Search

Soft robotics faces challenges in attaining control methods that ensure precision from hard-to-model actuators and sensors. This study focuses on closed-chain control of a segment of PAUL, a modular pneumatic soft arm, using elastomeric-based resistive sensors with negative piezoresistive behaviour irrespective of ambient temperature. PAUL's performance relies on bladder inflation and deflation times. The control approach employs two neural networks: the first translates position references into valve inflation times, and the second acts as a state observer to estimate bladder inflation times using sensor data. Following training, the system achieves position errors of 4.59 mm, surpassing the results of other soft robots presented in the literature. The study also explores system modularity by assessing performance under external loads from non-actuated segments. [ABSTRACT FROM AUTHOR]

Vector control of an induction machine (IM) is typically performed by using cascade control structures with conventional linear proportional–integral (PI) controllers, the inner loop being designed for current control and the outer loop for rotor flux and speed control. In this paper, starting with the dq model of the IM, advanced control algorithms are proposed for the two control loops of the cascade structure. For the current inner loop, after the decoupling of the two dq currents, predictive control algorithms are employed to independently control the currents, considering the constraints imposed by the electrical signal physics limitations. Since the outer loop has a nonlinear affine multivariable plant model, a homotopy-based variant of feedback linearization is used to obtain a nonsingular decoupling matrix of the feedback transformation even when the rotor flux is zero at the start-up of the motor. During the continuous variation in the homotopy parameter, the plant model is variable and, for this reason, model-free algorithms are used to control the flux and speed of the IM due to their capabilities to manage complex dynamics from data without requiring knowledge of the plant model. The performances of the proposed cascade control strategy with advanced algorithms in the two loops were tested by simulation and compared with those obtained with conventional PI controllers, resulting in better dynamic behavior for predictive and model-free control. [ABSTRACT FROM AUTHOR]

ANNs have become a cornerstone in efficiently managing building energy management systems (BEMSs) as they offer advanced capabilities for prediction, control, and optimization. This paper offers a detailed review of recent, significant research in this domain, highlighting the use of ANNs in optimizing key energy systems, such as HVAC systems, domestic water heating (DHW) systems, lighting systems (LSs), and renewable energy sources (RESs), which have been integrated into the building environment. After illustrating the conceptual background of the most common ANN architectures for controlling BEMSs, the current work dives deep into relative research applications, thereby exhibiting their methodology and outcomes. By summarizing the numerous impactful applications during 2015–2023, this paper categorizes the predominant ANN-based techniques according to their methodological approach, specific energy equipment, and experimental setups. Grounded in the different perspectives that the integrated studies illustrate, the primary focus of this paper is to evaluate the overall status of ANN-driven control in building energy management, as well as to offer a deep understanding of the prevailing trends at the building level. Leveraging detailed graphical depictions and comparisons between different concepts, future directions, and fruitful conclusions are drawn, and the upcoming innovations of ANN-based control frameworks in BEMSs are highlighted. [ABSTRACT FROM AUTHOR]

Given the challenges associated with accurately modeling complex nonlinear systems with time delays in industrial processes, this paper introduces an advanced model-free control algorithm that combines data-driven and model-driven approaches. Initially, an enhanced algorithm for multi-innovation model-free control, incorporating error feedback, is presented based on the error feedback principle. Subsequently, a novel control strategy is introduced by delving into PID neural network (NN) recognition and control theory, merging PID NN control with multi-innovation feedback control. Through meticulous mathematical derivation, the proposed strategy is proven to ensure system stability. Compared with traditional NN PID controllers, the convergence rate of the proposed scheme is 50 s faster and the steady-state errors are limited to ±1. [ABSTRACT FROM AUTHOR]