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A backstepping approach to ship course control

Anna Witkowska, Mirosław Tomera, Roman Smierzchalski (2007)

International Journal of Applied Mathematics and Computer Science

As an object of course control, the ship is characterised by a nonlinear function describing static manoeuvring characteristics that reflect the steady-state relation between the rudder deflection and the rate of turn of the hull. One of the methods which can be used for designing a nonlinear ship course controller is the backstepping method. It is used here for designing two configurations of nonlinear controllers, which are then applied to ship course control. The parameters of the obtained nonlinear...

A biochemical multi-species quality model of a drinking water distribution system for simulation and design

Krzysztof Arminski, Tomasz Zubowicz, Mietek A. Brdys (2013)

International Journal of Applied Mathematics and Computer Science

Drinking Water Distribution Systems (DWDSs) play a key role in sustainable development of modern society. They are classified as critical infrastructure systems. This imposes a large set of highly demanding requirements on the DWDS operation and requires dedicated algorithms for on-line monitoring and control to tackle related problems. Requirements on DWDS availability restrict the usability of the real plant in the design phase. Thus, a proper model is crucial. Within this paper a DWDS multi-species...

A fault tolerant direct control allocation scheme with integral sliding modes

Mirza Tariq Hamayun, Christopher Edwards, Halim Alwi, Abdulrahman Bajodah (2015)

International Journal of Applied Mathematics and Computer Science

In this paper, integral sliding mode control ideas are combined with direct control allocation in order to create a fault tolerant control scheme. Traditional integral sliding mode control can directly handle actuator faults; however, it cannot do so with actuator failures. Therefore, a mechanism needs to be adopted to distribute the control effort amongst the remaining functioning actuators in cases of faults or failures, so that an acceptable level of closed-loop performance can be retained. This...

A general on-the-fly algorithm for modifying the kinematic tree hierarchy

Jakub Stępień, Andrzej Polański, Konrad Wojciechowski (2012)

International Journal of Applied Mathematics and Computer Science

When conducting a dynamic simulation of a multibody mechanical system, the model definition may need to be altered during the simulation course due to, e.g., changes in the way the system interacts with external objects. In this paper, we propose a general procedure for modifying simulation models of articulated figures, particularly useful when dealing with systems in time-varying contact with the environment. The proposed algorithm adjusts model connectivity, geometry and current state, producing...

A method for sensor placement taking into account diagnosability criteria

Abed Alrahim Yassine, Stéphane Ploix, Jean-Marie Flaus (2008)

International Journal of Applied Mathematics and Computer Science

This paper presents a new approach to sensor placement based on diagnosability criteria. It is based on the study of structural matrices. Properties of structural matrices regarding detectability, discriminability and diagnosability are established in order to be used by sensor placement methods. The proposed approach manages any number of constraints modelled by linear or nonlinear equations and it does not require the design of analytical redundancy relations. Assuming that a constraint models...

A practical solution to implement nonlinear output regulation via dynamic mappings

Carlos Armenta, Jorge Álvarez, Raymundo Márquez, Miguel Bernal (2019)

Kybernetika

This paper presents a novel error-feedback practical solution for real-time implementation of nonlinear output regulation. Sufficient and necessary conditions for both state- and error-feedback output regulation have been established for linear and nonlinear systems several decades ago. In their most general form, these solutions require solving a set of nonlinear partial differential equations, which may be hard or even impossible to solve analytically. In recent years, a methodology for dynamic...

A probabilistic method for certification of analytically redundant systems

Bin Hu, Peter Seiler (2015)

International Journal of Applied Mathematics and Computer Science

Analytical fault detection algorithms have the potential to reduce the size, power and weight of safety-critical aerospace systems. Analytical redundancy has been successfully applied in many non-safety critical applications. However, acceptance for aerospace applications will require new methods to rigorously certify the impact of such algorithms on the overall system reliability. This paper presents a theoretical method to assess the probabilistic performance for an analytically redundant system....

A safe supervisory flight control scheme in the presence of constraints and anomalies

Giuseppe Franzè, Angelo Furfaro, Massimiliano Mattei, Valerio Scordamaglia (2015)

International Journal of Applied Mathematics and Computer Science

In this paper the hybrid supervisory control architecture developed by Famularo et al. (2011) for constrained control systems is adopted with the aim to improve safety in aircraft operations when critical events like command saturations or unpredicted anomalies occur. The capabilities of a low-computational demanding predictive scheme for the supervision of non-linear dynamical systems subject to sudden switchings amongst operating conditions and time-varying constraints are exploited in the flight...

A situation-based multi-agent architecture for handling misunderstandings in interactions

Thao Phuong Pham, Mourad Rabah, Pascal Estraillier (2015)

International Journal of Applied Mathematics and Computer Science

During interactions, system actors may face up misunderstandings when their local states contain inconsistent data about the same fact. Misunderstandings in interactions are likely to reduce interactivity performances (deviation or deadlock) or even affect overall system behavior. In this paper, we characterize misunderstandings in interactions between system actors (that may be human users or system agents) in interactive adaptive systems. To deal with such misunderstandings and ensure state consistency,...

Actuator fault tolerant control design based on a reconfigurable reference input

Didier Theilliol, Cédric Join, Youmin Zhang (2008)

International Journal of Applied Mathematics and Computer Science

The prospective work reported in this paper explores a new approach to enhance the performance of an active fault tolerant control system. The proposed technique is based on a modified recovery/trajectory control system in which a reconfigurable reference input is considered when performance degradation occurs in the system due to faults in actuator dynamics. An added value of this work is to reduce the energy spent to achieve the desired closed-loop performance. This work is justified by the need...

Adaptive high gain observer extension and its application to bioprocess monitoring

Sergej Čelikovský, Jorge Antonio Torres-Muñoz, Alma Rosa Dominguez-Bocanegra (2018)

Kybernetika

The adaptive version of the high gain observer for the strictly triangular systems subjected to constant unknown disturbances is proposed here. The adaptive feature is necessary due to the fact that the unknown disturbance enters in a way that cannot be suppressed by the high gain technique. The developed observers are then applied to a culture of microorganism in a bioreactor, namely, to the model of the continuous culture of Spirulina maxima. It is a common practice that just the biomass (or substrate)...

Algebraic approach for model decomposition: Application to fault detection and isolation in discrete-event systems

Denis Berdjag, Vincent Cocquempot, Cyrille Christophe, Alexey Shumsky, Alexey Zhirabok (2011)

International Journal of Applied Mathematics and Computer Science

This paper presents a constrained decomposition methodology with output injection to obtain decoupled partial models. Measured process outputs and decoupled partial model outputs are used to generate structured residuals for Fault Detection and Isolation (FDI). An algebraic framework is chosen to describe the decomposition method. The constraints of the decomposition ensure that the resulting partial model is decoupled from a given subset of inputs. Set theoretical notions are used to describe the...

An agent-oriented hierarchic strategy for solving inverse problems

Maciej Smołka, Robert Schaefer, Maciej Paszyński, David Pardo, Julen Álvarez-Aramberri (2015)

International Journal of Applied Mathematics and Computer Science

The paper discusses the complex, agent-oriented hierarchic memetic strategy (HMS) dedicated to solving inverse parametric problems. The strategy goes beyond the idea of two-phase global optimization algorithms. The global search performed by a tree of dependent demes is dynamically alternated with local, steepest descent searches. The strategy offers exceptionally low computational costs, mainly because the direct solver accuracy (performed by the hp-adaptive finite element method) is dynamically...

An algebraic framework for linear identification

Michel Fliess, Hebertt Sira-Ramírez (2003)

ESAIM: Control, Optimisation and Calculus of Variations

A closed loop parametrical identification procedure for continuous-time constant linear systems is introduced. This approach which exhibits good robustness properties with respect to a large variety of additive perturbations is based on the following mathematical tools: (1) module theory; (2) differential algebra; (3) operational calculus. Several concrete case-studies with computer simulations demonstrate the efficiency of our on-line identification scheme.

An algebraic framework for linear identification

Michel Fliess, Hebertt Sira–Ramírez (2010)

ESAIM: Control, Optimisation and Calculus of Variations

A closed loop parametrical identification procedure for continuous-time constant linear systems is introduced. This approach which exhibits good robustness properties with respect to a large variety of additive perturbations is based on the following mathematical tools: (1) module theory; (2) differential algebra; (3) operational calculus. Several concrete case-studies with computer simulations demonstrate the efficiency of our on-line identification scheme.

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