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Search results for: FUZZY CONTROLLER, FUZZY LOGIC, MOTION CONTROL, INTELLIGENCE SYSTEM, ROBOTICS, ADAPTIVE CONTROL, GENETIC ALGORITHM
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Flock behavior and control
PublicationIn this paper we present the results of the Flock Behaviour and Control workshop cluster during “Shapes of Logic Conference 2015”. During the event, students got familiar with the techniques of both visual and sound real-time data processing. The second topic presented for students was behaviourbased approach of design process, mainly based on the mathematical rules set up by Craig Raynolds on the swarm behaviour. The aim of the...
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Journal of Robotics and Control (JRC)
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Multifunctional PID Neuro-Controller for Synchronous Generator
PublicationThis paper deals with a PID Neuro-Controller (PIDNC) for synchronous generator system. The controller is based on artificial neural network and adaptive control strategy. It ensures two functions: maintaining the generator voltage at its desired value and damping electromechanical oscillations. The performance of the proposed controller is evaluated on the basis of simulation tests. A comparative study of the results obtained with...
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HILS for the Design of Three-Wheeled Mobile Platform Motion Surveillance System with a Use of Energy Performance Index
PublicationCurrent tendency in mechatronic design requires the use of comprehensive development of an environment, which gives the possibility to prototype, design, simulate and integrate with dedicated hardware. The paper discusses the Hardware-In-the-Loop Simulations (HILS) mechatronic technique, used during the design of the surveillance system based on energy performance index. The presented test configuration (physical controller – emulated...
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Event-Triggered Communication in Cooperative, Adaptive Model Predictive Control of a Nuclear Power Plant’s Turbo–Generator Set
PublicationThis paper discusses the issue of optimizing the communication between the components of a cooperating control system formed by a pair of MPC controllers of a nuclear power plant turbine set using online recursive least squares identification. It is proposed to use event-triggered communication, i.e., sending information only at selected time instants, as opposed to the standard approach where communication is triggered by time...
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Motion stability during optimal control of the mobile platform
PublicationPraca przedstawia metodę badania stabilności robotów mobilnych podczas sterowania optymalnego na przykładzie 3-kołowej platformy mobilnej. Robot posiada więzy nieholonomiczne. Model matematyczny 3-kołowej platformy mobilnej opisuje skończona liczba nieliniowych równań różniczkowych. Stąd, prognozowanie stabilności ruchu takiego obiektu wymaga zastosowania efektywnych algorytmów.
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Highly efficient maximum power point tracking control technique for PV system under dynamic operating conditions
PublicationThe application of small-scale electrical systems is widespread and the integration of Maximum Power Point Tracking (MPPT) control for Photovoltaic systems with battery applications further enhances the techno-economic feasibility of renewable systems. For this purpose, a novel MPPT control system using Dynamic Group based cooperation optimization (DGBCO) algorithm is utilized for PV systems. The population in the DGBCO is divided...
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Modern control strategy of bidirectional DAB converter with consideration of control nonlinearity
PublicationThis paper focuses on the control strategy for modern universal bidirectional Dual Active Bridge (DAB) converters for microgrid systems. An analysis of the converter equations was carried out, and typical problems related to the influence of dead time on the system operation were discussed. A closed control loop was developed, then tested by simulation and on a laboratory stand.
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Implementation of integrated control In drinking water distribution systems - IT system proposal
PublicationImplementation of integrated control algorithms requires suitable hardware and software platforms. Proposed solution must allow realizing control and monitoring tasks, while ensuring high reliability and security of processed data. Additionally, the software and hardware solutions must be immune to outside influence. This paper presents an approach to implementation of control systems in drinking water distribution system. Presented...
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Kalman filters and stochastic control - winter 2022/2023
e-Learning CoursesThe lecture focusses on designing of Kalman filters and stochastic control of dynamic systems.
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Kalman filters and stochastic control - winter 2023/2024
e-Learning CoursesThe lecture focusses on designing of Kalman filters and stochastic control of dynamic systems.
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A Measurement-Based Approach for Speed Control of Induction Machines
PublicationThis paper presents an approach to design a measurement-based controller for induction machines. The proposed control approach is motivated by the fact that developing an appropriate mechanical model of such induction machines is a challenging task. Since our proposed control methodology is only on the basis of measured data, the controller design does not require any information about the model of the mechanical part. The control...
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Fuzzy Information and Engineering
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Advances in Fuzzy Systems
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Fuzzy Economic Review
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Event driven MPC for networked control systems
PublicationBecause of variable delays and stochastic data packets loss networked control systems require suitable algorithms to ensure stability of the control system and guarantee desired control performance. This paper presents the idea of an event driven approach with MPC controller. In opposition to network compensation, where standard regulators are used, the presented solution integrates network with plant. A MPC based controller is...
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Fuzzy soft modeling of environmental data. A study of the impact of a Phosphatic Fertilizer Plant on the adjacent environment in Gdańsk
PublicationAnaliza podobieństwa obejmuje nie tylko zastosowanie logiki rozmytej, ale również wiele innych podejść matematycznych. Opracowano wiele algorytmów, których celem jest wyodrębnienie wyraźnych skupień (hard clusters) z danego zbioru danych. Prawdopodobnie najczęściej stosowanymi algorytmami są tzw. algorytmy c-średnie (c-means algorithms). Twarde c-średnie (hard c-means) służy do ostrej klasyfikacji, podczas której obiekt jest przypisany...
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Comparison of reproduction strategies in genetic algorithm approach to graph searching
Publicationgenetic algorithms (ga) are a well-known tool used to obtain approximate solutions to optimization problems. successful application of genetic algorithm in solving given problem is largely dependant on selecting appropriate genetic operators. selection, mutation and crossover techniques play a fundamental role in both time needed to obtain results and their accuracy. in this paper we focus on applying genetic algorithms in calculating...
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OROMACS: A Design Framework for Multi-agent Control System
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Model of aeration system at biological wastewater treatment plant for control design purposes
PublicationThe wastewater treatment plant (WWTP) is a dynamic, very complex system, in which the most important control parameter is the dissolved oxygen (DO) con-centration. The air is supplied to biological WWTP by the aeration system. Aera-tion is an important and expensive activity in WWTP. The aeration of sewage ful-fils a twofold role. Firstly, oxygen is provided as the main component for biolog-ical processes. Secondly, it supports...
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Damage Control in Warships
PublicationAs a result of dynamic quantitative and qualitative developments in the maritime industry its participants face harder and harder challenges pertaining to safety of ships and navigation. Practice has shown that even very well organised fleets are harassed by emergencies and accidents that can be neither predicted nor absolutely avoided. In order to counter the occuring emergencies and accidents, and to minimize their effects damage...
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Power control system structure of doubly‐fed induction generator connected to current source converter
PublicationThe power control system structures for a doubly-fed generator (DFIG) are proposed. The classical field oriented control and the feedback control with the multi-scalar variables were considered. The generator is working in the AC grid connection mode. The rotor side of the generator is connected to the current source converter (CSC); the stator is directly related to the AC grid. The static feedback linearization using the multi-scalar...
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Hydro Power Plant in the Process of Voltage Control in the Electric Power System and the System Restoration
PublicationThe article covers selected issues related to the share of hydroelectric power in the process of rebuilding the power system after black-out and voltage control during that process. Selected results of measurements made during the creation of the transmission chain for the need to start a block of a thermal power plant from a hydroelectric power plant were presented.
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MRAS-Based Switching Linear Feedback Strategy for Sensorless Speed Control of Induction Motor Drives
PublicationThis paper presents a newly designed switching linear feedback structure of sliding mode control (SLF-SMC) plugged with an model reference adaptive system (MRAS) based sensorless fieldoriented control (SFOC) for induction motor (IM). Indeed, the performance of the MRAS depends mainly on the operating point and the parametric variation of the IM. Hence, the sliding mode control (SMC) could be considered a good control alternative...
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Automated Valuation Model based on fuzzy and rough set theory for real estate market with insufficient source data
PublicationObjective monitoring of the real estate value is a requirement to maintain balance, increase security and minimize the risk of a crisis in the financial and economic sector of every country. The valuation of real estate is usually considered from two points of view, i.e. individual valuation and mass appraisal. It is commonly believed that Automated Valuation Models (AVM) should be devoted to mass appraisal, which requires a large...
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Serial control of CNC machines
PublicationIn this paper a new method of the serial control of CNC machines is proposed. Actuators are controlled locally and the role of the central computer is limited to sending commands to the controller instead of sending it directly to actuators. It has been achieved with the use of the serial protocol with the use of the USB port. The taken approach leads to more reliable operation because commands are buffered and no synchronization...
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Self-Adaptive Mesh Generator for Global Complex Roots and Poles Finding Algorithm
PublicationIn any global method of searching for roots and poles, increasing the number of samples increases the chances of finding them precisely in a given area. However, the global complex roots and poles finding algorithm (GRPF) (as one of the few) has direct control over the accuracy of the results. In addition, this algorithm has a simple condition for finding all roots and poles in a given area: it only requires a sufficiently dense...
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The Large Customer Reactive Power Control Possibilities
Publicationn this paper the authors wish to draw attention to the rationale for, and the possibility of, the use of local reactive power sources by the Transmission Node Master Controller (TNMC). Large Customers (LC) are one of the possible reactive power sources. The paper presents the issues related to the need for coordination between the control systems installed in the LC network, and coordination between control systems of the LC as...
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Proportional-Derivative and Model-Based Controllers for Control of a Variable Mass Manipulator
PublicationIn the paper, numerical analysis of dynamics of a variable mass manipulator is presented. A revolute joints composed manipulator is considered. Payload of the gripper is considered as the only element characterized by unknown value of its mass (variable between subsequent operations). As in other cases of the revolute joints composed manipulators, its behaviour dependents significantly on the pose of the manipulator. When the manipulator...
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Measurement system based on USB Z-Wave controller
PublicationA wireless measurement system based on the Z-Wave standard is presented in this paper. The system is composed of a U SB Z-Stick Gen5 controller connected to a Personal Computer and a Fibaro controller FGRGBWM-441. Operation of the system is controlled by software written in C++ using OpenZWave library. Some metrological aspects of the system are evaluated: accuracy, linearity, resolution and frequency of voltage measurements.
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Mechanical Design, Construction and Control of a Lower Extremity Exoskeleton Robot Prototype with a new structure in the form of three-wheeled Mobile robot
PublicationIn this paper, mechanical design, dynamic modeling, construction and Fuzzy computed torque control of a lab prototype of lower extremity exoskeleton robot with a new structure in the form of three-wheeled Mobile robot is presented. One of the most important applications of next generation of lower extremity exoskeleton robot is usability as smart vehicle. In order to autonomously moving of this robot which is the foundation...
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Universal autonomous control and management system for multipurpose unmanned surface vessel
PublicationThe paper presents design, structure and architecture of the Universal Autonomous Control and Management System (UACAMS) for multipurpose unmanned surface vessel. The system was designed, installed and implemented on the multipurpose platform - unmanned surface vessel named HydroDron. The platform is designed to execute hydrographic survey missions with multi-variant configuration of the survey system (payload? ) including multi-beam...
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Adaptive selection of control parameters in differential evolution algorithms
PublicationW pracy przedstawiono metodę adaptacyjnej selekcji parametrów kontrolnych w różnicowych algorytmach ewolucyjnych. Wartości parametrów takich jak: stopień krzyżowania i współczynnik różnicowej mutacji są odpowiednio zmieniane. Funkcje testowe użyte do testowania proponowanej metody były zaczerpnięte z literatury. Rezultaty uzyskane przy użyciu opisanej metody zostały porównane z innymi metodami selekcji różnicowej. Wyniki te, uzyskane...
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Gesture-based computer control system
PublicationIn the paper a system for controlling computer applications by hand gestures is presented. First, selected methods used for gesture recognition are described. The system hardware and a way of controlling a computer by gestures are described. The architecture of the software along with hand gesture recognition methods and algorithms used are presented. Examples of basic and complex gestures recognized by the system are given.
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Design of Intelligent Low-Voltage Load Switch for Remote Control System in Smart Grid
PublicationCurrent low-voltage load switches do not support remote disconnect/connect and real-time monitoring of a disconnect/connect state. Addressing to these issues, this paper presents a low-voltage load switch for a smart remote control system, which uses a one-chip microcontroller board and a DC step motor drive mechanism and provides the feedback on the switch status also. Arrears disconnect and full-pay connect control is implemented...
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2022/2023_zima SCADA Systems in Automatic Control
e-Learning CoursesSCADA Systems in Automatic Control - project materials
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2021/2022_zima SCADA Systems in Automatic Control
e-Learning CoursesSCADA Systems in Automatic Control - project materials
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Closed-Loop Control System Design for Wireless Charging of Low-Voltage EV Batteries with Time-Delay Constraints
PublicationThis paper presents an inductive power transfer system on the basis of a double single- phase three-level T-type inverter and two split transmitting coils for constant current and constant voltage wireless charging of low-voltage light electric vehicle batteries with closed-loop control, considering time-delay communication constraints. An optimal control structure and a modified control strategy were chosen and implemented to...
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Sylwester Kaczmarek dr hab. inż.
PeopleSylwester Kaczmarek received his M.Sc in electronics engineering, Ph.D. and D.Sc. in switching and teletraffic science from the Gdansk University of Technology, Gdansk, Poland, in 1972, 1981 and 1994, respectively. His research interests include: IP QoS and GMPLS and SDN networks, switching, QoS routing, teletraffic, multimedia services and quality of services. Currently, his research is focused on developing and applicability...
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Model Predictive Super-Twisting Sliding Mode Control for An Autonomous Surface Vehicle
PublicationThis paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been...
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Nonlinear control of five phase induction motor with synchronized third harmonic flux injection
PublicationThe paper deals with the novel control system for five phase induction motor (IM) that enables the injection of the rotor flux 3rd harmonic component. Two multiscalar models are transformed from the 1-1 and 2-2 vector models developed in the 1st and 3rd harmonic planes. Based on the obtained multiscalar models the synthesis of dual multiscalar control is established. The obtained two multiscalar control systems can independently...
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Fuzzy Sets in the GIS Environment in the Location of Objects on the Surface of Water Bodies
PublicationThe issue presented here focuses on concerns about the localization of the object on water surface. The article shows how to facilitate localization process by applying mathematical solutions characterized by simplicity, rapid action and delivering credible results. The paper shows the results of background experiments, which enabled to collect technical parameters needed for conducting simulation testing. The research has been...
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Polish internet mortgage market: towards fully developed fuzzy model
PublicationThe first part of the paper consists of introduction describing the Polish Internet Mortgage Market. Later there is presented the idea of the rule based model which may be used on this market. Next step consists of fuzzyfication of the model. This process begins with the initial set of variables which was used previously for the rule based model of the same market. As numerous aspects of the market cannot be presented in the crisp...
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Assessment of Subsoil Subsidence Under the Railway Surface with the Use of Fuzzy Sets
PublicationThe cause of the subsidence of the railway track is the subsidence of the track bed itself and it is often related to the subsidence of the subsoil. Such settlement leads to: uneven longitudinal railways and track twist. These phenomena have a negative impact on the comfort and safety of driving, and in extreme cases lead to a train derailment. It has been shown that the magnitude of these settlements is determined by many parameters...
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Control of the wind turbine generator
PublicationWind power system consists of two main parts: wind turbine and electrical generator. Wind turbine converts the energy of the flowing air into mechanical energy, next generator converts this energy into electrical energy that is sent to the power system. These two processes should be realized with maximum efficiency and the following requirements for the control system can be formulated: opti-mal wind power conversion, compensation...
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Optimal control at energy performance index of the mobile robots following dynamically created trajectories
PublicationIn practice, the problem of motion control of the wheeled mobile robots is often neglected. Wheeled mobile robots are strongly nonlinear systems and restricted by non-holonomic constraints. Motion control of such systems is not trivial task and usage of non-optimal control signals can lead to deterioration of the overall robot system’s performance. In case of autonomous application of the mobile robots all parts of its control...
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Automation of ship and control
PublicationSummaryThe article presents the problem of automation of ship and control. This paper will discuss the basic tasks of the track ship control, collision avoidance and automatic dynamic positioning. The following subjects will be presented: the general structure of the ship's control, methods and control algorithms for the above mentioned tasks..StreszczenieArtykuł przedstawia zagadnienia automatyzacji i sterowania statkiem. W pracy...
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Specialized genetic operators in drinking water distribution systems control
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Evolutionary - fuzzy hybrid system of steering the moveable object in dynamic environment
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Control system for contactless electrical energy transfer with varying air gap
PublicationInductive power transfer (IPT) is a system by which electrical energy may be transmitted without electrical connection through a large air gap between coils. Systems usually considered in the literature are the ones with a constant air gap. The paper describes the analysis of IPT, which allows for supplying an electrical load in the conditions of slow, in relation to the dynamics of power supply, changes in the dimensions of the...