the paper concerns the task of robust fault diagnosis of actuators in non-linear discrete-time systems. the general unknown input observer strategy and the H-infinity framework are utilised to design a robust fault de...
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ISBN:
(纸本)9781467355087;9781467355063
the paper concerns the task of robust fault diagnosis of actuators in non-linear discrete-time systems. the general unknown input observer strategy and the H-infinity framework are utilised to design a robust fault detection scheme. Moreover, the proposed approach enables to perform the isolation of the faulty actuators. the final part of the paper presents an illustrative example which exhibits the performance of the proposed approach.
this paper presents a new multi-dimension predictive model based on the diagonal recurrent neural networks (PDRNN) with a parallel learning algorithm. this method can be used to predict not only values, but also some ...
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ISBN:
(纸本)0780386531
this paper presents a new multi-dimension predictive model based on the diagonal recurrent neural networks (PDRNN) with a parallel learning algorithm. this method can be used to predict not only values, but also some points in the multi-dimension space. And also its applications in data mining will be discussed in the paper. Some analysis results show the significant improvement to ship route prediction using the PDRNN algorithm in database of geographic information system (GIS).
In this work, we describe an energy-based control method for under-actuated soft manipulators. the continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. through a finite-dim...
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ISBN:
(纸本)9789897585227
In this work, we describe an energy-based control method for under-actuated soft manipulators. the continuous dynamics of the soft robot are modeled by the differential geometry of Cosserat beams. through a finite-dimensional truncation, a reduced port-Hamiltonian model is obtained that preserves desirable passivity conditions. Exploiting the passivity, we propose a stabilizing energy-shaping controller that ensures the potential energy is minimal at the desired end-effector configuration. Finally, the effectiveness of the energy-based controller is demonstrated through simulations of a soft manipulator inspired by the tentacle of an octopus.
the slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered fin...
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ISBN:
(纸本)9781509035496
the slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. the results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.
In this paper, a learning control approach is applied to the synchronization of two uncertain chaotic systems which contain nonlinear uncertainties with unknown time delays. this learning approach also deals with unkn...
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ISBN:
(纸本)9781424403417
In this paper, a learning control approach is applied to the synchronization of two uncertain chaotic systems which contain nonlinear uncertainties with unknown time delays. this learning approach also deals with unknown time-varying parameters having distinct periods in the master and slave systems. Using the Lvapunov-Krasovskii functional and incorporating periodic parametric learning mechanism, global stability and asymptotic synchronization between the master and the slave systems are obtained. Simulation studies on representative classes of chaotic systems demonstrate the effectiveness of the proposed approach.
the automation and motion control aspects of a developed multi-sensor measuring system are described in this contribution. the measuring system is designed to automatically detect and survey surface defects of microsc...
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ISBN:
(纸本)9781479951994
the automation and motion control aspects of a developed multi-sensor measuring system are described in this contribution. the measuring system is designed to automatically detect and survey surface defects of microscopic size on macroscopic mechanical components. It is based on the hierarchical combination of optical sensors with different working ranges and resolutions. this measurement approach requires a high level of automation to perform the inspection and measurement tasks. From a control engineering point of view, the path planning and trajectory generation as well as the high-accuracy motion control and friction compensation system are particularly challenging and compose the focus of this contribution.
It is well known that control of PDEs with input delay is just opening up for research. this paper presents boundary control design and stabilization for a reaction-diffusion PDE with diffusion coefficients depending ...
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ISBN:
(纸本)9781424478132
It is well known that control of PDEs with input delay is just opening up for research. this paper presents boundary control design and stabilization for a reaction-diffusion PDE with diffusion coefficients depending on space variable and input time delay. the control design involves an interesting structure of two interconnected PDEs to transfer the input time delay into a space extension. And the stability analysis is characterized in terms of the H-1 norm of the actuator state rather than the usual L-2.
In the recent automation process, the manufacturing automation innovation is being done by using vision technology that can make instant judgement. In this paper, a method of vision based angle estimation is presented...
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ISBN:
(纸本)9781538631577
In the recent automation process, the manufacturing automation innovation is being done by using vision technology that can make instant judgement. In this paper, a method of vision based angle estimation is presented. the central moment is calculated and the rotation angle is estimated by the angle withthe principal axis. there is also a method of estimating the precision rotation angle using the angle between matching points of SIFT descriptors. We propose a rotation angle estimation method that is invariant to object posture. We used affine transformation for the preprocessing of the image for the invariance to object posture. To estimate the accuracy of the rotation angle, we used blobs which are features in the object area. We conducted the angle estimation accuracy and repeatability tests under the experimental environment which has been constructed in our lab. We obtain less than 0.154 angle estimation accuracy.
Hierarchical control for a class of nonlinear systems is discussed using approximate simulation relation in this paper. An error bound is obtained under a modified approximate simulation function at first. the interfa...
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ISBN:
(纸本)9781467318723;9781467318716
Hierarchical control for a class of nonlinear systems is discussed using approximate simulation relation in this paper. An error bound is obtained under a modified approximate simulation function at first. the interface construction problem is solved for a class of nonlinear systems. Moreover, with a small-gain type condition, the abstraction result is extended to interconnected systems with a sufficient condition for approximate simulation when a part of the considered system can be removed by abstraction.
New traffic control strategies require new approaches in computer traffic simulations. To observe and control a realistic traffic flow a micro scale simulation is necessary. the simulation to be performed properly mus...
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ISBN:
(纸本)9781467355087;9781467355063
New traffic control strategies require new approaches in computer traffic simulations. To observe and control a realistic traffic flow a micro scale simulation is necessary. the simulation to be performed properly must base on precise model. that model should be simple, extensible and also should allow for mapping all important elements for the vehicles control and dynamic traffic simulation. In this paper we describe such a model which can be successfully used to simulate the micro-scale traffic. We also present a graphical tool for creation and edition of intersections. Moreover we present a simulation platform which uses the proposed model.
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