In this paper, we propose a statistical theoretical framework for incorporation of sensor and actuator faults in dynamic simulations of wastewater treatment operation. Sensor and actuator faults and failures are often neglected in simulations for control strategy development and testing, although it is well known that they represent a significant obstacle for realising control at full-scale fac...

A method to identify the transfer function of HDD head/actuator system modes that have gains that are smaller than the rigid-body mode is presented. Prony’s method is used to identify the frequency and damping of the modes, and the measured actuator current and PES in the time-domain are used to identify the gain of the transfer function of the modes. Overall accuracy is verified by comparing t...

Applying positive joint torque feedback in direct drive motor systems reduces the eeect of external load torques. This is most beneecial when accurate position tracking is required in the presence of large disturbances or for complex loads as found in robotic manip-ulators. We formulate the problem of torque feedback in the presence of actuator dynamics. The problem of nding the optimal torque ...

Applying positive joint torque feedback in direct drive motor systems reduces the eeect of external load torques. This is most beneecial when accurate position tracking is required in the presence of large disturbances or for complex loads as found in robotic manip-ulators. We formulate the problem of torque feedback in the presence of actuator dynamics. The problem of nding the optimal torque ...

The technique used to control the airflow is based on the electro-hydrodynamic actuator which is also called plasma actuator. This actuator ensures the airflow control thanks to the electric wind created by the electrical corona discharge. This ionic wind is developed at the profile surface tangential to the initial free airflow so that it has a significant effect on the boundary layer flow. Th...

In this paper, a new approach regarding a reconfigured system is proposed to improve the performance of an active fault tolerant control system. The system performance is evaluated with an intelligent index of performance. The reconfiguration mechanism is based on a model predictive controller and reference trajectory management techniques. When an actuator fault occurs in the system, a new deg...

In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...

There are a variety of factors affecting steering performance on off-road vehicles, including vehicle dynamics and soil stiffness. It is essential to understand the steering dynamics for designing a reasonable electrohydraulic (E/H) steering control system for wheel-type tractor. A computer-controlled E/H steering simulator, consisting of a steering actuator and a steering load simulator, is an...

This paper presents a method for determining smooth and time-optimal path-constrained trajectories for robotic manipulators. The desired smoothness of the trajectory is imposed through limits on the actuator jerks. The third derivative of the path parameter with respect to time, the pseudo-jerk, is the controlled input. The limits on the actuator torques translate into state-dependent limits on...