The fractional- order PI alpha D-beta controller is more flexible and gives an opportunity to better adjust dynamical properties of a fractional-order control system than the traditional PID controller. However, the p...
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ISBN:
(纸本)9783540733737
The fractional- order PI alpha D-beta controller is more flexible and gives an opportunity to better adjust dynamical properties of a fractional-order control system than the traditional PID controller. However, the parameter selection is more difficult for such a controller, because it introduces two additional parameters alpha and beta. For this problem, this paper proposes a fractional-order PI alpha controller with self-tuning parameters based on neural network, and discusses the discretization method and the design method of the PI alpha controller. The architecture of back-propagation neural networks and parameters self-tuning algorithm of the controller are described. Experiment results show that the controller presented not only maintains the performance of the normal fractional-order PI alpha controller, but also has better flexibility and parameters self-tuning ability.
A girth seam tracking system based on structured light vision for pipe welding robot is presented. Firstly, the vision sensor is designed based on the analysis of laser reflection on weldment surface and the position ...
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ISBN:
(纸本)9783540733737
A girth seam tracking system based on structured light vision for pipe welding robot is presented. Firstly, the vision sensor is designed based on the analysis of laser reflection on weldment surface and the position relation of camera, laser plane and weldment for the effect of laser stripes imaging. Image processing and features extraction algorithms are developed in case of strong multiple reflections disturbance in welding seam image. An image-based vision control system of welding robot is adopted for girth seam tracking of pipe weldment. Girth seam tracking experiment by pipe welding robot was conducted to verify the performance of the system.
This monograph presents a variety of techniques that can be used for designing robust fault diagnosis schemes for non-linear systems. The introductory part of the book is of a tutorial value and can be perceived as a ...
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ISBN:
(数字)9783540711162
ISBN:
(纸本)9783540711148
This monograph presents a variety of techniques that can be used for designing robust fault diagnosis schemes for non-linear systems. The introductory part of the book is of a tutorial value and can be perceived as a good starting point for the new-comers to this field. Subsequently, advanced robust observer structures are presented. Parameter estimation based techniques are discussed as well. A particular attention is drawn to experimental design for fault diagnosis. The book also presents a number of robust soft computing approaches utilizing evolutionary algorithms and neural networks. All approaches described in this book are illustrated by practical applications.
A geodesic-based formulation of geometric PD tracking control for fully actuated mechanical systems is derived from the Riemannian metric. The region of stability is determined directly from the magnitude of the syste...
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ISBN:
(纸本)9783540738893
A geodesic-based formulation of geometric PD tracking control for fully actuated mechanical systems is derived from the Riemannian metric. The region of stability is determined directly from the magnitude of the system's injectivity radius and, for a restricted set of control problems, the locus of cut points about a desired reference point in the manifold. Exponential stability is proven for controlled motion along a geodesic, yielding a particularly simple, yet elegant, methodology for control design.
The peak of resonance current during commutation greatly influences the safety of commutation component in variable polarity plasma arc welding (VPPAW). It is necessary to study measure to restrain the current peak. P...
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ISBN:
(纸本)9783540733737
The peak of resonance current during commutation greatly influences the safety of commutation component in variable polarity plasma arc welding (VPPAW). It is necessary to study measure to restrain the current peak. Phenomenon of arc resonance current is studied by experiments. Analysis shows that the arc resistance is time variable. Model of commutation circuit is set up and simulated. Results indicate that adjusting damp ratio of system is valid to restrain peak of resonance current. Then a new commutation strategy is presented based on variable structure control method. The commutation circuit is redesigned to apply new commutation strategy. Experimental result shows that the peak of resonance current is restrained while commutation speed unchanged. This paper is instructive to design high power supply of VPPAW.
In this paper we study the problem of synchronization of networked. Lagrangian systems. This problem arises in applications such as the control of multiple robots, formation control of UAV's, mobile sensor network...
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ISBN:
(纸本)9783540738893
In this paper we study the problem of synchronization of networked. Lagrangian systems. This problem arises in applications such as the control of multiple robots, formation control of UAV's, mobile sensor networks, Kuramoto oscillators, and teleoperation. We assume that the agents exchange position and velocity information over a network described by an interconnection graph. We consider only linear interconnections on balanced, directed graphs but similar results can also be derived for nonlinear interconnections on undirected graphs. Our results exploit the well-known passivity property of Lagrangian mechanical systems. We demonstrate synchronization on both fixed and switching graphs. In the case of fixed graphs, the passivity property allows us, in addition, to treat the practically important problem of time delay in communication.
In this paper we analyze the equations of motion of a submerged rigid body. Our motivation is based on recent developments done in trajectory design for this problem. Our goal is to relate some properties of singular ...
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ISBN:
(纸本)9783540738893
In this paper we analyze the equations of motion of a submerged rigid body. Our motivation is based on recent developments done in trajectory design for this problem. Our goal is to relate some properties of singular extremals to the existence of decoupling vector fields. The ideas displayed in this paper can be viewed as a starting point to a geometric formulation of the trajectory design problem for mechanical systems with potential and external forces.
In this paper, a laser vision system based on synchronous scanning technology is developed. The proposed system is composed of a fixed CCD camera, a fixed line laser projector and a scanning mirror. While the scanning...
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ISBN:
(纸本)9783540733737
In this paper, a laser vision system based on synchronous scanning technology is developed. The proposed system is composed of a fixed CCD camera, a fixed line laser projector and a scanning mirror. While the scanning mirror rotates under the control of a stepping motor, the optical paths of projection and receiver are changed synchronously. The geometrical relation is discussed for designing an experimental prototype. The experiment results obtained from the scanning system are also shown. The measurement accuracy is equivalent to the conventional vision sensors. The system utilizing the less complex mechanism can realize a wide angle-of-view 3D surface acquisition.
A new Remote Robotic Welding System (RRWS) with a number of intelligent sensors and based on the control strategy of "macroscopic teleoperation, microscopic autonomous", was investigated. By analyzing the re...
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ISBN:
(纸本)9783540733737
A new Remote Robotic Welding System (RRWS) with a number of intelligent sensors and based on the control strategy of "macroscopic teleoperation, microscopic autonomous", was investigated. By analyzing the remote robotic welding process, it is found that the cooperation and coordination of all subsystem and operator are the key technology and the guarantee of RRWS's practical application. And then multi-agent based modeling and control of RRWS were studied because that the multi-agent thinking is very suitable to the characteristics of RRWS. By this means, the separate advantages of human and machines separately were utilized fully. Lastly, the results demonstrated that the RRWS can be applied in practice efficiently, reliable and precisely by modeling and control using multi-agent technology.
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