Input shaping is a command generation technique that reduces vibration by convolving a sequence of impulses, known as the input shaper, with any desired system command. The success of the approach depends on the chara...
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Input shaping is a command generation technique that reduces vibration by convolving a sequence of impulses, known as the input shaper, with any desired system command. The success of the approach depends on the characteristics of the input shaper. Numerous shapers have been proposed, each with unique properties. The selection of an input shaper for any given system has generally relied to some degree on the knowledge of an expert. An expert system has been developed in an attempt to capture the expertise involved in input shaper design. Furthermore, the design of the input shaper can be refined if the system response is fed back into the expert system.
An approach based on μ-synthesis tools is proposed for the design of robust load frequency controller for electric power system in deregulated environment. In this paper, we consider the system (area) as a collection...
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An approach based on μ-synthesis tools is proposed for the design of robust load frequency controller for electric power system in deregulated environment. In this paper, we consider the system (area) as a collection of independent generation, transmission and distribution companies and Connections between this area and the rest of the system are taken as disturbances. An example is given to illustrate the proposed approach. The resulting controller is shown to minimize the effect of disturbances and achieve acceptable frequency regulation.
An experimental facility for evaluating robot controllers is discussed. Highlighted are the motivation for the need of such a system, its design, modeling, construction, and general use. A recently proposed globally s...
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An experimental facility for evaluating robot controllers is discussed. Highlighted are the motivation for the need of such a system, its design, modeling, construction, and general use. A recently proposed globally stable PID type controller and a passivity based computed torque controller were implemented and some preliminary experimental results are presented. They illustrate the usefulness of this facility.
The force control of robot manipulator RD500 is presented. Then, a multiobjective robust controller synthesis approach for LTI systems subject to a passive perturbation is proposed. Finally, the design of a single-joi...
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The force control of robot manipulator RD500 is presented. Then, a multiobjective robust controller synthesis approach for LTI systems subject to a passive perturbation is proposed. Finally, the design of a single-joint of the manipulator is performed and numerical experiments demonstrate the effectiveness of the proposed multiobjective approach.
The practical challenges encountered in vehicle stability systems are addressed. The five areas discussed include: steering wheel sensors;steering wheel angle estimate;control development philosophy;vehicle side slip ...
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The practical challenges encountered in vehicle stability systems are addressed. The five areas discussed include: steering wheel sensors;steering wheel angle estimate;control development philosophy;vehicle side slip angle estimation;and road bank disturbances.
This paper treats with a survey on recent development in the field of analyzing method of ship's motions and its control at sea. The following items on: (1) Some models representing ship's motions, its identif...
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This paper treats with a survey on recent development in the field of analyzing method of ship's motions and its control at sea. The following items on: (1) Some models representing ship's motions, its identification and filtering method using actual data at sea, (2) control methods and their results in actual on-board experiments are emphasized.
The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. We design a robust adaptive control algori...
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The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. We design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.
This paper deals with the development of a controlsystem for an omnidirectional mobile robot. Our objective, overall control architecture and approach to motion generation are considered. The controlsystem is implem...
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This paper deals with the development of a controlsystem for an omnidirectional mobile robot. Our objective, overall control architecture and approach to motion generation are considered. The controlsystem is implemented and tested on the omnidirectional mobile robot and the experimental results obtained are discussed. The operation of the controlsystem is illustrated by a video on the remote control of the mobile robot and the visually-coupled motion of the two robots.
Linear movement of open containers containing liquid is considered. The design is based on a simple linearized slosh model. An open-loop acceleration trajectory is calculated using optimal control techniques. The calc...
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Linear movement of open containers containing liquid is considered. The design is based on a simple linearized slosh model. An open-loop acceleration trajectory is calculated using optimal control techniques. The calculated acceleration profiles are evaluated using experiments with a laser-based sensor and recordings by a video camera. The performance is better than previous ad-hoc controllers.
This paper presents an interactive tool for rapid system identification. It is based on analysis of step responses. The graphical user interface lets the user manipulate the step response for a given model structure d...
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This paper presents an interactive tool for rapid system identification. It is based on analysis of step responses. The graphical user interface lets the user manipulate the step response for a given model structure directly, and perform a least squares fit to data. A few standard model structures as well as static input non-linearities are handled.
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