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Archives of Control Sciences

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Archives of Control Sciences | 2021 | vol. 31 | No 1

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Abstract

In this report, ankle rehabilitation routines currently approved by physicians are implemented via novel control algorithms on a recently appeared robotic device known as the motoBOTTE. The physician specifications for gait cycles are translated into robotic trajectories whose tracking is performed twofold depending on the availability of a model: (1) if obtained via the Euler-Lagrange approach along with identification of unknown plant parameters, a new computed-torque control law is proposed; it takes into account the parallel-robot characteristics; (2) if not available, a variation of the active disturbance rejection control technique whose parameters need to be tuned, is employed. A detailed discussion on the advantages and disadvantages of the model-based and model-free results, from the continuous-time simulation to the discrete-time implementation, is included.
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Authors and Affiliations

Juan Carlos Arceo
1
Jorge Álvarez
2
Carlos Armenta
1
Jimmy Lauber
1
Sylvain Cremoux
3
Emilie Simoneau-Buessinger
1
Miguel Bernal
2

  1. Université Polytechnique Hauts-de-France, LAMIH UMR CNRS 8201, F-59313 Valenciennes, France
  2. Sonora Institute of Technology, 5 de Febrero 818 Sur, Ciudad Obregon, Sonora, Mexico
  3. Centre de Recherche Cerveau et Cognition, CNRS UMR 5549, Université de Toulouse, Toulouse 31052, France
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Abstract

In the paper positive fractional continuous-time linear systems are considered. Positive fractional systems without delays and positive fractional systems with a single delay in control are studied. New criteria for approximate and exact controllability of systems without delays as well as a relative controllability criterion of systems with delay are established and proved. Numerical examples are presented for different controllability criteria. A practical application is proposed.
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Authors and Affiliations

Beata Sikora
1
ORCID: ORCID
Nikola Matlok
1

  1. Department of Applied Mathematics, Silesian University of Technology, Kaszubska 23, 44-100 Gliwice, Poland
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Abstract

The Bearingless Switched Reluctance Motor (BSRM) is a new technology motor, which overcomes the problems of maintenances required associated with mechanical contacts and lubrication of rotor shaft effectively. In addition, it also improves the output power developed and rated speed. Hence, the BSRM can achieve high output power and super high speed with less size and cost. It has a considerable ripple in the net-torque due to its critical non-linearity and the salient pole structures of both stator and rotor poles. The resultant torque ripple, especially in these motors, causes the more vibrations and acoustic noises will affects the levitated rotor safety also. Practically at high-speed operations, the accurate measurement of the rotor position is complicated for conventional mechanical sensors. A new square currents control with global sliding mode control based sensorless torque observer is proposed to minimize the torque ripple and achieve a smooth, robust operation without using any mechanical sensors. The proposed controller is designed based on the error between the reference and measured torque values. The sliding mode torque observer measures the torque from the actual phase voltages, currents, and look-up tables. The simulation model has been modelled to validate the proposed methodology. From the simulation outputs, it is clear that the reduction of torque ripple by the proposed method shows improved than the conventional sliding mode controller. The overall system is more robust to the external disturbances, and it also gets efficient torque profile.
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Authors and Affiliations

Pulivarthi Nageswara Rao
1
Ramesh Devarapalli
2
ORCID: ORCID
Fausto Pedro García Márquez
3
ORCID: ORCID
G.V. Nagesh Kumar
4
Behnam Mohammadi-Ivatloo
5

  1. Department of Electrical Electronics and Communication Engineering, Gandhi Institute of Technology and Management (Deemed to be University),Visakhapatnam, 530045, Andhra Pradesh, India
  2. Department of Electrical Engineering, BITSindri, Dhanbad 828123, Jharkhand, India
  3. Ingenium Research Group, University of Castilla-La Mancha, Spain
  4. Department of EEE, JNTU Anantapur, College of Engineering, Pulivendula-516390, Andhra Pradesh, India
  5. University of Tabriz, Tabriz, Iran
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Abstract

Affine discrete-time control periodic systems are considered. The problem of global asymptotic stabilization of the zero equilibrium of the closed-loop system by state feedback is studied. It is assumed that the free dynamic system has the Lyapunov stable zero equilibrium. The method for constructing a damping control is extended from time-invariant systems to time varying periodic affine discrete-time systems. By using this approach, sufficient conditions for uniform global asymptotic stabilization for those systems are obtained. Examples of using the obtained results are presented.
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Authors and Affiliations

Adam Czornik
1
Evgenii Makarov
2
Michał Niezabitowski
3
Svetlana Popova
4
Vasilii Zaitsev
4

  1. Faculty of Automatic Control, Electronics and Computer Science, Silesian University of Technology, 44-100 Gliwice, Poland
  2. Institute of Mathematics, National Academy of Sciencesof Belarus, 220072 Minsk, Belarus
  3. Faculty of Automatic Control, Electronics and Computer Science,Silesian University of Technology, 44-100 Gliwice, Poland
  4. Udmurt State University, 426034 Izhevsk, Russia
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Abstract

In this work, we have developed a new 4-D dynamical system with hyperchaos and hidden attractor. First, by introducing a feedback input control into the 3-D Ma chaos system (2004), we obtain a new 4-D hyperchaos system with no equilibrium point. Thus, we derive a new hyperchaos system with hidden attractor. We carry out an extensive bifurcation analysis of the newhyperchaos model with respect to the three parameters.We also carry out probability density distribution analysis of the new hyperchaotic system. Interestingly, the new nonlinear hyperchaos system exhibits multistability with coexisting attractors.Next,we discuss global hyperchaos selfsynchronization for the newhyperchaos system via Integral Sliding Mode Control (ISMC). As an engineering application, we realize the new 4-D hyperchaos system with an electronic circuit via MultiSim. The outputs of the MultiSim hyperchaos circuit show good match with the numerical MATLAB plots of the hyperchaos model. We also analyze the power spectral density (PSD) of the hyperchaos of the state variables using MultiSim.
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Authors and Affiliations

Sundarapandian Vaidyanathan
1
ORCID: ORCID
Shaobo He
2
Aceng Sambas
3
ORCID: ORCID

  1. School of Electrical and Computing, Vel Tech University, 400 Feet Outer Ring Road, Avadi, Chennai-600092, Tamil Nadu, India
  2. School of Physics and Electronics, Central South University, Changsha, 410083, China
  3. Department of Mechanical Engineering, Universitas Muhammadiyah Tasikmalaya, Tasikmalaya 46196, West Java, Indonesia