Delay Compensation Observer with Sliding Mode Controller for Rotary Electro-hydraulic Servo System

The hip’s lower limb exoskeleton essential and most important function is to support human’s payload as well as to enhance and assist human’s motion. It utilizes an electro-hydraulic servo manipulator which is required to achieve precise trajectory tracking and positioning operations. Nevertheless,these tasks require precise and robust control,which is very difficult to attain due to the inherent nonlinear dynamic behavior of the electro-hydraulic system caused by flow-pressure characteristics and fluid volume control variations of the servo valve. The sliding mode controller(SMC)is a widely used nonlinear robust controller,yet uncertainties and delay in the output degrade the closed-loop system performance and cause system instability. This work proposes a robust controller scheme that counts for the output delay and the inherent parameter uncertainties. Namely,a sliding mode controller enhanced by time-delay compensating observer for a typical electro-hydraulic servo system is adapted. SMC is utilized for its robustness against servo system parameters’ uncertainty whereas a time-delay observer estimates the variable states of the controller(velocity and acceleration). The main contribution of this paper is improving on the closed loop performance of the electro hydraulic servo system and mitigating the delay time effects. Simulation results prove the robustness of this controller,which forces the position to track the desired path regardless of the changes of the amount of transport delay of the system’s states. The performance of the proposed controller is validated by repeating the simulation analysis while varying the amount of delay time.

NONLINEAR SEMIGROUP APPROACH TOTRANSPORT EQUATIONS WITH DELAYED NEUTRONS

This paper deal with a nonlinear transport equation with delayed neutron andgeneral boundary conditions. We establish, via the nonlinear semigroups approach, the exis-tence and uniqueness of the mild solution, weak solution, strong solution and local solutionon LP-spaces （1 ≤ p 〈 ＋∞）. Local and non local evolution problems are discussed.

Delays for Both Pedestrians Classified and Vehicles at a Signalized Crosswalk

Delays of both pedestrians,who are classified according to whether complying with traffic law,and vehicles at a signalized crosswalk are analyzed in this paper.The truncated Adams' model is applied to generate the probability and mean of delay of pedestrians non-complying with traffic law.Using the section-based traffic queuing-theory and the stochastic decomposition property of M/G/1vacation system with exhaustive service,the mean delay of vehicles is formulated.A multi-objective optimization model simultaneously minimizing the delays of pedestrians and vehicles during a signal period is proposed.The effects,which several model parameters have on the delays and the optimal solution of the model,are illustrated by numerical examples.

Quasi-dynamic Interactions and Security Control of Integrated Electricity and Heating Systems in Normal Operations

Coupling between electricity systems and heating systems are becoming stronger,leading to more flexible and more complex interactions between these systems.The operation of integrated energy systems is greatly affected,especially when security is concerned.Steady-state analysis methods have been widely studied in recent research,which is far from enough when the slow thermal dynamics of heating networks are introduced.Therefore,an integrated quasi-dynamic model of integrated electricity and heating systems is developed.The model combines a heating network dynamic thermal model and the sequential steady-state models of electricity networks,coupling components,and heating network hydraulics.Based on this model,a simulation method is proposed and quasi-dynamic interactions between electricity systems and heating systems are quantified with the highlights of transport delay.Then the quasi-dynamic interactions were applied using security control to relieve congestion in electricity systems.Results show that both the transport delay and control strategies have significant influences on the quasi-dynamic interactions.