Journal of Control Science and Engineering http://www.hindawi.com The latest articles from Hindawi Publishing Corporation © 2016 , Hindawi Publishing Corporation . All rights reserved. Designing the Adaptive Tracking Controller for Uncertain Fully Actuated Dynamical Systems with Additive Disturbances Based on Sliding Mode Thu, 23 Jun 2016 12:59:32 +0000 http://www.hindawi.com/journals/jcse/2016/9810251/ This paper addresses the problem of adaptive tracking control for uncertain fully actuated dynamical systems with additive disturbance (FDSA) based on the sliding mode. We use the adaptive mechanism to adjust the uncertain parameters in sliding mode control law which can be switched to two modes depending on the sliding surface. By choosing appropriately the parameters in control law, the desired transient time can be obtained without effects of uncertain parameters and additive disturbances. The chattering phenomenon can be minimized by a chosen constant. This control method is applied to the angles tracking control of the twin rotor multi-input multi-output system (TRMS) which have nonlinear characteristics, the input torque disturbances and the coupling between the horizontal and vertical movements. The simulation and experimental results are presented that validate the proposed solution. Chi Nguyen Van Copyright © 2016 Chi Nguyen Van. All rights reserved. An Improved MPPT Algorithm for PV Generation Applications Based on - Curve Reconstitution Tue, 21 Jun 2016 09:32:51 +0000 http://www.hindawi.com/journals/jcse/2016/3242069/ The output power of PV array changes with the variation of environmental factors, such as temperature and solar irradiation. Therefore, a maximum power point (MPP) tracking (MPPT) algorithm is essential for the photovoltaic generation system. However, the curve changes dynamically with the variation of the environmental factors; here, the misjudgment may occur if a simple perturb-and-observe (P&O) MPPT algorithm is used. In order to solve this problem, this paper takes MPPT as the main research object, and an improved MPPT algorithm for PV generation applications based on curve reconstitution is proposed. Firstly, the mathematical model of PV array is presented, and then the output dynamic characteristics are analyzed. Based on this, a curve reconstitution strategy is introduced, and the improved MPPT algorithm is proposed. At last, simulation and comparative analysis are conducted. Results show that, with the proposed algorithm, MPP is tracked accurately, and the misjudgment problem is solved effectively. Yaoqiang Wang, Meiling Zhang, and Xian Cheng Copyright © 2016 Yaoqiang Wang et al. All rights reserved. Rolling Force Prediction in Heavy Plate Rolling Based on Uniform Differential Neural Network Mon, 20 Jun 2016 09:36:34 +0000 http://www.hindawi.com/journals/jcse/2016/6473137/ Accurate prediction of the rolling force is critical to assuring the quality of the final product in steel manufacturing. Exit thickness of plate for each pass is calculated from roll gap, mill spring, and predicted roll force. Ideal pass scheduling is dependent on a precise prediction of the roll force in each pass. This paper will introduce a concept that allows obtaining the material model parameters directly from the rolling process on an industrial scale by the uniform differential neural network. On the basis of the characteristics that the uniform distribution can fully characterize the solution space and enhance the diversity of the population, uniformity research on differential evolution operator is made to get improved crossover with uniform distribution. When its original function is transferred with a transfer function, the uniform differential evolution algorithms can quickly solve complex optimization problems. Neural network structure and weights threshold are optimized by uniform differential evolution algorithm, and a uniform differential neural network is formed to improve rolling force prediction accuracy in process control system. Fei Zhang, Yuntao Zhao, and Jian Shao Copyright © 2016 Fei Zhang et al. All rights reserved. The Determination of Feasible Control Variables for Geoengineering and Weather Modification Based on the Theory of Sensitivity in Dynamical Systems Thu, 16 Jun 2016 09:49:58 +0000 http://www.hindawi.com/journals/jcse/2016/1547462/ Geophysical cybernetics allows for exploring weather and climate modification (geoengineering) as an optimal control problem in which the Earth’s climate system is considered as a control system and the role of controller is given to human operators. In mathematical models used in climate studies control actions that manipulate the weather and climate can be expressed via variations in model parameters that act as controls. In this paper, we propose the “instability-sensitivity” approach that allows for determining feasible control variables in geoengineering. The method is based on the sensitivity analysis of mathematical models that describe various types of natural instability phenomena. The applicability of this technique is illustrated by a model of atmospheric baroclinic instability since this physical mechanism plays a significant role in the general circulation of the atmosphere and, consequently, in climate formation. The growth rate of baroclinic unstable waves is taken as an indicator of control manipulations. The information obtained via calculated sensitivity coefficients is very beneficial for assessing the physical feasibility of methods of control of the large-scale atmospheric dynamics and for designing optimal control systems for climatic processes. It also provides insight into potential future changes in baroclinic waves, as a result of a changing climate. Sergei A. Soldatenko and Rafael M. Yusupov Copyright © 2016 Sergei A. Soldatenko and Rafael M. Yusupov. All rights reserved. Combined Parameter and State Estimation Algorithms for Multivariable Nonlinear Systems Using MIMO Wiener Models Mon, 06 Jun 2016 11:36:40 +0000 http://www.hindawi.com/journals/jcse/2016/9614167/ This paper deals with the parameter estimation problem for multivariable nonlinear systems described by MIMO state-space Wiener models. Recursive parameters and state estimation algorithms are presented using the least squares technique, the adjustable model, and the Kalman filter theory. The basic idea is to estimate jointly the parameters, the state vector, and the internal variables of MIMO Wiener models based on a specific decomposition technique to extract the internal vector and avoid problems related to invertibility assumption. The effectiveness of the proposed algorithms is shown by an illustrative simulation example. Houda Salhi and Samira Kamoun Copyright © 2016 Houda Salhi and Samira Kamoun. All rights reserved. Stability Analysis of a Helicopter with an External Slung Load System Sun, 05 Jun 2016 09:00:25 +0000 http://www.hindawi.com/journals/jcse/2016/4195491/ This paper describes the stability analysis of a helicopter with an underslung external load system. The Lyapunov second method is considered for the stability analysis. The system is considered as a cascade connection of uncertain nonlinear system. The stability analysis is conducted to ensure the stabilisation of the helicopter system and the positioning of the underslung load at hover condition. Stability analysis and numerical results proved that if desired condition for the stability is met, then it is possible to locate the load at the specified position or its neighbourhood. Kary Thanapalan Copyright © 2016 Kary Thanapalan. All rights reserved. A Metric Observer for Induction Motors Control Tue, 31 May 2016 12:29:07 +0000 http://www.hindawi.com/journals/jcse/2016/3631254/ This paper deals with metric observer application for induction motors. Firstly, assuming that stator currents and speed are measured, a metric observer is designed to estimate the rotor fluxes. Secondly, assuming that only stator currents are measured, another metric observer is derived to estimate rotor fluxes and speed. The proposed observer validity is checked throughout simulations on a 4 kW induction motor drive. Mohamed Benbouzid, Abdelkrim Benchaib, Gang Yao, Brice Beltran, and Olivier Chocron Copyright © 2016 Mohamed Benbouzid et al. All rights reserved. Integral Sliding Mode Control for Trajectory Tracking of Wheeled Mobile Robot in Presence of Uncertainties Mon, 30 May 2016 08:53:07 +0000 http://www.hindawi.com/journals/jcse/2016/7915375/ Wheeled mobile robots present a typical case of complex systems with nonholonomic constraints. In the past few years, the dominance of these systems has been a very active research field. In this paper, a new method based on an integral sliding mode control for the trajectory tracking of wheeled mobile robots is proposed. The controller is designed to solve the reaching phase problem with the elimination of matched disturbances and minimize the unmatched one. We distinguish two parts in the suggested controller: a high-level controller to stabilize the nominal system and a discontinuous controller to assess the trajectory tracking in the presence of disturbances. This controller is robust during the entire motion. The effectiveness of the proposed controller is demonstrated through simulation studies for the unicycle with matched and unmatched disturbances. Aicha Bessas, Atallah Benalia, and Farès Boudjema Copyright © 2016 Aicha Bessas et al. All rights reserved. Hopf Bifurcation Control in a FAST TCP and RED Model via Multiple Control Schemes Thu, 26 May 2016 15:20:33 +0000 http://www.hindawi.com/journals/jcse/2016/8342652/ We focus on the Hopf bifurcation control problem of a FAST TCP model with RED gateway. The system gain parameter is chosen as the bifurcation parameter, and the stable region and stability condition of the congestion control model are given by use of the linear stability analysis. When the system gain passes through a critical value, the system loses the stability and Hopf bifurcation occurs. Considering the negative influence caused by Hopf bifurcation, we apply state feedback controller, hybrid controller, and time-delay feedback controller to postpone the onset of undesirable Hopf bifurcation. Numerical simulations show that the hybrid controller is the most sensitive method to delay the Hopf bifurcation with identical parameter conditions. However, nonlinear state feedback control and time-delay feedback control schemes have larger control parameter range in the Internet congestion control system with FAST TCP and RED gateway. Therefore, we can choose proper control method based on practical situation including unknown conditions or parameter requirements. This paper plays an important role in setting guiding system parameters for controlling the FAST TCP and RED model. Dawei Ding, Chun Wang, Lianghui Ding, Nian Wang, and Dong Liang Copyright © 2016 Dawei Ding et al. All rights reserved. Optimal Control Problem Investigation for Linear Time-Invariant Systems of Fractional Order with Lumped Parameters Described by Equations with Riemann-Liouville Derivative Thu, 26 May 2016 08:12:08 +0000 http://www.hindawi.com/journals/jcse/2016/4873083/ This paper studies two optimal control problems for linear time-invariant systems of fractional order with lumped parameters whose dynamics is described by equations which contain Riemann-Liouville derivative. The first problem is to find control with minimal norm and the second one is to find control with minimal control time at given restriction for control norm. The problem setting with nonlocal initial conditions is considered which differs from other known settings for integer-order systems and fractional-order systems described in terms of equations with Caputo derivative. Admissible controls are allowed to belong to the class of functions which are -integrable on half segment. The basic investigation approach is the moment method. The correctness and solvability of moment problem are validated for considered problem setting for the system of arbitrary dimension. It is shown that corresponding conditions are analogous to those derived for systems which are described in terms of equations with Caputo derivative. For several particular cases of one- and two-dimensional systems the posed problems are solved explicitly. The dependencies of basic values from derivative index and control time are analyzed. The comparison is performed of obtained results with known results for analogous integer-order systems and fractional-order systems which are described by equations with Caputo derivative. V. A. Kubyshkin and S. S. Postnov Copyright © 2016 V. A. Kubyshkin and S. S. Postnov. All rights reserved. Simplified Finite Set Model Predictive Control Strategy of Grid-Connected Cascade H-Bridge Converter Thu, 26 May 2016 06:33:20 +0000 http://www.hindawi.com/journals/jcse/2016/9478387/ Finite set model predictive control (FS-MPC) has become a promising control technology in power converter, because of the advantages of good dynamic response and accurate current tracking capability. In real-time control process, the conventional FS-MPC strategy requires more time for prediction and optimization. As a result, there will be a certain delay between sampling and output. In order to reduce the amount of calculation and overcome the adverse effect of the delay on the system performance, this paper presents a simplified FS-MPC method. Firstly, adjacent levels method is used to reduce the amount of the calculation, and then two-step FS-MPC is adopted to compensate the calculation delay. The control strategy is validated by the simulation and experimental results of a grid-connected cascaded H-bridge converter. Jingang Han, Chao Li, Tengfei Yang, and Jun Han Copyright © 2016 Jingang Han et al. All rights reserved. Multilinear Model of Heat Exchanger with Hammerstein Structure Wed, 25 May 2016 13:56:50 +0000 http://www.hindawi.com/journals/jcse/2016/7856510/ The multilinear model control design approach is based on the approximation of the nonlinear model of the system by a set of linear models. The paper presents the method of creation of a bank of linear models of the two-pass shell and tube heat exchanger. The nonlinear model is assumed to have a Hammerstein structure. The set of linear models is formed by decomposition of the nonlinear steady-state characteristic by using the modified Included Angle Dividing method. Two modifications of this method are proposed. The first one refers to the addition to the algorithm for decomposition, which reduces the number of linear segments. The second one refers to determination of the threshold value. The dependence between decomposition of the nonlinear characteristic and the linear dynamics of the closed-loop system is established. The decoupling process is more formal and it can be easily implemented by using software tools. Due to its simplicity, the method is particularly suitable in complex systems, such as heat exchanger networks. Dragan Pršić, Novak Nedić, Vojislav Filipović, Ljubiša Dubonjić, and Aleksandar Vičovac Copyright © 2016 Dragan Pršić et al. All rights reserved. Generalized ESO and Predictive Control Based Robust Autopilot Design Tue, 24 May 2016 14:13:27 +0000 http://www.hindawi.com/journals/jcse/2016/5741603/ A novel continuous time predictive control and generalized extended state observer (GESO) based acceleration tracking pitch autopilot design is proposed for a tail controlled, skid-to-turn tactical missile. As the dynamics of missile are significantly uncertain with mismatched uncertainty, GESO is employed to estimate the state and uncertainty in an integrated manner. The estimates are used to meet the requirement of state and to robustify the output tracking predictive controller designed for nominal system. Closed loop stability for the controller-observer structure is established. An important feature of the proposed design is that it does not require any specific information about the uncertainty. Also the predictive control design yields the feedback control gain and disturbance compensation gain simultaneously. Effectiveness of GESO in estimation of the states and uncertainties and in robustifying the predictive controller in the presence of parametric uncertainties, external disturbances, unmodeled dynamics, and measurement noise is illustrated by simulation. Bhavnesh Panchal and S. E. Talole Copyright © 2016 Bhavnesh Panchal and S. E. Talole. All rights reserved. Nonlinear and Robust Control Strategy Based on Chemotherapy to Minimize the HIV Concentration in Blood Plasma Thu, 19 May 2016 06:52:52 +0000 http://www.hindawi.com/journals/jcse/2016/6284574/ A nonlinear PI-type control strategy is designed in order to minimize the HIV concentration in blood plasma, via medical drug injection, under the framework of bounded uncertain input disturbances. For control design it is considered a simplified mathematical model of the virus infection as a benchmark. The model is based on mass balances of healthy cells, infected cells, and the virus concentrations. The proposed controller contains a nonlinear feedback PI structure of bounded functions of the regulation error. The closed-loop stability of the system is analyzed via Lyapunov technique, in which robustness against system disturbances is demonstrated. Numerical experiments show a satisfactory performance of the proposed methodology as a HIV therapy, in which the virion particles and the infected CD4+T cells are minimized and, as an interesting result, the drug dosage can be suspended, thus avoiding drug resistance from the virus. Finally, the proposed controller is compared to a standard sliding-mode and hyperbolic tangent controllers showing better performance. Ricardo Aguilar-López, Rigel Valentín Gómez-Acata, Gerardo Lara-Cisneros, and Ricardo Femat Copyright © 2016 Ricardo Aguilar-López et al. All rights reserved. An Approach of Tracking Control for Chaotic Systems Wed, 18 May 2016 13:00:41 +0000 http://www.hindawi.com/journals/jcse/2016/9735264/ Combining the ergodicity of chaos and the Jacobian matrix, we design a general tracking controller for continuous and discrete chaotic systems. The control scheme has the ability to track a bounded reference signal. We prove its globally asymptotic stability and extend it to generalized projective synchronization. Numerical simulations verify the effectiveness of the proposed scheme. Jin Xing and Fangfang Zhang Copyright © 2016 Jin Xing and Fangfang Zhang. All rights reserved. Adaptive Moving Sliding Mode Control for SISO Systems: Application to an Electropneumatic System Tue, 26 Apr 2016 09:31:08 +0000 http://www.hindawi.com/journals/jcse/2016/2081052/ This paper aims to propose and develop an adaptive moving sliding mode controller (AMSMC) that can be applied for nonlinear single-input single-output (SISO) systems with external disturbances. The main contribution of this framework consists to overcome the chattering phenomenon problem. The discontinuous term of the classic sliding mode control is replaced by an adaptive term. Moreover, a moving sliding surface is proposed to have better tracking and to guarantee robustness to the external disturbances. The parameters of the sliding surface and the adaptive law are deduced based on Lyapunov stability analysis. An experimental application of electropneumatic system is treated to validate the theoretical results. Assil Ayadi, Soufien Hajji, Mohamed Smaoui, and Abdessattar Chaari Copyright © 2016 Assil Ayadi et al. All rights reserved. Design and Application of Offset-Free Model Predictive Control Disturbance Observation Method Sun, 24 Apr 2016 11:48:25 +0000 http://www.hindawi.com/journals/jcse/2016/7279430/ Model predictive control (MPC) with its lower request to the mathematical model, excellent control performance, and convenience online calculation has developed into a very important subdiscipline with rich theory foundation and practical application. However, unmeasurable disturbance is widespread in industrial processes, which is difficult to deal with directly at present. In most of the implemented MPC strategies, the method of incorporating a constant output disturbance into the process model is introduced to solve this problem, but it fails to achieve offset-free control once the unmeasured disturbances access the process. Based on the Kalman filter theory, the problem is solved by using a more general disturbance model which is superior to the constant output disturbance model. This paper presents the necessary conditions for offset-free model predictive control based on the model. By applying disturbance model, the unmeasurable disturbance vectors are augmented as the states of control system, and the Kalman filer is used to estimate unmeasurable disturbance and its effect on the output. Then, the dynamic matrix control (DMC) algorithm is improved by utilizing the feed-forward compensation control strategy with the disturbance estimated. Xue Wang, Baocang Ding, Xin Yang, and Zhaohong Ye Copyright © 2016 Xue Wang et al. All rights reserved. Air Gauge Characteristics Linearity Improvement Thu, 21 Apr 2016 13:29:56 +0000 http://www.hindawi.com/journals/jcse/2016/8701238/ This paper discusses calibration uncertainty and linearity issues of the typical back-pressure air gauge. In this sort of air gauge, the correlation between the measured dimension (represented by the slot width) and the air pressure in the measuring chamber is used in a proportional range. However, when high linearity is required (e.g., nonlinearity less than 1%), the measuring range should be shortened. In the proposed method, based on knowledge of the static characteristics of air gauges, the measuring range is kept unchanged but the nonlinearity is decreased. The static characteristics may be separated into two sections, each of them approximated with a different linear function. As a result, the nonlinearity is reduced from 5% down to 1% and even below. Cz. J. Jermak, M. Jakubowicz, J. Dereżyński, and M. Rucki Copyright © 2016 Cz. J. Jermak et al. All rights reserved. Multiframe Superresolution of Vehicle License Plates Based on Distribution Estimation Approach Tue, 19 Apr 2016 09:22:53 +0000 http://www.hindawi.com/journals/jcse/2016/4194309/ Low-resolution (LR) license plate images or videos are often captured in the practical applications. In this paper, a distribution estimation based superresolution (SR) algorithm is proposed to reconstruct the license plate image. Different from the previous work, here, the high-resolution (HR) image is estimated via the obtained posterior probability distribution by using the variational Bayesian framework. To regularize the estimated HR image, a feature-specific prior model is proposed by considering the most significant characteristic of license plate images; that is, the target has high contrast with the background. In order to assure the success of the SR reconstruction, the models representing smoothness constraints on images are also used to regularize the estimated HR image with the proposed feature-specific prior model. We show by way of experiments, under challenging blur with size 7 × 7 and zero-mean Gaussian white noise with variances 0.2 and 0.5, respectively, that the proposed method could achieve the peak signal-to-noise ratio (PSNR) of 22.69 dB and the structural similarity (SSIM) of 0.9022 under the noise with variance 0.2 and the PSNR of 19.89 dB and the SSIM of 0.8582 even under the noise with variance 0.5, which are 1.84 dB and 0.04 improvements in comparison with other methods. Renchao Jin, Shengrong Zhao, Xiangyang Xu, and Enmin Song Copyright © 2016 Renchao Jin et al. All rights reserved. Real-Time Implementation of Islanded Microgrid for Remote Areas Mon, 18 Apr 2016 08:52:36 +0000 http://www.hindawi.com/journals/jcse/2016/5710950/ Islanding is a condition in which a microgrid or a portion of power grid, consisting of distributed generation (DG) sources, converter, and load, gets disconnected from the utility grid. Under this condition the DG sources in a microgrid must switch to a voltage control mode, in order to provide constant voltage to local loads. In grid connected mode, the microgrid works as current controller and injects power to the main grid, depending on the power generation and local load with suitable market policies. Providing constant voltage at a stable frequency with proper synchronization amongst each DG in a microgrid is a challenge. The complexity of such grid requires careful study and analysis before actual implementation. These challenges of microgrid are addressed using real time OPAL-RT simulation technology. Thus the paper describes an islanded microgrid with master slave controller for power balance, voltage/frequency regulation, and synchronization. Based on an advanced real-time platform named Real-Time Laboratory (RT-LAB), the impacts of the micro sources, load, and converters in an islanded microgrid is studied in this paper. The effectiveness of the proposed controller is analyzed through experimental results under balanced/unbalanced nonlinear loads condition. Monika Jain, Sushma Gupta, Deepika Masand, Gayatri Agnihotri, and Shailendra Jain Copyright © 2016 Monika Jain et al. All rights reserved. Distributed Attitude Consensus for Multiple Rigid Spacecraft under Jointly Connected Switching Topologies Sun, 17 Apr 2016 09:05:06 +0000 http://www.hindawi.com/journals/jcse/2016/2540914/ We study the distributed leader-following attitude consensus problem for multiple rigid spacecraft with a single leader under jointly connected switching topologies. Two cases are considered, where the first case is with a static leader and the second case is with a dynamic leader. By constructing an auxiliary vector and a distributed observer for each follower spacecraft, the controllers are designed to drive all the attitudes of the follower spacecraft to the leader’s, respectively, for both of the two cases, though there are some time intervals in which the communication topology is not connected. The whole system is proved to be stable by using common Lyapunov function method. Finally, the theoretical result is illustrated by numerical simulations. Long Ma, Shicheng Wang, Haibo Min, Shouyi Liao, and Zhiguo Liu Copyright © 2016 Long Ma et al. All rights reserved. Performance Analysis of a Peak-Current Mode Control with Compensation Ramp for a Boost-Flyback Power Converter Thu, 14 Apr 2016 06:23:42 +0000 http://www.hindawi.com/journals/jcse/2016/7354791/ High voltage gain power converters are very important in photovoltaic applications mainly due to the low output voltage of photovoltaic arrays. This kind of power converters includes three or more semiconductor devices and four or more energy storage elements, making the dynamical analysis of the controlled system more difficult. In this paper, the boost-flyback power converter is controlled by peak-current mode with compensation ramp. The closed-loop analysis is performed to guarantee operation conditions such that a period-1 orbit is attained. The converter is considered as a piecewise linear system, and the closed-loop stability is determined by using the monodromy matrix, obtained by the composition of the saltation matrixes with the solutions of the dynamical equations in the linear intervals. The largest eigenvalue of the monodromy matrix gives the stability of the period-1 orbit, and a deep analysis using bifurcation diagrams let us reach a conclusion about the loss of the stability, which is experimentally verified. To avoid overcompensation effects, the minimum value required by the compensation ramp is obtained, and the minimum and maximum values of the load resistance are found too. The system has a good transient response under disturbances in the load and in the input voltage. Juan-Guillermo Muñoz, Guillermo Gallo, Gustavo Osorio, and Fabiola Angulo Copyright © 2016 Juan-Guillermo Muñoz et al. All rights reserved. Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect Mon, 11 Apr 2016 12:35:48 +0000 http://www.hindawi.com/journals/jcse/2016/6752671/ We present a comparative study of model predictive control approaches of two-wheel steering, four-wheel steering, and a combination of two-wheel steering with direct yaw moment control manoeuvres for path-following control in autonomous car vehicle dynamics systems. Single-track mode, based on a linearized vehicle and tire model, is used. Based on a given trajectory, we drove the vehicle at low and high forward speeds and on low and high road friction surfaces for a double-lane change scenario in order to follow the desired trajectory as close as possible while rejecting the effects of wind gusts. We compared the controller based on both simple and complex bicycle models without and with the roll vehicle dynamics for different types of model predictive control manoeuvres. The simulation result showed that the model predictive control gave a better performance in terms of robustness for both forward speeds and road surface variation in autonomous path-following control. It also demonstrated that model predictive control is useful to maintain vehicle stability along the desired path and has an ability to eliminate the crosswind effect. Fitri Yakub, Aminudin Abu, Shamsul Sarip, and Yasuchika Mori Copyright © 2016 Fitri Yakub et al. All rights reserved. Trajectory Planning with Pose Feedback for a Dual-Arm Space Robot Wed, 06 Apr 2016 07:07:43 +0000 http://www.hindawi.com/journals/jcse/2016/7021696/ In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm. Yicheng Liu, Kedi Xie, Tao Zhang, and Ning Cai Copyright © 2016 Yicheng Liu et al. All rights reserved. Design of Self-Tuning Regulator for Large-Scale Interconnected Hammerstein Systems Mon, 04 Apr 2016 16:56:33 +0000 http://www.hindawi.com/journals/jcse/2016/6769714/ This paper deals with the self-tuning regulator for large-scale stochastic nonlinear systems, which are composed of several interconnected nonlinear monovariable subsystems. Each interconnected subsystem is described by discrete Hammerstein model with unknown and time-varying parameters. This self-tuning control is developed on the basis of the minimum variance approach and is combined by a recursive algorithm in the estimation step. The parametric estimation step is performed on the basis of the prediction error method and the least-squares techniques. Simulation results of the proposed self-tuning regulator for two interconnected nonlinear hydraulic systems show the reliability and effectiveness of the developed method. Mourad Elloumi and Samira Kamoun Copyright © 2016 Mourad Elloumi and Samira Kamoun. All rights reserved. Application of Residual-Based EWMA Control Charts for Detecting Faults in Variable-Air-Volume Air Handling Unit System Mon, 28 Mar 2016 12:04:06 +0000 http://www.hindawi.com/journals/jcse/2016/1467823/ An online robust fault detection method is presented in this paper for VAV air handling unit and its implementation. Residual-based EWMA control chart is used to monitor the control processes of air handling unit and detect faults of air handling unit. In order to provide a level of robustness with respect to modeling errors, control limits are determined by incorporating time series model uncertainty in EWMA control chart. The fault detection method proposed was tested and validated using real time data collected from real VAV air-conditioning systems involving multiple artificial faults. The results of validation show residual-based EWMA control chart with designing control limits can improve the accuracy of fault detection through eliminating the negative effects of dynamic characteristics, serial correlation, normal transient changes of system, and time series modeling errors. The robust fault detection method proposed can provide an effective tool for detecting the faults of air handling units. Haitao Wang Copyright © 2016 Haitao Wang. All rights reserved. An Improved Phase-Locked-Loop Control with Alternative Damping Factors for VSC Connected to Weak AC System Sun, 27 Mar 2016 06:07:34 +0000 http://www.hindawi.com/journals/jcse/2016/9537342/ The gains of phase-locked-loop (PLL) have significant impacts on the power transfer limits for the voltage source converter (VSC) connected to weak AC system. Therefore, in this paper, an improved PLL control, respectively, with alternative damping factors for rectifier and inverter is proposed. First, it is proved that the impedance angle of AC system has a great impact on the small-signal stability of the VSC system. With the same variation tendency of Thévenin equivalent resistance, the limits of power transmission are changing in opposite trends for rectifier and inverter. Second, the improved PLL with alternative damping factors is proposed based on the participation factor analysis. Third, the optimal damping factors of the improved PLL control for rectifier and inverter are calculated. Simulations and calculations validated the following three conclusions: (1) in rectifying operation, the equivalent system resistance has a negative impact on the stability of the system and this is not the case for inverting operation; (2) adding the alternative damping factors to PLL control shows similar results compared with changing the impedance angle of AC system; (3) the proposed optimal damping factors of PLL can effectively extend the power transfer limits under both rectifier and inverter modes. Bin Yuan, Jianzhong Xu, Chengyong Zhao, and Yijia Yuan Copyright © 2016 Bin Yuan et al. All rights reserved. Compensation for Cross-Coupled Dynamics of Dual Twisted-String Actuation Systems Mon, 21 Mar 2016 12:01:08 +0000 http://www.hindawi.com/journals/jcse/2016/5864918/ Twisted-string actuation devices have been adopted in various robotic systems due to their advantages of compact size and simple structure. To precisely control the displacement of such devices, a dual-direction actuating mechanism, which provides both extension and contraction of two strings simultaneously, must be implemented. Due to the physical properties of twisted string, the actuator has problems of nonlinear length variation and cross-coupled relationships between two strings. In this study, two controllers (PID-FC and LQR-FC) were synthesized with the consideration of cross-coupling dynamics between the two axes. The experimental results demonstrate the performance of both tracking and synchronization responses of these two types of controllers. Lei Jiang, Yuejuan Li, and Marvin H. Cheng Copyright © 2016 Lei Jiang et al. All rights reserved. Semiadaptive Fault Diagnosis via Variational Bayesian Mixture Factor Analysis with Application to Wastewater Treatment Mon, 21 Mar 2016 06:51:38 +0000 http://www.hindawi.com/journals/jcse/2016/2034826/ Mainly due to the hostile environment in wastewater plants (WWTPs), the reliability of sensors with respect to important qualities is often poor. In this work, we present the design of a semiadaptive fault diagnosis method based on the variational Bayesian mixture factor analysis (VBMFA) to support process monitoring. The proposed method is capable of capturing strong nonlinearity and the significant dynamic feature of WWTPs that seriously limit the application of conventional multivariate statistical methods for fault diagnosis implementation. The performance of proposed method is validated through a simulation study of a wastewater plant. Results have demonstrated that the proposed strategy can significantly improve the ability of fault diagnosis under fault-free scenario, accurately detect the abrupt change and drift fault, and even localize the root cause of corresponding fault properly. Hongjun Xiao, Yiqi Liu, and Daoping Huang Copyright © 2016 Hongjun Xiao et al. All rights reserved. Robust Stability and Stabilization of a Class of Uncertain Nonlinear Discrete-Time Stochastic Systems with Interval Time-Varying Delays Thu, 17 Mar 2016 07:16:33 +0000 http://www.hindawi.com/journals/jcse/2016/1319092/ This paper deals with the problems of the robust stochastic stability and stabilization for a class of uncertain discrete-time stochastic systems with interval time-varying delays and nonlinear disturbances. By utilizing a new Lyapunov-Krasovskii functional and some well-known inequalities, some new delay-dependent criteria are developed to guarantee the robust stochastic stability of a class of uncertain discrete-time stochastic systems in terms of the linear matrix inequality (LMI). Then based on the state feedback controller, the delay-dependent sufficient conditions of robust stochastic stabilization for a class of uncertain discrete-time stochastic systems with interval time-varying delays are established. The controller gain is designed to ensure the robust stochastic stability of the closed-loop system. Finally, illustrative examples are given to demonstrate the effectiveness of the proposed method. Shuang Liang and Yali Dong Copyright © 2016 Shuang Liang and Yali Dong. All rights reserved.