:: ICCAS 2015 ::

FA02		Control Applications I
Time : 09:10~10:40 Room : 102		Chair : William MacKunis (Embry Riddle Aeronautical University, )



09:10~09:25	FA02-1

Control Strategy of Slack Enabling Tendon Actuator for the Soft Wearable Robot using Feedback Linearization
Useok Jeong, Haemin Lee, Hyunki In, Kyu-Jin Cho(Seoul National University, Korea, Republic of )

This paper proposes a control strategy of slack enabling tendon actuator using feedback linearization. The slack enabling actuator is a new actuator that does not fail although the tendon slacks on the outlet of the actuator which is an essential operating phase when the tendon driven is applied to the soft wearable robots. To deal with the dynamic nonlinearities of the slack enabling actuator, input-output feedback linearization was adopted and linear disturbance observer was used to estimate the output tension of the wire and reject position following error due to the external load.



09:25~09:40	FA02-2

Stability and Performance of Classical Digital Phase-Locked Loop in Discrete-time Settings
Nur Syazreen Ahmad, Widad Ismail(Universiti Sains Malaysia (USM), Malaysia)

Many classical phase-locked loops (PLLs) are treated as linear continuous-time systems in the locked condition. While this is useful for sinusoidal input and output signals, the PLLs are more accurately modeled in the z-domain particularly when (i) digital phase detector is used; and (ii) the inputs and outputs are in digital form such as those mostly used in data communications. This paper presents a stability and performance analysis of classical digital phase-locked loops (CDPLLs) in discrete-time domain which is based on the induced l2 norm objective.



09:40~09:55	FA02-3

Research on Online rumor Based on SEIR Model with Nonlinear Incidence Rates
Xiaojing Lin, Yaming Zhuang(Southeast University, China)

Because of many similarities between online rumors dissemination and virus dissemination, in this paper, the SEIR model with nonlinear incidence rates is proposed to research on the diffusion process of online rumors. Aiming at the increasing number of the new netizens in China, use the Logistic curve to describe the number of netizens, build SEIR online tumor dissemination model with nonlinear incidence rate and population dynamics. By analyzing the equilibrium point, development trend of online tumor can be predicted, and analytical expressions of threshold value be obtained when it is exist



09:55~10:10	FA02-4

Backstepping and Backstepping Sliding Mode Controller for Droplet Position in Electrowetting on Dielectric System
Arsit Boonyaprapasorn, Eakachai Pengwang, Thavida Maneewarn, Parinya Sa Ngiamsunthorn, Chadchawarn Pongsomboon, Wishanuruk Wechsathol, Rardchawadee Silapunt(King Mongkut’s University of Technology Thonburi, Thailand)

In electrowetting on Dielectric (EWOD) systems, a micro droplet is actuated to move from one electrode to another electrode. The accuracy of the droplet transportation is one of the important issues. The movement of the droplet can be modeled as the dynamics of the rigid body under the linear and nonlinear forces. In order to gain the accuracy movement of the droplet, the nonlinear feedback control can be applied to the EWOD system. The aim of this paper is to investigate the feasibility of backstepping and backstepping sliding mode techniques to control the micro droplet position.



10:10~10:25	FA02-5

A new method of synthetic jet actuator-based LCO suppression using an output feedback control strategy
Natalie Ramos Pedroza, William MacKunis, Vladimir Golubev(Embry Riddle Aeronautical University, United States)

A new method of synthetic jet actuator-based LCO suppression using an output feedback control strategy Natalie Ramos-Pedroza, William MacKunis, and Vladimir Golubev Embry-Riddle Aeronautical University, Daytona Beach, Florida An output feedback control method is presented, which is proven to achieve asymptotic limit cycle oscillation (LCO) suppression in unmanned aerial vehicle wings equipped with synthetic jet actuators (SJA). A Lyapunov-based stability analysis and numerical simulation results are used to prove asymptotic regulation of the pitching and plunging displacements.



10:25~10:40	FA02-6

Model Predictive Control for Floating Offshore Wind Turbines with Failure Compensation using Individual Blade Pitch Control
THIERY Flavien, Naoyuki Hara, Keiji Konishi(Osaka Prefecture University, Japan)

In floating offshore wind turbines, the platform motions induced by wind and wave conditions should be reduced to mitigate fatigue load on wind turbine components and decrease cost efficiency. This paper considers an individual blade pitch angle control of floating offshore wind turbines using model predictive control (MPC) with failure compensation to improve controller performance in case of failure on a blade pitch actuator. The proposed MPC controller is demonstrated in numerical simulation using FAST, a high-fidelity aero-elastic simulator.