This book reports on a set of new techniques for resolving current issues in networked control systems. The main focus is on strategies for event-based control, for both centralized and decentralized architectures. The first part of the book addresses the problem of single-loop networked control systems and proposes an anticipative remote controller for dealing with delays and packet losses. The second part of the book proposes a distributed event-based control strategy for networked dynamical systems, which has been implemented in a test-bed of mobile robots, and provides readers with a thorough description of an interactive simulator used to validate the results. This thesis, examined at the Universidad Nacional de Educacion a Distancia in 2013, received the award for best thesis in control engineering from the Control Engineering group of the Spanish Committee of Automatic Control in 2015.

This book focuses on the characteristics of cooperative control problems for general linear multi-agent systems, including formation control, air traffic control, rendezvous, foraging, role assignment, and cooperative search. On this basis and combined with linear system theory, it introduces readers to the cooperative tracking problem for identical continuous-time multi-agent systems under state-coupled dynamics; the cooperative output regulation for heterogeneous multi-agent systems; and the optimal output regulation for model-free multi-agent systems. In closing, the results are extended to multiple leaders, and cooperative containment control for uncertain multi-agent systems is addressed. Given its scope, the book offers an essential reference guide for researchers and designers of multi-agent systems, as well as a valuable resource for upper-level undergraduate and graduate students.

Industrial Process Automation Systems: Design and Implementation provides a clear guide to the practicalities of modern industrial automation systems.Bridging the gap between theory and technician level coverage, it offers a pragmatic approach to the subject based on industrial experience, taking in the latest technologies and professional practices. Clear coverage of concepts and applications provides engineers with the knowledge they need before referring to vendor documentation, while clear guidelines for implementing process control options and worked examples of deployments translate theory into practice with ease. "Industrial Process Automation Systems: Design and Implementation" is ideal as a detailed introduction for junior level professionals and as an applied reference for more experienced practitioners.
Provides knowledge of the different systems available and their applications, enabling engineers to design automation solutions to solve real industry problems.Includes case studies and valuable practical knowledge, such as key items that need to be specified when procuring automation systems.Written by an experienced practitioner from a leading technology company

This book focuses on the synthesis of lower-mobility parallel manipulators, presenting a group-theory-based method that has the advantage of being geometrically intrinsic. Rotations and translations of a rigid body as well as a combination of the two can be expressed and handled elegantly using the group algebraic structure of the set of rigid-body displacements. The book gathers the authors' research results, which were previously scattered in various journals and conference proceedings, presenting them in a unified form. Using the presented method, it reveals numerous novel architectures of lower-mobility parallel manipulators, which are of interest to those in the robotics community. More importantly, readers can use the method and tool to develop new types of lower-mobility parallel manipulators independently.

This book demonstrates the potential of the blended wing body (BWB) concept for significant improvement in both fuel efficiency and noise reduction and addresses the considerable challenges raised for control engineers because of characteristics like open-loop instability, large flexible structure, and slow control surfaces. This text describes state-of-the-art and novel modeling and control design approaches for the BWB aircraft under consideration. The expert contributors demonstrate how exceptional robust control performance can be achieved despite such stringent design constraints as guaranteed handling qualities, reduced vibration, and the minimization of the aircraft's structural loads during maneuvers and caused by turbulence. As a result, this innovative approach allows the building of even lighter aircraft structures, and thus results in considerable efficiency improvements per passenger kilometer. The treatment of this large, complex, parameter-dependent industrial control problem highlights relevant design issues and provides a relevant case study for modeling and control engineers in many adjacent disciplines and applications. Modeling and Control for a Blended Wing Body Aircraft presents research results in numeric modeling and control design for a large, flexible, civil BWB aircraft in the pre-design stage as developed within the EU FP7 research project ACFA 2020. It is a useful resource for aerospace and control engineers as it shows the complete BWB aircraft modeling and control design process, carried out with the most recent tools and techniques available. presents research results in numeric modeling and control design for a large, flexible, civil BWB aircraft in the pre-design stage as developed within the EU FP7 research project ACFA 2020. It is a useful resource for aerospace and control engineers as it shows the complete BWB aircraft modeling and control design process, carried out with the most recent tools and techniques available. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

In this book advanced balancing methods for planar and spatial linkages, hand operated and automatic robot manipulators are presented. It is organized into three main parts and eight chapters. The main parts are the introduction to balancing, the balancing of linkages and the balancing of robot manipulators. The review of state-of-the-art literature including more than 500 references discloses particularities of shaking force/moment balancing and gravity compensation methods. Then new methods for balancing of linkages are considered. Methods provided in the second part of the book deal with the partial and complete shaking force/moment balancing of various linkages. A new field for balancing methods applications is the design of mechanical systems for fast manipulation. Special attention is given to the shaking force/moment balancing of robot manipulators. Gravity balancing methods are also discussed. The suggested balancing methods are illustrated by numerous examples.

This book is a simple and didactic account of the developments and practical applications of predictive, adaptive predictive, and optimized adaptive control from a perspective of stability, including the latest methodology of adaptive predictive expert (ADEX) control. ADEX Optimized Adaptive Control Systems is divided into six parts, with exercises and real-time simulations provided for the reader as appropriate. The text begins with the conceptual and intuitive knowledge of the technology and derives the stability conditions to be verified by the driver block and the adaptive mechanism of the optimized adaptive controller to guaranty the desired control performance. The second and third parts present strategic considerations of predictive control and related adaptive systems necessary for the proper design of driver block and adaptive mechanism and thence their technical realization. The authors then proceed to detail the stability theory that supports predictive, adaptive predictive and optimized adaptive control methodologies. Benchmark applications of these methodologies (distillation column and pulp-factory bleaching plant) are treated next with a focus on practical implementation issues. The final part of the book describes ADEX platforms and illustrates their use in the design and implementation of optimized adaptive control systems to three different challenging-to-control industrial processes: waste-water treatment; sulfur recovery; and temperature control of superheated steam in coal-fired power generation. The presentation is completed by a number of appendices containing technical background associated with the main text including a manual for the ADEX COP platform developed by the first author to exploit the capabilities of adaptive predictive control in real plants. ADEX Optimized Adaptive Control Systems provides practicing process control engineers with a multivariable optimal control solution which is adaptive and resistant to perturbation and the effects of noise. Its pedagogical features also facilitate its use as a teaching tool for formal university and Internet-based open-education-type graduate courses in practical optimal adaptive control and for self-study.

The thesis presents new results on multi-agent formation control, focusing on the distributed stabilization control of rigid formation shapes. It analyzes a range of current research problems such as problems concerning the equilibrium and stability of formation control systems, or the problem of cooperative coordination control when agents have general dynamical models, and discusses practical considerations arising during the implementation of established formation control algorithms. In addition, the thesis presents models of increasing complexity, from single integrator models, to double integrator models, to agents modeled by nonlinear kinematic and dynamic equations, including the familiar unicycle model and nonlinear system equations with drift terms. Presenting the fruits of a close collaboration between several top control groups at leading universities including Yale University, Groningen University, Purdue University and Gwangju Institute of Science and Technology (GIST), the thesis spans various research areas, including robustness issues in formations, quantization-based coordination, exponential stability in formation systems, and cooperative coordination of networked heterogeneous systems.

This book is devoted to embedded systems (ESs), which can now be found in practically all fields of human activity. Embedded systems are essentially a special class of computing systems designed for monitoring and controlling objects of the physical world. The book begins by discussing the distinctive features of ESs, above all their cybernetic-physical character, and how they can be designed to deliver the required performance with a minimum amount of hardware. In turn, it presents a range of design methodologies. Considerable attention is paid to the hardware implementation of computational algorithms. It is shown that different parts of complex ESs could be implemented using models of finite state machines (FSMs). Also, field-programmable gate arrays (FPGAs) are very often used to implement different hardware accelerators in ESs. The book pays considerable attention to design methods for FPGA-based FSMs, before the closing section turns to programmable logic controllers widely used in industry. This book will be interesting and useful for students and postgraduates in the area of Computer Science, as well as for designers of embedded systems. In addition, it offers a good point of departure for creating embedded systems for various spheres of human activity.

This book addresses the core issues involved in the dynamic modeling, simulation and control of a selection of energy systems such as gas turbines, wind turbines, fuel cells and batteries. The principles of modeling and control could be applied to other non-convention methods of energy generation such as solar energy and wave energy. A central feature of Dynamic Modeling, Simulation and Control of Energy Generation is that it brings together diverse topics in thermodynamics, fluid mechanics, heat transfer, electro-chemistry, electrical networks and electrical machines and focuses on their applications in the field of energy generation, its control and regulation. This book will help the reader understand the methods of modelling energy systems for controller design application as well as gain a basic understanding of the processes involved in the design of control systems and regulators. It will also be a useful guide to simulation of the dynamics of energy systems and for implementing monitoring systems based on the estimation of internal system variables from measurements of observable system variables. Dynamic Modeling, Simulation and Control of Energy Generation will serve as a useful aid to designers of hybrid power generating systems involving advanced technology systems such as floating or offshore wind turbines and fuel cells. The book introduces case studies of the practical control laws for a variety of energy generation systems based on nonlinear dynamic models without relying on linearization. Also the book introduces the reader to the use nonlinear model based estimation techniques and their application to energy systems.

The present book includes a set of selected papers from the tenth "International Conference on Informatics in Control Automation and Robotics" (ICINCO 2013), held in Reykjavik, Iceland, from 29 to 31 July 2013. The conference was organized in four simultaneous tracks: "Intelligent Control Systems and Optimization", "Robotics and Automation", "Signal Processing, Sensors, Systems Modeling and Control" and "Industrial Engineering, Production and Management". The book is based on the same structure. ICINCO 2013 received 255 paper submissions from 50 countries, in all continents. After a double blind paper review performed by the Program Committee only 30% were published and presented orally. A further refinement was made after the conference, based also on the assessment of presentation quality, so that this book includes the extended and revised versions of the very best papers of ICINCO 2013.

This book presents selected research papers from the 2015 Chinese Intelligent Systems Conference (CISC'15), held in Yangzhou, China. The topics covered include multi-agent systems, evolutionary computation, artificial intelligence, complex systems, computation intelligence and soft computing, intelligent control, advanced control technology, robotics and applications, intelligent information processing, iterative learning control, and machine learning. Engineers and researchers from academia, industry and the government can gain valuable insights into solutions combining ideas from multiple disciplines in the field of intelligent systems.

"Bio-inspired Computation in Unmanned Aerial Vehicles" focuses on the aspects of path planning, formation control, heterogeneous cooperative control and vision-based surveillance and navigation in Unmanned Aerial Vehicles (UAVs) from the perspective of bio-inspired computation. It helps readers to gain a comprehensive understanding of control-related problems in UAVs, presenting the latest advances in bio-inspired computation.

By combining bio-inspired computation and UAV control problems, key questions are explored in depth, and each piece is content-rich while remaining accessible. With abundant illustrations of simulation work, this book links theory, algorithms and implementation procedures, demonstrating the simulation results with graphics that are intuitive without sacrificing academic rigor. Further, it pays due attention to both the conceptual framework and the implementation procedures.

The book offers a valuable resource for scientists, researchers and graduate students in the field of Control, Aerospace Technology and Astronautics, especially those interested in artificial intelligence and Unmanned Aerial Vehicles.

Professor Haibin Duan and Dr. Pei Li, both work at Beihang University (formerly Beijing University of Aeronautics & Astronautics, BUAA). Prof Duan's academic website is: http: //hbduan.buaa.edu.cn

This volume is dedicated to Professor Okyay Kaynak to commemorate his life time impactful research and scholarly achievements and outstanding services to profession. The 21 invited chapters have been written by leading researchers who, in the past, have had association with Professor Kaynak as either his students and associates or colleagues and collaborators. The focal theme of the volume is the Sliding Modes covering a broad scope of topics from theoretical investigations to their significant applications from Control to Intelligent Mechatronics.

Featuring selected contributions from the 2nd International Conference on Mechatronics and Robotics Engineering, held in Nice, France, February 18-19, 2016, this book introduces recent advances and state-of-the-art technologies in the field of advanced intelligent manufacturing. This systematic and carefully detailed collection provides a valuable reference source for mechanical engineering researchers who want to learn about the latest developments in advanced manufacturing and automation, readers from industry seeking potential solutions for their own applications, and those involved in the robotics and mechatronics industry.

This book starts with a short recapitulation on basic concepts, common to any types of robots (serial, tree structure, parallel, etc.), that are also necessary for computation of the dynamic models of parallel robots. Then, as dynamics requires the use of geometry and kinematics, the general equations of geometric and kinematic models of parallel robots are given. After, it is explained that parallel robot dynamic models can be obtained by decomposing the real robot into two virtual systems: a tree-structure robot (equivalent to the robot legs for which all joints would be actuated) plus a free body corresponding to the platform. Thus, the dynamics of rigid tree-structure robots is analyzed and algorithms to obtain their dynamic models in the most compact form are given. The dynamic model of the real rigid parallel robot is obtained by closing the loops through the use of the Lagrange multipliers. The problem of the dynamic model degeneracy near singularities is treated and optimal trajectory planning for crossing singularities is proposed. Lastly, the approach is extended to flexible parallel robots and the algorithms for computing their symbolic model in the most compact form are given. All theoretical developments are validated through experiments.

Industrial Process Identification brings together the latest advances in perturbation signal design. It describes the approaches to the design process that are relevant to industries. The authors' discussion of several software packages (Frequency Domain System Identification Toolbox, prs, GALOIS, multilev_new, and Input-Signal-Creator) will allow readers to understand the different designs in industries and begin designing common classes of signals. The authors include two case studies that provide a balance between the theory and practice of these designs: the identification of a direction-dependent electronic nose system; and the identification of a multivariable cooling system with time-varying delay. Major aspects of signal design such as the formulation of suitable specifications in the face of practical constraints, the classes of designs available, the various objectives necessitating separate treatments when dealing with nonlinear systems, and extension to multi-input scenarios, are discussed. Codes, including some that will produce simulated data, are included to help readers replicate the results described. Industrial Process Identification is a powerful source of information for control engineers working in the process and communications industries seeking guidance on choosing identification software tools for use in practical experiments and case studies. The book will also be of interest to academic researchers and students working in electrical, mechanical and communications engineering and the application of perturbation signal design. Advances in Industrial Control reports and encourages the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

This book covers the state-of-the-art technologies in dynamic balancing of mechanisms with minimum increase of mass and inertia. The synthesis of parallel robots based on the Decomposition and Integration concept is also covered in detail. The latest advances are described, including different balancing principles, design of reactionless mechanisms with minimum increase of mass and inertia, and synthesizing parallel robots. This is an ideal book for mechanical engineering students and researchers who are interested in the dynamic balancing of mechanisms and synthesizing of parallel robots. This book also: * Broadens reader understanding of the synthesis of parallel robots based on the Decomposition and Integration concept * Reinforces basic principles with detailed coverage of different balancing principles, including input torque balancing mechanisms * Reviews exhaustively the key recent research into the design of reactionless mechanisms with minimum increase of mass and inertia, such as the design of reactionless mechanisms with auxiliary parallelograms, the design of reactionless mechanisms with flywheels, and the design of reactionless mechanisms by symmetrical structure design.

The "2019 DigitalFUTURES - The 1st International Conference on Computational Design and Robotic Fabrication (CDRF 2019)" provides an international platform for advanced scientific research papers on the digital technology of architectural design and construction. The themes of the papers include, but are not limited to, architectural theories, tools, methods and procedures in material intelligence, data intelligence; computational intelligence, and robotic intelligence.

This proceedings volume highlights a selection of papers presented at the Sixth International Conference on High Performance Scientific Computing, which took place in Hanoi, Vietnam on March 16-20, 2015. The conference was jointly organized by the Heidelberg Institute of Theoretical Studies (HITS), the Institute of Mathematics of the Vietnam Academy of Science and Technology (VAST), the Interdisciplinary Center for Scientific Computing (IWR) at Heidelberg University, and the Vietnam Institute for Advanced Study in Mathematics, Ministry of Education The contributions cover a broad, interdisciplinary spectrum of scientific computing and showcase recent advances in theory, methods, and practical applications. Subjects covered numerical simulation, methods for optimization and control, parallel computing, and software development, as well as the applications of scientific computing in physics, mechanics, biomechanics and robotics, material science, hydrology, biotechnology, medicine, transport, scheduling, and industry.

This book introduces a new set of orthogonal hybrid functions (HF) which approximates time functions in a piecewise linear manner which is very suitable for practical applications. The book presents an analysis of different systems namely, time-invariant system, time-varying system, multi-delay systems---both homogeneous and non-homogeneous type- and the solutions are obtained in the form of discrete samples. The book also investigates system identification problems for many of the above systems. The book is spread over 15 chapters and contains 180 black and white figures, 18 colour figures, 85 tables and 56 illustrative examples. MATLAB codes for many such examples are included at the end of the book.

Dynamical Systems: Discontinuous, Stochasticity and Time-Delay provides an overview of the most recent developments in nonlinear dynamics, vibration and control. This book focuses on the most recent advances in all three areas, with particular emphasis on recent analytical, numerical and experimental research and its results. Real dynamical system problems, such as the behavior of suspension systems of railways, nonlinear vibration and applied control in coal manufacturing, along with the multifractal spectrum of LAN traffic, are discussed at length, giving the reader a sense of real-world instances where these theories are applied. Dynamical Systems: Discontinuous, Stochasticity and Time-Delay also contains material on time-delay systems as they relate to linear switching, dynamics of complex networks, and machine tools with multiple boundaries. It is the ideal book for engineers and academic researchers working in areas like mechanical and control engineering, as well as applied mathematics.

This book presents essential studies and applications in the context of sliding mode control, highlighting the latest findings from interdisciplinary theoretical studies, ranging from computational algorithm development to representative applications. Readers will learn how to easily tailor the techniques to accommodate their ad hoc applications. To make the content as accessible as possible, the book employs a clear route in each paper, moving from background to motivation, to quantitative development (equations), and lastly to case studies/illustrations/tutorials (simulations, experiences, curves, tables, etc.). Though primarily intended for graduate students, professors and researchers from related fields, the book will also benefit engineers and scientists from industry.

This monograph shows the reader how to avoid the burdens of sensor cost, reduced internal physical space, and system complexity in the control of AC motors. Many applications fields-electric vehicles, wind- and wave-energy converters and robotics, among them-will benefit. Sensorless AC Electric Motor Control describes the elimination of physical sensors and their replacement with observers, i.e., software sensors. Robustness is introduced to overcome problems associated with the unavoidable imperfection of knowledge of machine parameters-resistance, inertia, and so on-encountered in real systems. The details of a large number of speed- and/or position-sensorless ideas for different types of permanent-magnet synchronous motors and induction motors are presented along with several novel observer designs for electrical machines. Control strategies are developed using high-order, sliding-mode and quasi-continuous-sliding-mode techniques and two types of observer-controller schemes based on backstepping and sliding-mode techniques are described. Experimental results validate the performance of these observer and controller configurations with test trajectories of significance in difficult sensorless-AC-machine problems. Control engineers working with AC motors in a variety of industrial environments will find the space-and-cost-saving ideas detailed in Sensorless AC Electric Motor Control of much interest. Academic researchers and graduate students from electrical, mechanical and control-engineering backgrounds will be able to see how advanced theoretical control can be applied in meaningful real systems.