A simple structure for bilateral transparent teleoperation systems with time delay / Alireza Alfi in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 130 n°4 (Juillet 2008)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 n°4 (Juillet 2008) . - 9 p. Titre : A simple structure for bilateral transparent teleoperation systems with time delay Type de document : texte imprimé Auteurs : Alireza Alfi, Auteur ; Farrokhi, Mohammad, Auteur Année de publication : 2008 Article en page(s) : 9 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : stability  control equipment  delays  transparency  closed loop systems  design  channels (hydraulic engineering) Résumé : This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local controllers are designed for the bilateral teleoperation systems. One local controller is responsible for tracking the master commands, and the other one is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in the presence of uncertainties in time delay. The stability analysis will be shown analytically for two cases: (I) the possibly stability and (II) the intrinsically stability. Moreover, in Case II, in order to generate the proper inputs for the master controller in the presence of uncertainties in time delay, an adaptive finite impulse response (FIR) filter is designed to estimate the time delay. The advantages of the proposed method are threefold: (1) stability of the closed-loop system is guaranteed under some mild conditions, (2) the whole system is transparent, and (3) design of the local controllers is simple. Simulation results show good performance of the proposed method. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] A simple structure for bilateral transparent teleoperation systems with time delay [texte imprimé] / Alireza Alfi, Auteur ; Farrokhi, Mohammad, Auteur . - 2008 . - 9 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 130 n°4 (Juillet 2008) . - 9 p. Mots-clés : stability  control equipment  delays  transparency  closed loop systems  design  channels (hydraulic engineering) Résumé : This paper presents a simple structure design for bilateral teleoperation systems with uncertainties in time delay in communication channel. The goal is to achieve complete transparency and robust stability for the closed-loop system. For transparency, two local controllers are designed for the bilateral teleoperation systems. One local controller is responsible for tracking the master commands, and the other one is in charge of force tracking as well as guaranteeing the stability of the closed-loop system in the presence of uncertainties in time delay. The stability analysis will be shown analytically for two cases: (I) the possibly stability and (II) the intrinsically stability. Moreover, in Case II, in order to generate the proper inputs for the master controller in the presence of uncertainties in time delay, an adaptive finite impulse response (FIR) filter is designed to estimate the time delay. The advantages of the proposed method are threefold: (1) stability of the closed-loop system is guaranteed under some mild conditions, (2) the whole system is transparent, and (3) design of the local controllers is simple. Simulation results show good performance of the proposed method. En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]

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State-of-charge estimation for lithium-ion batteries using neural networks and EKF / Charkhgard, Mohammad in IEEE transactions on industrial electronics, Vol. 57 N° 12 (Décembre 2010)  

Public ISBD [article]  inIEEE transactions on industrial electronics > Vol. 57 N° 12 (Décembre 2010) . - pp. 4178 - 4187 Titre : State-of-charge estimation for lithium-ion batteries using neural networks and EKF Type de document : texte imprimé Auteurs : Charkhgard, Mohammad, Auteur ; Farrokhi, Mohammad, Auteur Année de publication : 2011 Article en page(s) : pp. 4178 - 4187 Note générale : Génie électrique Langues : Anglais (eng) Mots-clés : Batteries Estimation Kalman filtering Monitoring Neural networks (NNs) Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a method for modeling and estimation of the state of charge (SOC) of lithium-ion (Li-Ion) batteries using neural networks (NNs) and the extended Kalman filter (EKF). The NN is trained offline using the data collected from the battery-charging process. This network finds the model needed in the state-space equations of the EKF, where the state variables are the battery terminal voltage at the previous sample and the SOC at the present sample. Furthermore, the covariance matrix for the process noise in the EKF is estimated adaptively. The proposed method is implemented on a Li-Ion battery to estimate online the actual SOC of the battery. Experimental results show a good estimation of the SOC and fast convergence of the EKF state variables. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5416277 [article] State-of-charge estimation for lithium-ion batteries using neural networks and EKF [texte imprimé] / Charkhgard, Mohammad, Auteur ; Farrokhi, Mohammad, Auteur . - 2011 . - pp. 4178 - 4187. Génie électrique Langues : Anglais (eng) in IEEE transactions on industrial electronics > Vol. 57 N° 12 (Décembre 2010) . - pp. 4178 - 4187 Mots-clés : Batteries Estimation Kalman filtering Monitoring Neural networks (NNs) Index. décimale : 621.38 Dispositifs électroniques. Tubes à électrons. Photocellules. Accélérateurs de particules. Tubes à rayons X Résumé : This paper presents a method for modeling and estimation of the state of charge (SOC) of lithium-ion (Li-Ion) batteries using neural networks (NNs) and the extended Kalman filter (EKF). The NN is trained offline using the data collected from the battery-charging process. This network finds the model needed in the state-space equations of the EKF, where the state variables are the battery terminal voltage at the previous sample and the SOC at the present sample. Furthermore, the covariance matrix for the process noise in the EKF is estimated adaptively. The proposed method is implemented on a Li-Ion battery to estimate online the actual SOC of the battery. Experimental results show a good estimation of the SOC and fast convergence of the EKF state variables. DEWEY : 621.38 ISSN : 0278-0046 En ligne : http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=5416277

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