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 this contribution a concept is presented, which offers independent controllability of pressure and flow-rate whitin process plants. the dynamic of those plants is highly nonlinear and the control variables are coup...
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ISBN:
(纸本)9781424478132
In this contribution a concept is presented, which offers independent controllability of pressure and flow-rate whitin process plants. the dynamic of those plants is highly nonlinear and the control variables are coupled. Furthermore, time delays have to be considered. the proposed control concept consists of a nonlinear decoupling controller in combination with an extended smith predictor. the functionallity of the controller is demonstrated by measurements on a test bench.
the paper is considered the problem of improving the stabilization of nonlinear controlled systems. It is proposed to solve the problem by introducing cubic components into the control law. Using the method of polynom...
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ISBN:
(纸本)9789897585227
the paper is considered the problem of improving the stabilization of nonlinear controlled systems. It is proposed to solve the problem by introducing cubic components into the control law. Using the method of polynomial transformation, a comparative analysis of the influence of cubic components on the dynamics of a controlled systems is presented. As a result, some conclusions about the choice of the structure and parameters of the nonlinear control law are presented and recommendations are given.
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.
In this paper, the method of the determination reachability index set of the positive system described by the second Fornasini-Marchesini model, using digraph theory and GPU computing method has been presented. the me...
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ISBN:
(纸本)9781467355087;9781467355063
In this paper, the method of the determination reachability index set of the positive system described by the second Fornasini-Marchesini model, using digraph theory and GPU computing method has been presented. the method is illustrated withthe numerical example. For tbe presented problem, the function as a m-file has been constructed in Matlab.
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.
the problem of synthesis a dynamic positioning system for low frequency model of surface vessel was considered in this paper. the recursive vectorial backstepping control design was used to keep a fixed position and h...
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ISBN:
(纸本)9781467355087;9781467355063
the problem of synthesis a dynamic positioning system for low frequency model of surface vessel was considered in this paper. the recursive vectorial backstepping control design was used to keep a fixed position and heading in presence of wave disturbances. the passive observer was introduced to smooththe measurements and to estimate the velocities needed for the control algorithm. Some parameters of observer were optimized off-line using GA. the computer simulation results were given to demonstrate the effectiveness of that combination of controller-observer system to compensate environmental disturbances. the simulation results were compared with PID controller.
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.
In this study, a motor feedback control system for education using a microcomputer called ARM32 was developed. this system is comprised of easily available electronic parts. the development functions and the control r...
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ISBN:
(纸本)9781509035496
In this study, a motor feedback control system for education using a microcomputer called ARM32 was developed. this system is comprised of easily available electronic parts. the development functions and the control response examples are shown in this paper.
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