this paper proposes a new discrete-time fault estimation scheme that deals with multiple, simultaneous and abrupt actuator failures. the proposed actuator fault estimation scheme is applied to design a fault-tolerant...
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ISBN:
(纸本)9810474806
this paper proposes a new discrete-time fault estimation scheme that deals with multiple, simultaneous and abrupt actuator failures. the proposed actuator fault estimation scheme is applied to design a fault-tolerant H ∞ flight controller for a combat aircraft in tracking bank-angle and pitch-rate commands with zero lateral acceleration. Simulation results demonstrate good performance using the fault-tolerant H ∞ flight controller.
In the one-dimensional (1-D) case, Bellman-Gronwall Lemma plays an important role in the field of system theory. For exam ple, it is a key technique in analyzing the shift-variant systems and adaptive systems. But the...
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ISBN:
(纸本)9810474806
In the one-dimensional (1-D) case, Bellman-Gronwall Lemma plays an important role in the field of system theory. For exam ple, it is a key technique in analyzing the shift-variant systems and adaptive systems. But there is no such result available in the two-dimensional (2-D) case. In this paper, we first establish a sin plifled version of 2-D counterpart of the Bellman-Gronwall Lemma far its potential application in analyzing 2-D shift-variant systems and adaptive systems. then a general version of 2-D Bellman-Gronwall Lemma is derived by a 2-D inductive method. these results are analogical to the 1-D Bellman-Gronwall Lemma.
Cooperative robotic systems provide design and implementation challenges that are not easy to solve. this paper describes a parallel implementation for evolving cooperative robotic behaviour using an island model base...
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ISBN:
(纸本)9810483643
Cooperative robotic systems provide design and implementation challenges that are not easy to solve. this paper describes a parallel implementation for evolving cooperative robotic behaviour using an island model based genetic program on a cluster computer system. the application domain is robot soccer in which two robots must cooperate to avoid collisions with each other and score goals. the system has access to robot and ball positions and outputs velocity set points for the robot wheel motors. the evolved controllers are evaluated on a kinematic model that has been optimised to improve the time complexity of the genetic programming algorithm. the inter-process communication on the cluster is implemented using the message passing interface (MPI).
In this paper a new multi-camera set-up is introduced to improve the controllability of a zinc flotation process. the multi-camera system can analyze the froth appearance simultaneously from six flotation cells. the f...
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ISBN:
(纸本)9810483643
In this paper a new multi-camera set-up is introduced to improve the controllability of a zinc flotation process. the multi-camera system can analyze the froth appearance simultaneously from six flotation cells. the froth appearance is characterized with twelve different parameters that are calculated separately for each cell, and these parameters are used to controlthe flotation process in real-time. the development of this system was motivated by a single-camera system that has been shown in practice to improve considerably boththe grade and recovery of the zinc circuit.
Multi-sensor fusion has been a hot topic in the field of robotics. Inspired by the modern philosophy's spirit, the behavior-based systems interact withthe real world directly. In this study, a fully autonomous mo...
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ISBN:
(纸本)9810474806
Multi-sensor fusion has been a hot topic in the field of robotics. Inspired by the modern philosophy's spirit, the behavior-based systems interact withthe real world directly. In this study, a fully autonomous mobile robot is developed that extracts all its knowledge from physical sensors and expresses all its goals and desires as physical action to affect its environment. the control software implements behavior-based artificial intelligence, where the coordination between various sensors are realized by layers of several simple and primitive behaviors similar to those observed in animals. In the developed mobile robot, each module itself generates behaviors. Behaviors corresponding to different sensors have different priorities, where the vision system has the lowest priority, and the ultrasonic sensors and bumper sensors have higher priority. the effectiveness of the developed system is demonstrated by experimental studies.
Body rotation and orientation sensing mechanisms used by flying insects are introduced and their mathematical models are presented. the analysis and simulations of these models showed the feasibility of using such bio...
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ISBN:
(纸本)9810474806
Body rotation and orientation sensing mechanisms used by flying insects are introduced and their mathematical models are presented. the analysis and simulations of these models showed the feasibility of using such biologically inspired approaches to build biomimetic gyroscopes and angular position detectors. Further, an approximate rigid body model for the insect body dynamics is developed so that attitude stabilization techniques for a flying robotic insect can be tested to illustrate the utility of these novel sensor architectures. To the authors' knowledge, this is the first attempt in using output feedback from biomimetic devices such as ocelli and halteres to achieve attitude stabilization.
In this paper, a new adaptive coupling control algorithm is developed to synchronize motions of two driving wheels of a differential mobile robot so that the robot maintains in the desired trajectory path. Unlike cons...
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ISBN:
(纸本)9810474806
In this paper, a new adaptive coupling control algorithm is developed to synchronize motions of two driving wheels of a differential mobile robot so that the robot maintains in the desired trajectory path. Unlike considerable approaches in the literature, in this study motions of driving wheels instead of the robot configuration are directly controlled in a synchronous manner. this strategy avoids the involvement of nonholonomic constraints in the control design, and therefore simplifies the practical implementation significantly. the proposed controller incorporates the cross-coupling technology into adaptive control architecture, and guarantees asymptotic convergence to zero of both position tracking errors and the synchronization error. Experiments have been conducted to verify the effectiveness of the proposed control approach.
Evolutionary algorithms have often been applied to evolve controllers for robot locomotion. In an attempt to imitate biological systems, most previous approaches have utilized neural networks and central pattern gener...
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ISBN:
(纸本)9810483643
Evolutionary algorithms have often been applied to evolve controllers for robot locomotion. In an attempt to imitate biological systems, most previous approaches have utilized neural networks and central pattern generators to construct the controllers. In contrast to the conventional approach, control points for Hermite splines are evolved, rather than neuron weightings. A spline based control system has the advantages that it is simple to implement, requires little processing power, and the complexity of the controller can easily be altered. Initially limiting the splines control point parameters allows for faster evolution of the initial gait, and by progressively adding extra parameters the initial gait can be refined to produce an optimized final gait. this provides the robot designer with an early approximate gait for the robot, in less time than required to evolve a full control sequence by other means.
Integral quadratic constraints (IQC) arise in many optimal and/or robust control problems. the IQC approach can be viewed as a generalization of the classical multiplier approach in the absolute stability theory. In t...
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ISBN:
(纸本)9810483643
Integral quadratic constraints (IQC) arise in many optimal and/or robust control problems. the IQC approach can be viewed as a generalization of the classical multiplier approach in the absolute stability theory. In this paper, we study the relationship between the two approaches for robust stability analysis. the key result shows that for many applications, the existence of an IQC is equivalent to the existence of a multiplier. Because the multiplier approach is typically simpler and more intuitive, this result suggests that the multiplier approach may be more useful than the IQC approach in many applications.
Homogeneous Electro-Rheological Fluid (ERF) is a smart fluid that can control its viscous coefficient by applying an electric field. therefore, an application of this fluid can create a damping device in a mechanical ...
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ISBN:
(纸本)9810483643
Homogeneous Electro-Rheological Fluid (ERF) is a smart fluid that can control its viscous coefficient by applying an electric field. therefore, an application of this fluid can create a damping device in a mechanical system. However, an ER effect of the fluid is easily changed by shear rate variation or temperature variation. In this study, a viscous coefficient control method using variable structure control is proposed, and the application of the control method to a clutch using homogeneous ERF is demonstrated. As a result, the viscous coefficient of the clutch was accurately and speedily controlled by the proposed control method. therefore, it is possible to obtain a reliable ER device that is not influenced by variations in this fluid property.
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