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Koumboulis F.N.,Sterea Ellada Institute of Technology
IEEE Transactions on Automatic Control | Year: 2016

The problem of common Input/Output Decoupling for multi model descriptor linear systems is solved, using a static state feedback controller. To solve the problem, an algebraic tool is developed. The necessary and sufficient conditions for the solvability of the problem are established and the set of all state feedback controllers solving the problem under these conditions is derived. The design approach is successfully applied to constrained elbow manipulators. © 1963-2012 IEEE.


Koumboulis F.N.,Sterea Ellada Institute of Technology
2014 22nd Mediterranean Conference on Control and Automation, MED 2014 | Year: 2014

For the case of regularizable linear singular multi delay systems the design problem of Exact Model Matching with simultaneous Disturbance Rejection (EMMDR) is solved under the assumption that the ideal model is left invertible and using a general proportional multi delay measurement output feedback type controller. The necessary and sufficient conditions for the problem to admit a realizable controller solution are established and the general solution of the realizable controllers is derived. © 2014 IEEE.


Koumboulis F.N.,Sterea Ellada Institute of Technology | Kouvakas N.D.,Sterea Ellada Institute of Technology
Journal of the Franklin Institute | Year: 2016

Modeling and control of a mobile robotic manipulator having a wheeled platform, with passive and active suspension, and a manipulator carrying an inertia load, is studied. The overall model is developed in a nonlinear singular neutral time delay system form. The special case of flat road and single joint manipulator is studied and the linear approximant of its model is derived. Using a dynamic controller involving delays, I/O decoupling between the vertical position of the load and the velocity of the wheeled platform under the constraint of norm bounded load contact forces, is derived. © 2015 The Franklin Institute.


Koumboulis F.N.,Sterea Ellada Institute of Technology | Kouvakas N.D.,Sterea Ellada Institute of Technology | Giannaris G.L.,University of Aegean | Vouyioukas D.,University of Aegean
ISA Transactions | Year: 2016

The problem of independent control of the performance variables of a tower crane through a wireless sensor and actuator network is investigated. The complete nonlinear mathematical model of the tower crane is developed. Based on appropriate data driven norms an accurate linear approximant of the system, including an upper bound of the communication delays, is derived. Using this linear approximant, a dynamic measurable output multi delay controller for independent control of the performance outputs of the system is proposed. The controller performs satisfactory despite the nonlinearities of the model and the communication delays of the wireless network. © 2015 ISA.


Koumboulis F.N.,Sterea Ellada Institute of Technology | Kouvakas N.D.,Sterea Ellada Institute of Technology
19th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2014 | Year: 2014

The problem of active vibration absorption for ride comfort improvement is investigated upon a quarter car model. Using the linear approximant of the plant, a PID controller that minimizes the L1 norm of the impulse response mapping the disturbance to the performance output is proposed. The controller parameters are selected using a metaheuristic algorithm. The performance of the proposed scheme is illustrated through simulation. © 2014 IEEE.

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