On-line controller tuning by matlab using real system responses

Pektaş, Seda
This thesis attempts to tune any controller without the mathematical model knowledge of the system it is controlling. For that purpose, the optimization algorithm of MATLAB® 6.5 / Nonlinear Control Design Blockset (NCD) is adapted for real-time executions and combined with a hardware-in-the-loop simulation provided by MATLAB® 6.5 / Real-Time Windows Target (RTWT). A noise-included model of a DC motor position control system is obtained in MATLAB® / SIMULINK first and simulated to test the modified algorithm in some aspects. Then the presented methodology is verified using the physical plant (DC motor position control system) where tuning algorithm is driven mainly by the real system data and the required performance parameters specified by a user defined constraint window are successfully satisfied. Resultant improvements on the step response behavior of DC motor position control system are shown for two case studies.


Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part II: Analyses of grasp initialization and its vorticity based optimization
Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01)
Our work focuses on developing methods of determining the optimal preshape of a robot hand closing onto an object in order to achieve at contact a certain stability and manipulability degree based on kinematic considerations. This purposive closing of a preshaped hand should then be kinematically modelled in such a way that impact force patterns on the object can naturally be deduced from the model and be optimized such that upon contacting the object the desired optimum initial conditions of manipulation a...
Optimal initialization of manipulation dynamics by vorticity model of robot hand preshaping. Part I: Vorticity model
Erkmen, Aydan Müşerref; Tekkaya, E (Wiley, 2000-04-01)
The manipulation phase of a multifingered robot hand is initialized, upon contact, by the impact force patterns imparted to the object at contact points, in the final state of a preshaped hand closure. The object then inherits from contacts different helix motion tendencies (translation, rotation) as the initial conditions of manipulation. These motion tendencies are caused by the forces/torques imparted to the object upon impact, and are generated by changes of momenta of the closing hand preshape at the c...
DEMİR, ALPER; Cilden, Erkin; Polat, Faruk (World Scientific Pub Co Pte Lt, 2019-03-01)
Options framework is one of the prominent models serving as a basis to improve learning speed by means of temporal abstractions. An option is mainly composed of three elements: initiation set, option's local policy and termination condition. Although various attempts exist that focus on how to derive high-quality termination conditions for a given problem, the impact of initiation set generation is relatively unexplored. In this work, we propose an effective goal-oriented heuristic method to derive useful i...
An Efficient Formula Synthesis Method with Past Signal Temporal Logic
Ergurtuna, Mert; Aydın Göl, Ebru (2019-01-01)
In this work, we propose a novel method to find temporal properties that lead to the unexpected behaviors from labeled dataset. We express these properties in past time Signal Temporal Logic (ptSTL). First, we present a novel approach for finding parameters of a template ptSTL formula, which extends the results on monotonicity based parameter synthesis. The proposed method optimizes a given monotone criteria while bounding an error. Then, we employ the parameter synthesis method in an iterative unguided for...
INAN, K (Springer Science and Business Media LLC, 1992-01-01)
Supervisory control problems are formulated in terms of a process model where the mechanism of control is expressed in terms of an algebraic operator with the plant and supervision processes as its arguments. The solution subspaces for supervisory processes restrict the observation and the control capability of supervision. The main result corresponds to decentralized marked supervision under partial observations, and specific cases are derived from this result in a unified, algebraic way. The result and it...
Citation Formats
S. Pektaş, “On-line controller tuning by matlab using real system responses,” M.S. - Master of Science, Middle East Technical University, 2004.