the Supervisory controltheory allows the model-based synthesis of restrictive controllers for Discrete Event Systems. To enable the design of enforcing controllers, the consideration of enforceability is reasonable b...
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ISBN:
(纸本)9781467355087;9781467355063
the Supervisory controltheory allows the model-based synthesis of restrictive controllers for Discrete Event Systems. To enable the design of enforcing controllers, the consideration of enforceability is reasonable besides the event property of controllability. therefore, either the formal framework may be extended by admitting an appropriate control law, or the modeling strategy may be adjusted. In this paper, we present four different approaches for the consideration of event enforcement in the context of the Supervisory controltheory, discuss their advantages and disadvantages, and compare them by the application to a simple example.
In this paper, we provide a tutorial introduction to a topological approach for the computation of some supremal sublanguages, often specified by language equations, that arise in the study of the supervisory control ...
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ISBN:
(纸本)9781728177090
In this paper, we provide a tutorial introduction to a topological approach for the computation of some supremal sublanguages, often specified by language equations, that arise in the study of the supervisory controltheory. As an illustration, we show that the supremal sublanguages for properties such as normality, prefix-closedness, trace-closedness, L-closedness and prefix-closed controllability are supremal open subsets of certain topologies. thus, the supremal sublanguages correspond to the interiors and can be directly expressed.
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the...
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ISBN:
(纸本)9789897585227
Engineering efforts are one of the major cost factors in today's industrial automation systems. We present a configuration system, which grants a reduced obligation of engineering effort. through self-learning the configuration system can adapt to various tasks by actively learning about its environment. We validate our configuration system using a robotic perception system, specifically a picking application. Perception systems for robotic applications become increasingly essential in industrial environments. Today, such systems often require tedious configuration and design from a well trained technician. these processes have to be carried out for each application and each change in the environment. Our robotic perception system is evaluated on the BOP benchmark and consists of two elements. First, we design building blocks, which are algorithms and datasets available for our configuration algorithm. Second, we implement agents (configuration algorithms) which are designed to intelligently interact with our building blocks. On an examplary industrial robotic picking problem we show, that our autonomous engineering system can reduce engineering efforts.
the study of properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. this paper aim to briefly survey recent results on stability and controllability of s...
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ISBN:
(纸本)9781467355087;9781467355063
the study of properties of switched and hybrid systems gives rise to a number of interesting and challenging mathematical problems. this paper aim to briefly survey recent results on stability and controllability of switched linear systems. First, the stability analysis for switched systems is reviewed. We focus on the stability analysis for switched linear systems under arbitrary switching, and we highlight necessary and sufficient conditions for asymptotic stability.
In the paper the idea of advanced control, including automatic reconfiguration in case of single fault presence, diagnostics and monitoring of all components of ventricle assist system is given. Presented solution was...
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ISBN:
(纸本)9781467355087;9781467355063
In the paper the idea of advanced control, including automatic reconfiguration in case of single fault presence, diagnostics and monitoring of all components of ventricle assist system is given. Presented solution was prepared for most recent series of controllers working with pneumatic, pulsatile VAD system. the general concept of realization of mentioned above tasks was discussed, as well as the current state of implementation was summarized.
Cable-driven parallel robot (CDPR) is a special class of parallel manipulators where the motion of end effector (EE) is controlled by flexible cables attached to it. In industrial robotics field, CDPRs have quite a hi...
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ISBN:
(纸本)9788993215151
Cable-driven parallel robot (CDPR) is a special class of parallel manipulators where the motion of end effector (EE) is controlled by flexible cables attached to it. In industrial robotics field, CDPRs have quite a high usability. Recently, kinematics and dynamics of CDPRs have been analyzed intensively. But still, there is a problem in identification of position and orientation which need to be researched. In this study, we developed a real-time vision-based localization technique for EE of planar CDPR. We developed a robust algorithm which includes camera calibration and real-time monitoring of a visual marker. A planar CDPR with two translation and one rotation parameters used for proving ground. the results prove the reliability of developed vision system.
Robust path following capability is mandatory for an unmanned boat to perform tasks autonomously. this paper presents a mixed H-infinity/H-2 based control which enables the boat to follow paths with connected straight...
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ISBN:
(纸本)9781424478132
Robust path following capability is mandatory for an unmanned boat to perform tasks autonomously. this paper presents a mixed H-infinity/H-2 based control which enables the boat to follow paths with connected straight line segments and circular arcs in the absence of yaw angle measurement. the performance of the strategy is evaluated in field test and will be discussed in the paper.
In this paper, we mainly study the Stackelberg strategy for the two-player game with time delay. A feedback-form open-loop strategy is obtained for the game with identical linear-quadratic cost function based on the m...
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ISBN:
(纸本)9781467318723;9781467318716
In this paper, we mainly study the Stackelberg strategy for the two-player game with time delay. A feedback-form open-loop strategy is obtained for the game with identical linear-quadratic cost function based on the maximum principle and the shifting method.
In this paper, the convergence accuracy of system states in discretized sliding mode control (SMC) systems is thoroughly analyzed using big O notation. It confirms that for a n-th order system, system states x(1), x(2...
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ISBN:
(纸本)9781424478132
In this paper, the convergence accuracy of system states in discretized sliding mode control (SMC) systems is thoroughly analyzed using big O notation. It confirms that for a n-th order system, system states x(1), x(2), ... , x(n) have different convergence rates.
Characterizations of the approximated differentiator used in digital control are derived. the gap between the pure differentiator and its approximation is modeled as an additive perturbation. Two types of quadratic ch...
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ISBN:
(纸本)9781424478132
Characterizations of the approximated differentiator used in digital control are derived. the gap between the pure differentiator and its approximation is modeled as an additive perturbation. Two types of quadratic characterizations are obtained. One is the L-2 gain and the other is related to the passivity property. the results guarantee that the perturbation is small when the sampling period is small enough, and can be used for robust control design when the perturbation is not negligible.
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