the MPPT-TOSMC technique in this paper achieves satisfactory results in terms of reducing power ripples, response time, and harmonic distortion of stator current compared to the sliding mode control, where the harmonic distortion reduction ratio of the current was (50.24%) and the active power ripple reduction ratio (47.50%) and the reactive power (46.68%).

Low-Cost and High-Performance Adaptive Cruise Control Based on Inertial-Triggered Mechanism and Multi-Objective Optimization

The “accelerating-decelerating” logic adopted by the traditional adaptive cruise control system fails to exploit vehicle's inertial energy. This paper proposes a high-performance adaptive cruise control system with common hardware configuration based on inertial-triggered mechanism and multi-objective optimization. In the control strategy, a simple method is adopted to predict preceding vehicle's acceleration. On the basis of the zero-crossing points extracted from the predicted acceleration, the inertial-triggered mechanism is established to reasonably configurate host vehicle's “accelerating-inertial driving-decelerating” logic. Then, within the framework of model predictive control algorithm, multiple objectives are optimized by properly releasing the kinetic energy stored in vehicle inertia. Verification results show that when the proposed control strategy is employed, fuel economy can achieve relatively evident growth while braking time is decreased by 16.4% to efficiently improve vehicle safety.

A Non-Integer High-Order Sliding Mode Control of Induction Motor with Machine Learning-Based Speed Observer

The induction motor (IM) drives are prone to various uncertainties, disturbances, and non-linear dynamics. A high-performance control system is essential in the outer loop to guarantee the accurate convergence of speed and torque to the required value. Super-twisting sliding mode control (ST-SMC) and fractional-order calculus have been widely used to enhance the sliding mode control (SMC) performance for IM drives. This paper combines the ST-SMC and fractional-order calculus attributes to propose a novel super-twisting fractional-order sliding mode control (ST-FOSMC) for the outer loop speed control of the model predictive torque control (MPTC)-based IM drive system. The MPTC of the IM drive requires some additional sensors for speed control. This paper also presents a novel machine learning-based Gaussian Process Regression (GPR) framework to estimate the speed of IM. The GPR model is trained using the voltage and current dataset obtained from the simulation of a three-phase MPTC based IM drive system. The performance of the GPR-based ST-FOSMC MPTC drive system is evaluated using various test cases, namely (a) electric fault incorporation, (b) parameter perturbation, and (c) load torque variations in Matlab/Simulink environment. The stability of ST-FOSMC is validated using a fractional-order Lyapunov function. The proposed control and estimation strategy provides effective and improved performance with minimal error compared to the conventional proportional integral (PI) and SMC strategies.

Development of Smart Irrigation Equipment for Soilless Crops Based on the Current Most Representative Water-Demand Sensors.

Due to the edaphoclimatic conditions in southeast Spain, which are expected to worsen due to climate change, more efficient ways of using water must be found to maintain sustainable agriculture. Due to the current high price of irrigation control systems in southern Europe, 60-80% of soilless crops are still irrigated, based on the experience of the grower or advisor. The hypothesis of this work is that the development of a low-cost, high-performance control system will allow small farmers to improve the efficiency of water use by obtaining better control of soilless crops. The objective of the present study was to design and develop a cost-effective control system for the optimization of soilless crop irrigation after evaluating the three most commonly used irrigation control systems to determine the most efficient. Based on the agronomic results comparing these methods, a prototype of a commercial smart gravimetric tray was developed. The device records the irrigation and drainage volumes and drainage pH and EC. It also offers the possibility of determining the temperature, EC, and humidity of the substrate. This new design is scalable thanks to the use of an implemented data acquisition system called SDB and the development of software in the Codesys programming environment based on function blocks and variable structures. The reduced wiring achieved by the Modbus-RTU communication protocols means the system is cost-effective even with multiple control zones. It is also compatible with any type of fertigation controller through external activation. Its design and features solve the problems in similar systems available on the market at an affordable cost. The idea is to allow farmers to increase their productivity without having to make a large outlay. The impact of this work will make it possible for small-scale farmers to have access to affordable, state-of-the-art technology for soilless irrigation management leading to a considerable improvement in productivity.

High-performance temperature control system for resistance furnace annealing and crystal growth of semiconductor compounds

This paper describes the control system for the annealing and growth of semiconductor crystals. In this process, precise temperature control is crucial to obtain high-quality samples. For this reason, a high-performance temperature control based on the PID controller augmented in the gain-scheduling (G-S) path has been applied. To overcome the drawback related to the synthesis procedure of the controller directly on the plant, the modeling stage has been introduced. At this stage, in the MATLAB/Simulink environment, a simulation model was built, the task of which is to approximate the operation of the test stand. Simulation and experimental tests indicate an advantage of the proposed control system compared to the reference solution. Simulations and experiments were performed for the PID controller in standard configuration and with G-S. A shortening of the temperature output signal rise time for a system with G-S was observed compared to a standard close system.

A Novel Heterogeneous Parallel System Architecture Based EtherCAT Hard Real-Time Master in High Performance Control System

EtherCAT is one of the preferred real-time Ethernet technologies. However, EtherCAT is not applicable in high-end control fields due to real-time constraints. Clock synchronization and cycle time are the most representative limitations. In this paper, a novel Heterogeneous Parallel System Architecture (HPSA) with features of parallel computation and hard real-time is presented. An HPSA-based EtherCAT hard real-time master is developed to significantly improve clock synchronization and shorten cycle time. Traditional EtherCAT masters feature serial processing and run on a PC. This HPSA-based master consists of two parts: EtherCAT master stack (EMS) and EtherCAT operating system (EOS). EMS implements the parallel operation of EtherCAT to realize the shorter cycle time, and EOS brings a hard real-time environment to the HPSA-based master to improve clock synchronization. Furthermore, this HPSA-based master operates on a heterogeneous System-on-a-chip (SoC). EMS and EOS form a heterogeneous architecture inside this SoC to achieve low-latency process scheduling. Experimental results show that in our HPSA-based EtherCAT hard real-time master, the cycle time reaches the sub-50 μs range, and the synchronization error reduces to several nanoseconds. Thus, this HPSA-based master has great application value in high-performance control systems.

Research and design of high-performance DSP control system based on frequency control

With the rapid development of power electronic devices and microprocessors, AC variable frequency and speed regulating system has also made a breakthrough. The thesis introduces the hardware circuit design based on TMS320F28335, and the result of the experiment proves the SVPWM algorithm is correct. It also does some research on VF control system of the inverter and the result of the experiments proves that the control system achieves the purpose, and has a quick dynamic response.

PI Speed Control with Reverse Motion of a Series DC Motor Based on the Noise Reduction Disturbance Observer

In this paper, the speed control of a series DC motor is presented together with the electronics necessary to ensure inverse motion. The control law is based on the classical PI controller and the noise reduction disturbance observer (NRDOB). This control strategy allows the use of a linear approximation of the motor dynamics due to its excellent properties regarding model uncertainties, sensor noise, and external perturbations. Consequently, a linear model based on the nonlinear modelling with magnetic saturation of the motor is also presented. The NRDOB-based control frequency-domain approach allows for the treating of structured and unstructured disturbances in the spirit of classical control theory. Although PI controllers have proved to provide excellent performance and robustness for the speed control of series DC motor, it cannot cope, without affecting or reducing the performance, with the effects of sensor noise; moreover, to further improve the performance, especially in tracking conditions, it is necessary to design and implement a power driver capable of generating inverse motion. In addition, because NRDOB is in fact an internal model control strategy, a perfect match between process and model is not required. That is, contrary to the common belief that the NRDOB is a 2-DOF, it is in fact a 3-DOF control scheme. Based on these characteristics, it was possible to design and implement a robust high-performance speed control system with reverse motion for the non-linear series DC motor with not well-defined relative degree, together with the electronics required for the reverse motion which is fully described. This results in a control system capable of overcoming the problems generated by input disturbances and sensor noise, ensuring robustness and performance in tracking and regulation conditions. Real-time experimental results are included in support of the approach presented here.

Speed Sensorless Control Based on Initial Rotor Position Detection for EESM

Electrically excited synchronous motor (EESM) is widely used in many large equipment drives because of its strong overload capacity, high efficiency, and adjustable power factor. The research and development of a high-performance EESM control system can realize the high combination of energy-saving speed regulation and green environmental protection and has a high social effect and economic value. In this paper, the signal injection method is used to obtain the initial rotor position information of EESM. Sliding Fourier transform is used to improve the initial position angle detection method based on the rotor signal injection method, and the improved method is compared with the traditional voltage integration method. Rotor high-frequency signal injection method was used to detect the rotor position information of the motor during operation, and the influence of the damping winding on the rotor signal injection method was analyzed. On the premise that the damping winding had no influence on the method, a method of obtaining the rotor position information of EESM without a speed sensor was designed. Finally, the speed sensorless regulation system using the initial rotor position detection method is simulated, which verifies the accuracy of the proposed speed sensorless control scheme.

Dizajn i razvoj sistema robotskih ruku za klasifikaciju i sortiranje primenom mašinskog vida

The main focus of this paper is to design and develop a system of two robot arms for classifying and sorting objects based on shape and size using machine vision. The system uses a low-cost and high-performance hierarchical control system including one master and two slaves. Each slave is a robot controller based on a microcontroller that receives commands from the master to control the robot arm independently. The master is an embedded computer used for image processing, kinematic calculations, and communication. A simple and efficient image processing algorithm is proposed that can be implemented in real-time, helping to shorten the time of the sorting process. The proposed method uses a series of algorithms including contour finding, border extraction, centroid algorithm, and shape threshold to recognize objects and eliminate noise. The 3D coordinates of objects are estimated just by solving a linear equation system. Movements of the robot's joints are planned to follow a trapezoidal profile with the acceleration/deceleration phase, thus helping the robots move smoothly and reduce vibration. Experimental evaluation reveals the effectiveness and accuracy of the robotic vision system in the sorting process. The system can be used in the industrial process to reduce the required time to achieve the task of the production line, leading to improve the performance of the production line.

A novel reaction wheel unloading method with stability analysis for solar sails utilizing liquid crystal devices

Reaction wheels are capable of constituting a high-performance attitude control system for solar sails. Unloading is significant for reaction wheels to maintain their controllability when approaching saturation. However, traditional magnetic unloading method would become unavailable for solar sails, because of the weak-magnetic environment far away from the Earth. In order to realize the unloading for solar sails with high effectiveness and low cost, a universal unloading method utilizing liquid crystal devices (LCDs) with oblique microstructures is proposed in this paper. First of all, a theoretical force model is derived for force analysis of LCDs. After that, the envelope and the switch table of the LCDs on a solar sail is clearly defined. On this basis, the control methods for both the LCDs and the reaction wheels during unloading are provided, to ensure the rotation speed of wheels be smoothly reduced to zero. Stability analysis for the control methods is demonstrated based on the Lyapunov Stability Theorem, which not only proves the attitude maintains stable during unloading, but also leads to a sufficient condition for full unloading capability. Additionally, numerical simulation of a regular-hexagon solar sail with reaction wheels and LCDs is taken as an example, showing the effectiveness of the unloading method.

Convex Parameterization and Optimization for Robust Tracking of a Magnetically Levitated Planar Positioning System

Magnetic levitation positioning technology has attracted considerable research efforts and dedicated attention due to its extremely attractive features. The technology offers high precision, contactless, dust/lubricant free, multiaxis, and large-stroke positioning. In this article, we focus on the accurate and smooth tracking problem of a multiaxis magnetically levitated (maglev) planar positioning system for a specific S-curve reference trajectory. The floating characteristics and the multiaxis coupling make accurate identification of the system dynamics difficult, which lead to a challenge to design a high performance control system. Here, the tracking task is achieved by a 2-degree-of-freedom (DoF) controller consisting of a feedforward controller and a robust stabilizing feedback controller with a prescribed sparsity pattern. The approach proposed in this article utilizes the basis of an <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"><tex-math notation="LaTeX">${H}_\infty$</tex-math></inline-formula> controller formulation and a suitably established convex inner approximation. Particularly, a subset of robust stabilizable controllers with prescribed structural constraints is characterized in the parameter space, and so thus the reformulated convex optimization problem can be easily solved by several powerful numerical algorithms and solvers. With this approach, the robust stability of the overall system is ensured with a satisfactory system performance despite the presence of parametric uncertainties. Furthermore, experimental results clearly demonstrate the effectiveness of the proposed approach.

Haptic Data Prediction and Extrapolation for Communication Traffic Reduction of Four-Channel Bilateral Control System

Robotic teleoperation with a bilateral control system has attracted attention owing to its haptic transmission performance. However, conventional bilateral control systems require broadband communication to transmit the vivid haptic sensation. This problem limits the application range of the bilateral control systems. The communication traffic can be reduced by predicting and extrapolating the incoming data. However, in the conventional prediction-based methods, only one type (e.g., position, velocity, or force) of data is transmitted per one direction because of the difficulty of predicting multiple independent data. The novelty of this article is the realization of the prediction-based traffic reduction in the four-channel bilateral control system that transmits accurate haptic sensation by communicating both position and force data. By equivalently transforming this control scheme in the structure of impedance control, the transmit data are summed up to one data, equilibrium force. The equilibrium force is not only transmitted but extrapolated on the receiver side. As a result, the communication frequency becomes low without degrading haptic transmission performance. The validity of the proposed method was confirmed through experiments and succeeded to reduce the communication data size to less than 3.0%. The proposed method helps to realize a high-performance bilateral control system on band-limited networks.

Electrooculogram-aided intelligent sensing and high-performance communication control system for massive ALS individuals

Neurodegenerative disease was one of the progressive diseases that affect the brain’s neurons and cause muscle dysfunction. There is a need to focus on these challenges for interfaces to communicate with others. We analyze three categories of subjects from 15 subjects between different age groups from 20 to 55 to investigate the efficiency to promote the human–computer interface using eye activities. Observed signals were estimated with root mean square for 11 tasks and classified with probabilistic neural network. In the experimental analysis, it determines that subjects belonging to young-aged group performance were appreciated and obtained the average mean classification accuracy of 94.00%, the subjects belonging to old-aged group performance were medium and obtained the average mean classification accuracy of 93.27%, and subjects belonging to amyotrophic lateral sclerosis (ALS) performance were low and obtained the average mean classification accuracy of 90.37%. The study examined that young-aged subjects’ performance was marginally high compared with the other two categories of subjects. Our study concluded that first maximum performances were obtained for young-aged subjects and secondary performance was attained for old-aged subjects, and ALS subjects obtained minimum performance compared to other subjects who participated in this analysis. Finally, our study concluded that designing intelligent sensing and high-performance communication control systems for massive ALS-affected subjects was minimal. They also need more training than other categories of subjects in this experiment.