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1

Agent-based system for continuous control and its application to activated sludge process

Pośpiech Jakub, Nocoń Witold, Stebel Krzysztof

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2024

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Vol. 72, nr 4

art. no. e150114

EN

This paper presents a concept of architecture and ontology layouts for the development of multiagent model-based predictive control systems. The presented architecture provides guidelines to simplify the development of agent-based systems and improve their maintainability. The proposed multiagent system (MAS) layout is split into multiple subsystems that include agents dedicated to performing assigned tasks. MAS implementation was prepared which can use provided algorithms and actuators and can react to changes in its environment to reach the best available control quality. An example of MAS based on the proposed architecture is shown in the application of dissolved oxygen (DO) concentration control in a laboratory-activated sludge setup with a biological reactor. For that application, MAS incorporates agent-based controllers from the boundary-based predictive controllers (BBPC) family. Presented experiments prove the flexibility, resilience, and online reconfiguration ability of the proposed multiagent system.

2

Robust adaptive observer-based control of blood glucose level for type 1 diabetic patient

Seyedabadi Masoud, Akbarzadeh Kalat Ali

Biocybernetics and Biomedical Engineering

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2024

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Vol. 44, no. 2

295--303

EN

In this paper, an adaptive controller is designed to regulate the blood glucose level of type 1 diabetes mellitus while not all states of the system are measurable and also its parameters are unknown. The main goal in the control of diabetes is to preserve blood glucose level within a safe rang by a suitable injecting insulin rate to the patient. Herein, it is achieved by measuring the blood glucose level and proposed an observer based adaptive control system. In the proposed method, firstly, the dynamic equations of nonlinear Bergman minimal model (BMM) are transformed into a companion form. Then an adaptive observer is presented to simultaneously estimate the state variables and the system’s parameters. Afterward, based on the designed observer and using a new meal simulation model, an adaptive control is presented to bring back the blood glucose level to its safe range. The overall stability of the developed adaptive control is established using the Lyapunov direct method. Simulation results have been performed to verify the effectiveness of the proposed approach in tracking the desired blood glucose.

3

Rozmyty regulator stanu układu dwumasowego

Żychlewicz Mateusz, Stanisławski Radosław, Szrek Jarosław, Malarczyk Mateusz, Kamiński Marcin

Przegląd Elektrotechniczny

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2023

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R. 99, nr 3

53--58

PL

Sterowanie napędem elektrycznym oparte o wektor zmiennych stanu umożliwia precyzyjne odtwarzanie sygnału zadanego. Jednak zakłócenia parametryczne lub pomiarowe zdecydowanie utrudniają zachowanie poprawności działania struktury sterowania. W związku z tym, w niniejszej publikacji, zaproponowano rozszerzenie regulatora o część bazującą na logice rozmytej. Zastosowany element wpływa, w zależności od uchybu prędkości, na wartości wzmocnień w sprzężeniach zwrotnych, w efekcie odpowiednio kształtowane są zmienne stanu oraz dynamika napędu. W procesie projektowania zastosowany został optymalizacyjny algorytm metaheurystyczny - Symbiotic Organisms Search (SOS). Obiektem sterowanym jest układ napędowy z elastycznym sprzęgłem, które zostało wprowadzone do części mechanicznej. Wyniki badań symulacyjnych potwierdzają poprawność analizowanej koncepcji. Przeprowadzone zostały również testy eksperymentalne (algorytm został zaimplementowany w karcie dSPACE1103, napęd zawierał dwa silniki prądu stałego o mocy 0,5kW).

EN

Application of control methods based on state vector leads to precise tracking of reference signal. However, the parametric or measurement disturbance definitely make it difficult to maintain the correct operation of the system. Therefore, in this paper, implementation of an additional fuzzy element is proposed. It can recalculate, using information about the speed error, the coefficients in the feedback paths. Then, shape of the state variables and the dynamics of the system are forced properly. In the design process, the metaheuristic algorithm - Symbiotic Organisms Search (SOS) - was used. The electrical drive contains elastic shaft. The results of the simulations confirm the correctness of the analyzed method. Moreover, the experimental tests were performed (with the dSPACE 1103 card, the system contains two DC motor with 0.5kW).

4

Predykcyjny system wspomagania nawigacji wózka inwalidzkiego w obecności pieszych z adaptacją bazującą na zjawisku empatii

Skrzypczyk Krzysztof

Przegląd Elektrotechniczny

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2023

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R. 99, nr 8

21--26

PL

W pracy przedstawiono problem syntezy prawa sterowania modułu wspomagania nawigacji semiautonomicznego wózka inwalidzkiego w dynamicznym środowisku, w obecności pieszych. Osoba poruszająca się na wózku inwalidzkim może spotkać się ze zjawiskiem empatii ze strony osób, z którymi wchodzi w interakcje. W pracy pokazano wykorzystanie tego zjawiska do adaptacji stylu automatycznego sterowania ruchem wózka. Działanie proponowanego podejścia zweryfikowano za pomocą symulacji.

EN

The paper presents the problem of designing a navigation strategy for a semiautonomous wheelchair cruise control system, intended to help driving the wheelchair in populated, dynamical environments. The method discussed in this paper utilizes long-term, model-based environmental prediction for planning the motion of the wheelchair. Resulting navigation strategy is both human aware and acceptable for the person driving the vehicle. The adaptation mechanism was implemented and verified using simulation.

5

Neuronowy generator wirtualnej zmiennej stanu w regulatorze prędkości układu dwumasowego

Stanisławski Radosław, Malarczyk Mateusz, Szrek Jarosław, Żychlewicz Mateusz, Kamiński Marcin

Przegląd Elektrotechniczny

|

2023

|

R. 99, nr 5

196--201

PL

W publikacji przedstawiona została modyfikacja klasycznego regulatora stanu, która zakłada wprowadzenie radialnej sieci neuronowej (Radial Basis Function Neural Network). Celem jest wygenerowanie sygnału, który zostanie wprowadzony do wektora zmiennych stanu sprzężeń zwrotnych. Obiektem regulacji jest napęd elektryczny z połączeniem sprężystym. W artykule uwzględniono opis teoretyczny proponowanego rozwiązania, a także zaprezentowano wyniki badań symulacyjnych struktury sterowania. Badania przeprowadzone dla rzeczywistego układu napędowego stanowią dodatkową weryfikację analizowanego regulatora stanu.

EN

In this paper, a state feedback controller enhanced by a Radial Basis Function Neural Network is presented. The main goal of the network is calculation of a virtual signal used in state vector and applied as feedback. The plant considered in the article is an electrical drive with a flexible joint. The mathematical description of the proposed control scheme and the numerical tests can be found in the manuscript. Experimental analysis is performed as an additional verification of the proposed state controller.

6

Adaptive type-1 fuzzy control of a wind energy conversion system based on a double-fed induction machine

Bensaadia Labib, Rouabhi Riyadh, Khodja Djalaleddine, Herizi Abdelghafour

Przegląd Elektrotechniczny

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2023

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R. 99, nr 8

110--115

EN

In this paper, we will develop an adaptive control algorithm applied to the wind energy conversion system (WECS) based on a double-fed induction machine (DFIM) driven by a turbine with variable blade pitch, and controlled through the rotor variables by two bidirectional converters. The main function of these converters in the considered system is the connection of the wind generator to the power grid in two different ways: one on the grid side converter which will allow continuous bus control and improve the power factor on the grid side; the other, on the converter on the rotor side, which will allow the control and optimization of the energy flow generated by the stator during the periods of operation of this system. In the first part we presented the individual modeling of the wind turbine chain, then we presented and developed the controls necessary to control the active and reactive powers produced by this system in order to ensure optimum performance and production quality.

PL

W niniejszym artykule opracujemy algorytm sterowania adaptacyjnego zastosowany w systemie konwersji energii wiatru (SKEW) oparty na dwustronnie zasilanej maszynie indukcyjnej (DZMI) napędzanej turbiną o zmiennym skoku łopatek i sterowanej poprzez zmienne wirnika dwoma dwukierunkowymi konwertery. Główną funkcją tych przekształtników w rozpatrywanym systemie jest podłączenie generatora wiatrowego do sieci elektroenergetycznej na dwa różne sposoby: jeden po stronie przekształtnika sieciowego, który umożliwi ciągłą kontrolę magistrali i poprawi współczynnik mocy po stronie sieci; drugi, na przekształtniku po stronie wirnika, co pozwoli na sterowanie i optymalizację przepływu energii generowanej przez stojan w okresach pracy tego układu. W pierwszej części przedstawiliśmy indywidualne modelowanie łańcucha turbiny wiatrowej, następnie przedstawiliśmy i opracowaliśmy sterowanie niezbędne do sterowania mocą czynną i bierną wytwarzaną przez ten system w celu zapewnienia optymalnej wydajności i jakości produkcji.

7

Adaptacyjne sterowanie położeniem ramienia w układzie napędu elektrycznego z nieliniowym połączeniem sprężystym

Jastrzębski Marcin, Mosiołek Przemysław

Przegląd Elektrotechniczny

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2023

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R. 99, nr 4

51--58

PL

W pracy przedstawiono algorytm adaptacyjnego sterowania położeniem ramienia w układzie napędowym z nieliniowym połączeniem sprężystym. Do zaprojektowania algorytmu sterowania użyto metody „całkowania wstecz”. Zaproponowane w algorytmie prawa adaptacji realizują funkcję samostrojenia układu regulacji pozwalając projektantowi na nieznajomość parametrów układu napędowego. Działanie algorytmu zostało sprawdzone symulacyjnie oraz w układzie rzeczywistym.

EN

The paper presents an algorithm of adaptive control of the arm position in the drive with a non-linear elastic joint. The backstepping method was used to design the control algorithm. The laws of adaptation proposed in the algorithm implement the self-tuning function of the control system, and allow to avoid a process of identification parameters of the drive system. The operation of the algorithm has been verified in a simulation and in a real system.

8

Pomiar zużycia energii w trakcie cyklu wiercenia termicznego

Błaszczak Paweł, Stryczek Roman

Pomiary Automatyka Robotyka

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2023

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R. 27, nr 1

93--98

PL

Praca przedstawia zagadnienie dotyczące pomiaru i analizy zużycia energii w trakcie cyklu wiercenia termicznego. Przedstawiono oparte na tokarce CNC stanowisko badawcze, którego elementem wyposażenia był eksperymentalny układ poboru energii oparty o licznik energii elektrycznej oraz siłomierz. Zastosowane urządzenia pomiarowe pozwalały na rejestrację obciążenia sieci energetycznej, obciążenia napędów obrabiarki, siłę osiową, moment hamujący wiertło, aktualne obroty wrzeciona obrabiarki, pozycję wiertła względem obrabianego materiału i wartości rejestrów parametrów pomocniczych w strategii adaptacyjnego sterowania posuwem. Rozważano dwa przypadki cyklu wiercenia: wykonanie pojedynczego otworu oraz wykonanie szeregu otworów w jednym cyklu. Testowano pięć strategii sterowania posuwem w trakcie cyklu wiercenia, w tym adaptacyjne sterowanie posuwem i rekurencyjną metodę optymalizacji posuwu. Dla porównania wykonano także otwory tradycyjnymi wiertłami krętymi HSS. Na podstawie uzyskanych rezultatów badań można stwierdzić, że metoda wiercenia ciernego może być zaliczona do energooszczędnych metod wykonywania otworów w elementach cienkościennych.

EN

The work presents the issue of measuring and analyzing energy consumption during a thermal drilling cycle. A research stand based on a CNC lathe was presented, the equipment of which was an experimental energy consumption system based on an electricity meter and a force gauge. The measuring devices used allowed for recording the load on the power grid, the load on the machine tool drives, the axial force, the drill braking torque, the current rotation of the machine tool spindle, the position of the drill in relation to the workpiece and the values of auxiliary parameter registers in the strategy of adaptive feed control. Two cases of a drilling cycle were considered: making a single hole and making a series of holes in one cycle. Five feed control strategies were tested during the drilling cycle, including adaptive feed control and a recursive feed optimization method. For comparison, holes were also made with traditional HSS twist drills. Based on the obtained test results, it can be concluded that the friction drilling method can be included in the energy-saving methods of making holes in thin-walled elements.

9

Extended Identification-Based Predictive Control for adaptive impact mitigation

Graczykowski Cezary, Faraj Rami

Bulletin of the Polish Academy of Sciences. Technical Sciences

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2023

|

Vol. 71, nr 4

art. no. e145937

EN

The paper introduces Extended Identification-Based Predictive Control (EIPC), which is a novel control method developed for the problem of adaptive impact mitigation. The model-based approach utilizing the paradigm of Model Predictive Control is combined with sequential identification of selected system parameters and process disturbances. The elaborated method is implemented in the shock-absorber control system and tested under impact loading conditions. The presented numerical study proves the successful and efficient adaptation of the absorber to unknown excitation conditions as well as to unknown force and leakage disturbances appearing during the process. The EIPC is used for both semi-active and active control of the impact mitigation process, which are compared in detail. In addition, the influence of selected control parameters and disturbance identification on the efficiency of the impact absorption process is assessed. As a result, it can be concluded that an efficient and robust control method was developed and successfully applied to the problem of adaptive impact mitigation.

10

A multi-model based adaptive reconfiguration control scheme for an electro-hydraulic position servo system

Zhang Zhao, Yang Zhong, Liu Shuchang, Chen Shuang, Zhang Xiaokai

International Journal of Applied Mathematics and Computer Science

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2022

|

Vol. 32, no. 2

185--196

EN

Reliability and safety of an electro-hydraulic position servo system (EHPSS) can be greatly reduced for potential sensor and actuator faults. This paper proposes a novel reconfiguration control (RC) scheme that combines multi-model and adaptive control to compensate for the adverse effects. Such a design includes several fixed models, one adaptive model, and one reinitialized adaptive model. Each of the models has its own independent controller that is based on a complete parametrization of the corresponding fault. A proper switching mechanism is set up to select the most appropriate controller to control the current plant. The system output can track the reference model asymptotically using the proposed method. Simulation results validate robustness and effectiveness of the proposed scheme. The main contribution is a reconfiguration control method that can handle component faults and maintain the acceptable performance of the EHPSS.

11

Optimizing Reference Model for Disturbance Rejection Controller for 3-DoF Robot Manipulator

Hoang Duy, Manh Dung Do, Kim Thai Dinh, Le Hai Xuan, Pham Thanh Ngoc, Thai Nguyen Huu, Nguyen Long Mau

Annals of Computer Science and Information Systems

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2022

|

Vol. 33

121--127

EN

In this article, an method is proposed combining optimal control for linear system and disturbances observer to control a 3 degree of freedom (3DoF) robot manipulator. By making the tracking error follow a given stable linear reference model through the observer, an optimal controller LQR will be designed to solve the optimization problem for the reference system, thereby leading to good control quality for the original system. The effectiveness of the method is shown through simulation results performed on Matlab/Simulink.

12

Development of Adaptive Control for an Asymmetric Quadcopt

Beniak Ryszard, Gudzenko Oleksandr

Pomiary Automatyka Robotyka

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2020

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R. 24, nr 3

29--35

EN

The paper presents an adaptive control algorithm for an asymmetric quadcopter. For determining the control algorithm, the identification was made, and an identification algorithm is presented in the form of a recursive method. The control method is realized using inverse dynamics, full state feedback and finally adaptive control method. The algorithms for the off-line and on-line identification of quadcopter model parameters are also presented. The paper shows the effectiveness of the selected algorithm on the example of the movement along a given trajectory. Finally, recommendations of the application of these different methods are made.

PL

W pracy przedstawiono algorytm sterowania adaptacyjnego dla asymetrycznego quadrocoptera. W celu określenia sterowania zrealizowano identyfikację parametrów i przedstawiono algorytm identyfikacji w formie metody rekurencyjnej. Metoda sterowania realizowana jest z wykorzystaniem dynamiki odwrotnej, przesuwania biegunów oraz sterowania adaptacyjnego. Zaprezentowano algorytmy identyfikacji parametrów modelu quadrocoptera w trybie off-line i on-line. W artykule przedstawiono skuteczność wybranych algorytmów na przykładzie ruchu wzdłuż podanej trajektorii. Na zakończenie artykułu przedstawiono zalecenia dotyczące stosowania różnych metod sterowania.

13

Adaptive self-regulation PID control of course-keeping for ships

Zhang Qiang, Ding Zhongyu, Zhang Meijuan

Polish Maritime Research

|

2020

|

nr 1

39--45

EN

To solve the nonlinear control problems of the unknown time-varying environmental disturbances and parametric uncertainties for ship course-keeping control, this paper presents an adaptive self-regulation PID (APID) scheme which can ensure the boundedness of all signals in the ship course-keeping control system by using the Lyapunov direct method. Compared with the traditional PID control scheme, the APID control scheme not only is independent of the model parameters and the unknown input, but also can regulate the gain of PID adaptively and resist time-varying disturbances well. Simulation results illustrate the effectiveness and the robustness of the proposed control scheme.

14

PMSM drive with adaptive state feedback speed controller

Szczepanski R., Tarczewski T., Grzesiak L. M.

Bulletin of the Polish Academy of Sciences. Technical Sciences

|

2020

|

Vol. 68, nr 5

1009--1017

EN

In this paper, the issue related to control of the plant with nonconstant parameters is addressed. In order to assure the unchanged response of the system, an adaptive state feedback speed controller for permanent magnet synchronous motor is proposed. The model-reference adaptive system is applied while the Widrow-Hoff rule is used as adjustment mechanism of controller’s coefficients. Necessary modifications related to construction of the cost function and formulas responsible for adjustment of state feedback speed controller’s coefficients are depicted. The impact of adaptation gain, which is the only parameter in proposed adjustment mechanism, on system behaviour is experimentally examined. The discussion about computational resources consumption of the proposed adaptation algorithm and implementation issues is included. The proposed approach is utilized in numerous experimental tests on modern SiC based drive with nonconstant moment of inertia. Comparison between adaptive and nonadaptive control schemes is also shown.

15

Adaptive, nonlinear state transformation-based control of motion in presence of hard constraints

Kabziński J., Mosiołek P.

Bulletin of the Polish Academy of Sciences. Technical Sciences

|

2020

|

Vol. 68, nr 5

963–-971

EN

The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.

16

Adaptive controller design for electric drive with variable parameters by Reinforcement Learning method

Pajchrowski T., Siwek P., Wójcik A.

Bulletin of the Polish Academy of Sciences. Technical Sciences

|

2020

|

Vol. 68, nr 5

1019--1030

EN

The paper presents a method for designing a neural speed controller with use of Reinforcement Learning method. The controlled object is an electric drive with a synchronous motor with permanent magnets, having a complex mechanical structure and changeable parameters. Several research cases of the control system with a neural controller are presented, focusing on the change of object parameters. Also, the influence of the system critic behaviour is researched, where the critic is a function of control error and energy cost. It ensures long term performance stability without the need of switching off the adaptation algorithm. Numerous simulation tests were carried out and confirmed on a real stand.

17

Comparison of the adaptive and neural network control for LWR 4+ manipulators: simulation study

Woliński Łukasz

Archive of Mechanical Engineering

|

2020

|

LXVII, nr 1

111--121

EN

This paper deals with two control algorithms which utilize learning of their models’ parameters. An adaptive and artificial neural network control techniques are described and compared. Both control algorithms are implemented in MATLAB and Simulink environment, and they are used in the simulation of a postion control of the LWR 4+ manipulator subjected to unknown disturbances. The results, showing the better performance of the artificial neural network controller, are shown. Advantages and disadvantages of both controllers are discussed. The usefulness of the learning algorithms for the control of LWR 4+ robots is discussed. Preliminary experiments dealing with dynamic properties of the two LWR 4+ robots are reported.

18

Heuristic Adaptive Control of Waste Gas Exhausting in Coke Making

Kačur Ján, Flegner Patrik, Durdán Milan, Laciak Marek

Advances in Science and Technology. Research Journal

|

2020

|

Vol. 14, no 4

195--212

EN

Stabilization of the carbon monoxide (CO) in the waste gas is a common technical problem in many industrial plants. Stabilization can be performed continuously by regulating the fuel input or by regulating the exhaust gas draught. This paper proposes an adaptive control system for CO stabilization in waste gases based on a discrete controller. Heuristic adaptation of a discrete controller is based on continuous optimization of controller parameters. The advantage of this solution is that the control system does not need to perform the identification of the controlled system repeatedly. The parameters of the controller are dynamically optimized during the production process. By regulating the under-pressure, we change the amount of air supplied to the combustion chambers, which affects the combustion of gaseous fuel and also the concentration of CO in the waste flue gas. The control algorithm was verified for the combustion process in coke making. The proposed control achieved good stabilization quality when verified in simulation and also in an industry operation. The CO level at which the waste gas temperature was highest was selected as the setpoint. It was found that the stabilization of CO in waste gas to lower values is possible to achieve higher waste gas temperature and by that, higher temperatures in heating chambers.

19

Fuzzy expert system for adaptive vessel traffic control on one-way section on navigable canal

Bugarski Vladimir, Bačkalić Todor, Kanović Željko, Kulić Filip, Zeković Miloš

Transport Problems

|

2019

|

T. 14, z. 4

39--50

EN

This paper analyses the management process of the vessel traffic control on one-way section on navigable canal with the adaptive time-sequential filter (traffic lights). One-way section on canal significantly decreases waterway capacity and requests special attention in control and regulation of the vessel traffic. The vessel traffic is a stochastic variable, and the vessel traffic control needs to be flexible and adaptive in order to achieve the required traffic flow with minimal delays. On the one-way section, two independent variable vessel flows from opposite directions are encountered, and fixed (predefined) signal plans lead to an increase in vessel delays. An appropriate solution is development of a Fuzzy Control System (FCS) for the vessel traffic control. A control algorithm is designed according to a set of linguistic rules that describes input parameters for the control strategy. The estimated and approximate input parameters are implemented in the algorithm as fuzzy sets. The final result of the developed algorithm is the traffic light scheme (duration of green light for certain direction). The presented control system can be used as an adaptive automatic control system for the vessel traffic control processes on navigable canals or on critical sections of other waterways.

20

Using sensory tool holder data for optimizing production processes

Schörghofer Paul, Pauker Florian, Leder Norbert, Mangler Jürgen, Ramsauer Christoph, Bleicher Friedrich

Journal of Machine Engineering

|

2019

|

Vol. 19, No. 3

43--55

EN

Today's highly automated manufacturing specifies the service time of a tool in a way that the tooling costs are balanced against the potential costs of a tool failure. However, the potential cost induced by a tool malfunctioning are rather high. Therefore, the current state-of-the art tackles this issue by replacing the tools prematurely at fixed intervals. To tap into the potential of under-utilized tool runtime this work purposes the use of sensory-tool holders and an interfering feedback loop to the machine tool control system. Besides its real-time closed loop control, to avoid tool failure, it also provides data in the context of (a) the work order, (b) the produced part, (c) the NC-block and command line, on (d) specific machines. Based on this data an ex-post analysis to optimize tool-life and productivity scenarios becomes possible, e.g. custom NC-programs for certain work-orders, configurations and machines. Furthermore, downstreamed work steps can be changed e.g. only to measure produced workpieces if abnormal vibrations are reported by in-process-monitoring.