Se propone Una metodología de rediseilo paramétrico de sistema no lineales para control en tiempo mínimo sin restricciones de trayectoria en losestados y con control a.cotado. Tal metodología. ...consiste en plantear el problema de rediseño óptimo como uno de optimización dinámica, permitiendo encontrar simultáneamente los parámetros estructurales del sistema y los instantes de conrnlltación de la señal de control que minimizan el tiempo requerido para llevar al sistema de un estado inicial a uno final. Se muestran resultados experimentales del Pendubot original con control en tiempo mínimo y del Pendubot rediseñado siguiendo la metodología propuesta.
Adaptive Control of a DC Motor Based on Swarm Intelligence Garcia-Mendoza, Consuelo V.; Villarreal-Cervantes, Miguel G.; Penaloza-Mejia, Ollin ...
2015 International Conference on Computational Science and Computational Intelligence (CSCI),
12/2015
Conference Proceeding
The effect of uncertainties in the stabilization of the velocity control of a DC motor is compensated by proposing an adaptive control based on Particle Swarm Optimization (ACPSO). The ACPSO is based ...on an on-line dynamic optimization problem with dynamic constraints. The empirical analysis based on modifying the inertia weight of the ACPSO indicates that it can effectively regulate the motor's velocity and hence the ACPSO can be another alternative to control the DC motor under parametric uncertainties. Simulation results verify the proposed approach.
Los criterios diagnósticos, los tratamientos en el momento de la admisión y los fármacos utilizados en pacientes con síndrome coronario agudo están bien definidos en innumerables guías. Sin embargo, ...existe incertidumbre acerca de las medidas para recomendar durante la planificación del egreso de los pacientes. Este documento reúne las evidencias más recientes y el tratamiento estandarizado y óptimo para los pacientes al momento del egreso de una hospitalización por un síndrome coronario agudo, para un cuidado integral y seguro en la transición del paciente entre la atención del evento agudo y el cuidado ambulatorio, con el objetivo de optimizar la recuperación de miocardio viable, garantizar la prevención secundaria más adecuada, reducir el riesgo de un nuevo evento coronario y la mortalidad, así como la adecuada reinserción de los pacientes en la vida cotidiana.
As the demand of robotic manipulator with an adequate performance under the effect parametric uncer- tainties is increased, the fixed PID controller requires an new approach to handle with such ...uncertainties. In this paper the formal formulation of a robust fixed PID control design is proposed as a constrained dynamic optimization problem. Hybrid algorithm is used to solve the problem. The empirical results show the importance of using heuristic approaches in real world optimization problem.
This paper presents a dynamic approach to the synthesis of a crank-rocker four-bar mechanism, that is obtained by an optimization problem and its solution using the Bio-inspired algorithm called ...Differential Evolution (DE). The proposed dynamic approach states a mono-objective dynamic optimization problem (MODOP), in order to obtain a set of optimal parameters of the system. In this MODOP, the kinematic and dynamic models of the whole system are considered as well as a set of constraints including a dynamic constraint. The DE algorithm is adapted to solve the optimization problem by adding a suitable constraint-handling mechanism that is able to incorporate the kinematic and dynamic constraints of the system. A set of independent computational runs were carried out in order to validate the dynamic approach. An analysis from the mechanical and computational point of view is presented, based on the obtained results. From the analysis of the simulation and its results, it is shown that the solutions for the proposed algorithm lead to a more suitable design based on the dynamic approach.
In this paper a robust integrated design methodology for dynamic systems is formulated. The proposed methodology can be applied to design both the system and the control parameters, thus allowing for ...an optimization based integrated system and controller design under uncertainties or unknown parameters. This design methodology is used to simultaneously design the links of a five revolute two degree of freedom parallel robot and the gains of its control system such that the position error and the manipulability measure are as insensible as possible to variations at the end-effector's loads. Simulation results show the effectiveness of the proposed methodology compared with a non-robust integrated design.
The kinematic design of a machine or mechanism is an important stage in the design methodology. A dexterous workspace for a robot manipulator is a outstanding characteristic that must be considered ...in the kinematic design, because it permit to reach the points of the workspace with different orientation. With this objective in mind, an optimization problem is formulated. A defined dexterous workspace is taken as an objective function. The design variables are lengths of the links and the angles of the links. The no collision between links are included as constraints. This paper describes the use of metaheuristic optimization techniques such as differential evolution (DE) to solve the above problem. A mechanism is incorporated in the DE algorithm in order to improve its behavior. This mechanism incorporates information of the base and the difference vectors of good trial vector, in an attempt to generate better individuals in the same direction. This mechanism guides the evolution of the population toward a better zone without sacrificing the search capabilities of the DE algorithm. The design of a robot with three revolute joints (3R robot) is considered as a numerical example.
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