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检索条件"任意字段=2012 17th International Conference on Methods and Models in Automation and Robotics, MMAR 2012"

共 71 条记录，以下是41-50 订阅

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Nonlinear indirect adaptive control of a Fed-batch fermentation Bioprocess

Nonlinear indirect adaptive control of a Fed-batch fermentat...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Dan Selişteanu Emil Petre Dorin Şendrescu Monica Roman Department of Automation Electronics and Mechatronics University of Craiova Craiova Romania

this paper addresses the design of an adaptive control strategy for an alcoholic fermentation bioprocess, which takes place inside of a Fed-batch Bioreactor (FBB). this bioprocess is highly nonlinear, some state variables are not measurable and moreover the reaction kinetics is not perfectly known. the kinetic parameters are estimated by using a high-gain nonlinear estimator. An asymptotic state observer is derived so as to provide the unavailable states necessary to the kinetics estimator. Finally, the indirect adaptive control law is designed by combining a linearizing controller with the nonlinear observers. Several numerical simulations are performed, in order to test the proposed nonlinear adaptive control strategy.

关键词： Observers Adaptive control Kinetic theory Substrates Biomass Adaptation models

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Neural networks in local state estimation

Neural networks in local state estimation

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international conference on methods and models in automation and robotics (mmar)

作者： Ladislav Král Miroslav Šimandl NTIS - New Technologies for Information Society & Department of Cybernetics University of West Bohemia Pilsen Czech Republic

the problem of state estimation with partially unknown system dynamics is proposed and discussed. the unknown part of nonlinear functions in system dynamics are approximated by neural networks (NN's). System state and the NN unknown parameters are estimated simultaneously in real-time without necessity of any off-line training process of NN. three local estimators were applied to the problem of NN based state estimation. the estimation qualities of the considered estimators are compared within three numerical examples covering a different kind of uncertainty in the model description.

关键词： Artificial neural networks State estimation Mathematical model Approximation methods Noise Kalman filters

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the path following control of a unicycle based on the chained form of a kinematic model derived with respect to the Serret-Frenet frame

The path following control of a unicycle based on the chaine...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Joanna Płaskonka Institute of Computer Engineering Control and Robotics Wroclaw University of Technology Wroclaw Poland

In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. the Serret-Frenet frame is used to describe the robot relative to the desired path. the way how to transform obtained equations describing kinematic model derived with respect to the Serret-Frenet frame into the chained form is introduced. the kinematic control algorithm which is a combination of Astolfi algorithm - used for systems in the chained form - and Samson algorithm - dedicated to the unicycle - is proposed and compared to the Morin-Samson algorithm. Simulation results are shown to verify the effectiveness of the proposed method.

关键词： Mobile robots Kinematics Mathematical model Equations Robot kinematics Proposals

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Feedforward control design for a four-rotor UAV using direct and indirect methods

Feedforward control design for a four-rotor UAV using direct...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Tobias Grüning Andreas Rauh Harald Aschemann Mechatronics University of Rostock Rostock Germany

To calculate feedforward control strategies by means of dynamic optimization procedures, the alternatives of direct and indirect methods are compared in this paper. the direct optimization approaches that are considered in this paper make use of the Hermite-Simpson method and of the Legendre Pseudospectral method as underlying discretization strategies. their description is followed by a short introduction to the maximum principle of Pontryagin, i.e., the indirect method. All procedures are employed to compute feedforward control sequences for the flight control of a four-rotor UAV, which is an unstable, nonlinear multi-input multi-output system. the optimization results are compared with respect to their accuracy and applicability.

关键词： Optimal control Mathematical model Feedforward neural networks Polynomials Cost function

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A simplified adaptive Kalman filter algorithm for carrier recovery of M-QAM signals

A simplified adaptive Kalman filter algorithm for carrier re...

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international conference on methods and models in automation and robotics (mmar)

作者： János Gal Andrei Câmpeanu Communications Department Politehnica University Timisoara Romania

the paper proposes a carrier synchronization procedure for high-order QAM modulated signals that uses a decision-directed extended Kalman filtering (EKF) technique. the proposed method combines the Kalman filter with a lock detector to establish the status of the synchronization process, modifying adaptively the Kalman filter parameters. As compared with the complete EKF filter, the proposed synchronization algorithm simplifies the Kalman measurement model to a single scalar equation reducing significantly the computational complexity of the algorithm. Simulations show that the simplified Kalman algorithm has equivalent synchronization performances with the complete EKF filter.

关键词： Synchronization Kalman filters Detectors Mathematical model Quadrature amplitude modulation Phase locked loops Adaptation models

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A reduction of a controller set of switched controller for positioning of a drillship on a sea surface

A reduction of a controller set of switched controller for p...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Paweł Dworak Chair of Control Engineering and Robotics West Pomeranian University of Technology Szczecin Poland

In the paper a multicontroller-based switchable control system for nonlinear MIMO plants is presented. the control system synthesis is carried out by linearization of the adopted nonlinear plant model at its operating “points”. thus the considered structure contains a collection of linear feedback controllers. In the first stage of the adopted method a great number of controllers is synthesized. the paper discuss problems with reduction of such controller set to make it smaller and possible to implement the system in e.g. constrained memory of programmable automation devices. As an example a nonlinear model of a drilling vessel in three degrees of freedom (3DOF) on a sea surface is used as a MIMO plant to be controlled. Here the controller set depends on the preset ship yaw angle and the velocity of the sea current. the methods of reduction and their possible results are compared and discussed.

关键词： Marine vehicles Mathematical model MIMO Switches Polynomials Sea surface

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State estimation of fuzzy Sugeno systems with local nonlinear rules and unmeasurable premise variables

State estimation of fuzzy Sugeno systems with local nonlinea...

引用

international conference on methods and models in automation and robotics (mmar)

作者： H. Moodi M. Farrokhi Department of Electrical Engineering Iran University of Science and Technology Tehran Iran

this paper considers the design of observers for a class of continuous and discrete-time nonlinear systems presented by Takagi-Sugeno (T-S) model with nonlinear subsystems and unmeasurable premise variables. As a result, the proposed T-S structure reduces the number of rules in the Sugeno model by using local nonlinear rules. Moreover, it can represent larger class of nonlinear systems as compared to the measurable premise variable case. the proposed observer guarantees exponential convergence of state estimation error by Lyapunov stability analysis and linear matrix inequality (LMI) formulation. Numerical examples illustrate effectiveness of the proposed method.

关键词： Observers Numerical models Fuzzy systems Nonlinear systems Convergence Vectors

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the Grünwald-Letnikov formula and its equivalent Horner's form accuracy comparison and evaluation for application to fractional order PID controllers

The Grünwald-Letnikov formula and its equivalent Horner's f...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Dariusz W. Brzeziński Piotr Ostalczyk Institute of Applied Computer Science Lodz University of Technology Lodz Poland

In this paper we discuss a problem of numerical calculation accuracy of the Fractional-order Backward Difference/Sum (FOBD/S) of some discrete functions applied in discrete control strategies, in real-time closed-loop systems. We compare Grünwald-Letnikov formula vs. its Horner's equivalent form, as well as their “simplified” forms, in our opinion, an interesting tool in minimization of the time and memory shortage problems often to meet in such systems.

关键词： Accuracy Real-time systems Shape Microprocessors Approximation methods Context Computer science

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Application of topological derivative to accelerate genetic algorithm in shape optimization of coupled models

Application of topological derivative to accelerate genetic ...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Antonio André Novotny Katarzyna Szulc Antoni Zochowski LNCC / MCT Petropolis Rio de Janeiro Brazil System Research Institut Polish Academy of Sciences Warsaw Poland

In the paper, a variant of the genetic algorithm for finding the location and size of small holes is considered. Both linear and non-linear elliptic boundary value problems are introduced in two domains with the conditions of transmission on the common boundary. the expansion of the shape functional for non-linear part and the expansion of Steklov-Poincare operator for linear part are provided in order to determine the form of topological derivative for the coupled model. the value of topological derivative is used for computing the probability density applied later in generating location of holes for genetic algorithm.

关键词： Shape Mathematical model Genetic algorithms Optimization Computational modeling Boundary conditions

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Study of predictive control for Permanent Magnet Synchronous Motor drives

Study of predictive control for Permanent Magnet Synchronous...

引用

international conference on methods and models in automation and robotics (mmar)

作者： Květoslav Belda Department of Adaptive Systems Institute of Information Theory and Automation AS CR Prague Czech Republic

the paper deals with a study of model predictive control applied to three-phase Permanent Magnet Synchronous Motors (PMSM). these motors are used in drives of robots and machine tools. the construction of their model is discussed here with respect to a model-based control design. the model is composed via mathematical-physical analysis. the analysis is outlined in the main theoretical points. the predictive control is explained as a promising alternative to standard solution based on vector cascade control. In predictive control design, the quadratic criterion, equations of predictions and specific square-root optimization procedure are explained. the proposed solution is illustrated by several simulation examples and compared with data records of real experiment of vector control.

关键词： Mathematical model Permanent magnet motors Stator windings Predictive control Equations Predictive models

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