Showing papers by "Vicente Feliu-Batlle published in 2015"

Fractional-order mathematical model of an irrigation main canal pool

Abstract: In this paper a fractional order model for an irrigation main canal is proposed. It is based on the experiments developed in a laboratory prototype of a hydraulic canal and the application of a direct system identification methodology. The hydraulic processes that take place in this canal are equivalent to those that occur in real main irrigation canals and the results obtained here can therefore be easily extended to real canals. The accuracy of the proposed fractional order model is compared by deriving two other integer-order models of the canal of a complexity similar to that proposed here. The parameters of these three mathematical models have been identified by minimizing the Integral Square Error (ISE) performance index existing between the models and the real-time experimental data obtained from the canal prototype. A comparison of the performances of these three models shows that the fractional-order model has the lowest error and therefore the higher accuracy. Experiments showed that our model outperformed the accuracy of the integer-order models by about 25%, which is a significant improvement as regards to capturing the canal dynamics.

Payload Mass Identification of a Single-Link Flexible Arm Moving under Gravity: An Algebraic Identification Approach

Abstract: We deal with the online identification of the payload mass carried by a single-link flexible arm that moves on a vertical plane and therefore is affected by the gravity force. Specifically, we follow a frequency domain design methodology to develop an algebraic identifier. This identifier is capable of achieving robust and efficient mass estimates even in the presence of sensor noise. In order to highlight its performance, the proposed estimator is experimentally tested and compared with other classical methods in several situations that resemble the most typical operation of a manipulator.