Sterea Ellada Institute of Technology

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Sterea Ellada Institute of Technology

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Koumboulis F.N.,Sterea Ellada Institute of Technology | Fragkoulis D.G.,Sterea Ellada Institute of Technology | Michalainas V.C.,Sterea Ellada Institute of Technology
2017 6th International Conference on Modern Circuits and Systems Technologies, MOCAST 2017 | Year: 2017

Underground mining process elevator systems are modelled using the discrete event system approach. A parametric model of the system for n gallery levels is developed in the form of a finite deterministic automaton. The desired performance of the system is expressed in the form of a set of desired languages where their properties have been investigated. A bank of supervisors satisfying the desired performance requirements is designed using the modular supervisor control approach. © 2017 IEEE.


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.


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
Systems and Control Letters | Year: 2016

The problem of Common Input/Output Triangular Decoupling (TD) for multi model descriptor linear systems is solved, using a static state feedback controller. The necessary and sufficient conditions for the solvability of the problem are established. The set of all state feedback controllers solving the problem under the solvability conditions is derived. For the derivation of the above results, the problem of the inversion of a multiparameter matrix pencil in a triangular matrix form and under linear inequality constraints is solved. © 2016 Elsevier B.V.


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
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.


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

A demining mobile robotic manipulator is considered. The design goal is to eliminate the influence of the gun reaction force to the targeting of the gun. The mathematical model of the mobile manipulator is developed in the form of a nonlinear neutral time delay system. The design goal is formulated as a disturbance rejection problem for the linear approximant of the original nonlinear model. The problem is solved using a dynamic measurement output feedback time delay controller. The good performance of the proposed scheme is illustrated via computational experiments over the nonlinear model of the system. © 2014 IEEE.


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

In the present paper the problem of I/O Decoupling for general neutral multi-delay systems is studied. The controller used is of the measurement output delayless dynamic feedback type. The problem is reduced to a set of linear equations under inequality constraints. The necessary and sufficient conditions for the problem to have a solution are established and the general form of the delayless dynamic controller matrices solving the problem is derived. Analogous results are derived for the solution of the I/O decoupling problem via measurement output delayless static controllers. © 2014 IEEE.

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