http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Unactuated Force Control of 5-DOF Parallel Robot Based on Fuzzy PI
Shu-Huan Wen,Wei Zheng,Shi-Dong Jia,Zhi-Xin Ji,Peng-Cheng Hao,Hak-Keung Lam 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.6
This paper investigates the fuzzy position/force hybrid control for a class of 5-degree-of-freedom (DOF) redundantly actuated parallel robots. The position control law is designed based on the proportional-integraldifferential (PID) for the 5-DOF redundantly actuated parallel robot. The fuzzy proportional-integral (PI) redundant actuation force control law is designed based on the position/force hybrid control structure for the 5-DOF redundantly actuated parallel robot. The optimum driving force is obtained in the presence of interference, and the force tracking performance of the fuzzy PI controller is better than the conventional PI controller under the interference condition. Based on the fuzzy position/force hybrid controller, the tracking performance of the closed-loop system for the 5-DOF redundantly actuated parallel robot is improved by using the fuzzy position/force hybrid controller and the interference is eliminated effectively in the control system design. Finally, the co-simulation results of ADAMS and MATLAB/SIMULINK are given to show the effectiveness and advantages of the proposed methodscompared with the conventional PI controller.
Wei Zheng,Hong-Bin Wang,Shu-Huan Wen,Hong-Rui Wang,Zhi-Ming Zhang 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.4
This paper addresses the dynamic-output-feedback control problem for a class of nonlinear system with nonlinear uncertainties and multiple time-delays. Compared with the previous work, the time delay parameters of the system are both multiple and time-varying, and the results are further extended to the chemical continuous stirred tank reactor (CSTR) case. First, the system is decomposed into two subsystems based on the output and input matrix. Secondly, a dynamic compensator is designed for the first subsystem, and the output feedback controller is further employed based on the second subsystem and the compensator. Moreover, by using the introduced LyapunovKrasovskii functional, it can be seen that the solutions of the resultant closed-loop system converge to an adjustable bounded region. In this paper, the uncertainties are in the nonlinear form and bounded by nonlinear functions with unknown gains. And the control design conditions are relaxed because of the developed dynamic compensator. Finally, the simulations for a chemical (CSTR) case are performed to show the effectiveness of the main results.
Kun-Yu Tsai,Jeng-Fu You,Tzong-Yun Tsai,Yih Jong Chern,Yu-Jen Hsu,Shu-Huan Huang,Wen-Sy Tsai 대한장연구학회 2023 Intestinal Research Vol.21 No.1
Background/Aims: Exacerbating factors of ulcerative colitis (UC) are multiple and complex with individual influence. We aimed to evaluate the efficacy of disease control by searching and restricting inflammation trigger factors of UC relapse individually in daily clinical practice. Methods: Both patients with UC history or new diagnosis were asked to avoid dairy products at first doctor visit. Individual-reported potential trigger factors were restricted when UC flared up (Mayo endoscopy score ≥1) from remission status. The remission rate, duration to remission and medication were analyzed between the groups of factor restriction complete, incomplete and unknown. Results: The total remission rate was 91.7% of 108 patients with complete restriction of dairy product. The duration to remission of UC history group was significantly longer than that of new diagnosis group (88.5 days vs. 43.4 days, P=0.006) in patients with initial endoscopic score 2–3, but no difference in patients with score 1. After first remission, the inflammation trigger factors in 161 relapse episodes of 72 patients were multiple and personal. Milk/dairy products, herb medicine/Chinese tonic food and dietary supplement were the common factors, followed by psychological issues, non-dietary factors (smoking cessation, cosmetic products) and discontinuation of medication by patients themselves. Factor unknown accounted for 14.1% of patients. The benefits of factor complete restriction included shorter duration to remission (P<0.001), less steroid and biological agent use (P=0.022) when compared to incomplete restriction or factor unknown group. Conclusions: Restriction of dairy diet first then searching and restricting trigger factors personally if UC relapse can improve the disease control and downgrade the medication usage of UC patients in daily clinical practice.