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Modeling and Controlling the Descent Operation of a Fish Robot using Neural Networks
Phi Luan Nguyen,Byung Ryong Lee,Kyung Kwan Ahn 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper presents a neural networks model (NNM) and for modeling and identifying the nonlinear behavior of a fish robot. Firstly, a set of driving moment signals were applied to the fish robot in order to investigate the fish robot operation. Consequently, a neural networks model was constructed and an identification scheme based on Genetic Algorithm was developed. Validation results proved the ability of proposed scheme to tracking the descent operation of the fish robot. The combination of PID controller and NNM was implemented and successfully control fish robot follow given trajectories.
Real-time sensor fault tolerant control for an Electro-hydraulic actuator
Syed Abu Nahian,Phi Luan Nguyen,Hyung Gyu Park,Kyoung Kwan Ahn 유공압건설기계학회 2015 유공압건설기계학회 학술대회논문집 Vol.2015 No.10
Electro-hydraulic actuators (EHAs) become more and more important in the modern industry due to their advantages over electrical drives. Although EHAs have been applied to various applications for precise pressure, force, or position control tasks, operating EHA systems under faults, especially from sensors could lead the economic losses and catastrophic failure to overall system, or even put human life in danger. Thus, retaining the stability of these systems under sensor failures is one of the critical issues in developing EHAs. In this paper, a study on an advanced sensor fault tolerant control of a typical EHA with tracking control tasks under sensor-fault conditions has been carried out. Here, an extended Kalman-Bucy unknown input observer (EKBUIO) composed with a density threshold-based fault detection (DTFD) is proposed in designing the real-time sensor fault tolerant control (SFTC) of EHA system. The effectiveness of the proposed SFTC architecture has been investigated by experimenting on a test bed using an EHA in sensor failure conditions.
Genetic algorithm-based hysteresis modeling and identification of rotary SMA actuators
Van Phu Do,NGUYEN PHI LUAN,이병령 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.3
This paper describes a new, modified generalized Preisach model for actuators that have severe dead-zone hysteresis, which is mainlyobserved in rotary SMA actuators. Along with the Preisach model, a new approach of hysteresis modeling and parameter identificationusing genetic algorithm was proposed. This modeling method achieved significant improvements in both accuracy and computation time. The proposed approach is general; therefore, it can be applied to identify any type of hysteresis. To demonstrate the efficiency of theproposed model, experimental results on hysteresis identification of Rotary SMA Actuator and performance of inverse hysteresis openloopcontroller are provided and compared.