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101 篇 会议

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检索条件"任意字段=2014 19th International Conference on Methods and Models in Automation and Robotics, MMAR 2014"

共 101 条记录，以下是71-80 订阅

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Frequency response identification using integrated bispectra — Periodic disturbances case

Frequency response identification using integrated bispectra...

引用

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

作者： Teresa Główka Jarosław Figwer Institute of Automatic Control The Silesian University of Technology Gliwice Poland

In the paper an approach to discrete-time frequency response identification of a plant operating under feedback in the case of periodic disturbances is presented. In the presented approach to discrete-time frequency response identification integrated bispectra and higher-order non-gaussian multisine excitations are applied. A focus on almost sure convergence of the identified discrete-time frequency response to true plant is given. the presented discussion is illustrated by examples showing effectiveness of the proposed approach.

关键词： Frequency response Spectral analysis Closed loop systems Frequency-domain analysis Transfer functions Data models Random processes

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Bi-fractional filters, part 2: Right half-plane case

Bi-fractional filters, part 2: Right half-plane case

引用

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

作者： Jerzy Baranowski Paweł Piątek Waldemar Bauer Tomasz Dziwiński Marta Zagórowska Department of Automatics and Biomedical Engineering AGH University of Science and Technology Kraków

In this paper a special case of non-integer filters - namely bi-fractional filters (BFF) - are considered. those filters are characterised by three parameters and offer rich possibilities of frequency response shaping. this paper is a continuation of an earlier research and focuses on stable filters with eigenvalues in right complex half plane. Conditions on stability of such filters are presented, their impulse responses are analysed and certain remarks on frequency characteristics are given.

关键词： Approximation methods Polynomials Asymptotic stability Stability criteria Cutoff frequency Eigenvalues and eigenfunctions

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Controlling Brownian motion applied to macroscopic group robots without mutual communication

Controlling Brownian motion applied to macroscopic group rob...

引用

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

作者： Teturo Itami Division of Mechanical System and Robotics Hiroshima International University Hiroshima Japan

We control macroscopic Brownian motion by group robots. To make an object track a required path, feedforward control input is found using our preceding model of continuum mechanical description. We use dynamical balance in continuum mechanics to calculate the feedforward input in each time. We see a phenomenon that the object does not move in a required direction in initial stage of Brownian motion. Due to the phenomenon, large feedback component added to the feedforward input is not avoided to make the object track a required path. We show that feedforward with feedback component works well. But appropriate prediction of a dead time must be incorporated into our continuum model.

关键词： Robots Collision avoidance Mathematical model Force Feedforward neural networks Equations Distribution functions

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Multiple use of the fractional-order differential calculus in the model predictive control

Multiple use of the fractional-order differential calculus i...

引用

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

作者： Stefan Domek Faculty of Electrical Engineering West Pomeranian University of Technology Szczecin Poland

In the paper a multiple use of the fractional-order differential calculus theory in the model predictive control is proposed. First, the principle of the integer-order linear predictive control and theoretical foundations of the fractional-order differential calculus are reminded. Using the presented theoretical foundations attention is focused further on the possibility of developing the fractional-order model predictive control with an internal process model and a fractional-order cost function. the introduction of the fractional-order differential calculus at the stage of synthesizing the control algorithm offers an additional degree of freedom in tuning a control loop. the discussion is illustrated with results of some laboratory experiments.

关键词： Predictive control Calculus Cost function Predictive models Prediction algorithms Computational modeling Vectors

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About dynamic decoupling of a nonlinear MIMO dynamic plant

About dynamic decoupling of a nonlinear MIMO dynamic plant

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 in Szczecin Szczecin Poland

the paper presents a method of synthesis and implementation of the multi-controller control structure for a dynamic decoupling of the multi-input multi-output (MIMO) nonlinear dynamic plant. the proposed structure uses some known techniques in order to reduce effects of coupling of the nonlinear plants inputs and outputs. A multi-controller structure is created after linearization of the adopted nonlinear plant model at its operating points and synthesis of the linear controller that dynamically decouple the local linear plant model. Such an adaptive controller varies its parameters depending on the current plant operating point. the presented simulation results confirm applicability of the proposed method.

关键词： Stability analysis Mathematical model Marine vehicles Vectors Equations Closed loop systems

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Some remarks on discretisation of spatially invariant systems

Some remarks on discretisation of spatially invariant system...

引用

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

作者： Petr Augusta Institute of Information Theory and Automation Academy of Sciences of the Czech Republic Prague

the paper deals with discretisation of 2-D spatially invariant systems. three different discretisation schemes are used - Tustin's approximation, backward difference scheme and Crank-Nicolson discretisation. their properties and importance are discussed in the paper. As an example a heat conduction in a rod is considered. Its model discrete in both time and space is obtained using all the above mentioned difference schemes. To determine whether the discrete model converges to the solution, von Neumann analysis of stability is applied to each scheme. the system is stabilised with use of each of obtained discrete models. Numerical simulations are included. Experiments with changing the parameters of discretisation are also given.

关键词： Approximation methods Mathematical model Heating Transfer functions Numerical models Equations Closed loop systems

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Direct adaptive control based on LS-SVM inverse model for nonlinear systems

Direct adaptive control based on LS-SVM inverse model for no...

引用

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

作者： Tarek A. Mahmoud Lamiaa M. Elshenawy Industrial Electronics and Control Engineering Department Menoufia University Egypt

this article proposes an inverse model control scheme for unknown nonlinear systems. the proposed scheme structures the inverse dynamics of the controlled system offline. this is done using a least squares support vector machine (LS-SVM) network that based on the Fuzzy C-Means (FCM) clustering technique. then the proposed network is updated online to determine the appropriate control action. A linear feedback compensator is added to ensure the closed loop stability. Simulation results of a continuous stirred tank reactor (CSTR) demonstrate the efficiency of the proposed approach.

关键词： Adaptation models Support vector machines Chemical reactors Computational modeling Process control Mathematical model Trajectory

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Practical implementation of adaptive friction compensation based on partially identified LuGre model

Practical implementation of adaptive friction compensation b...

引用

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

作者： Jacek Kabziński Marcin Jastrzębski Institute of Automatic Control Lodz University of Technology Lodz Poland

We present implementation of the proposed adaptive control algorithm working together with a partially identified LuGre friction model to improve performance of linear permanent magnet motor servo. Experimental verification of the system operation is described. We discuss in detail identification of the model parameters, we describe necessary tests and comment on the model accuracy. We give detailed information about control system parameter tuning and we discuss the effect of measurement errors and numerical limitations of a discrete controller on the system performance. We investigate effects of parameter variations on the obtained tracking accuracy for different desired position trajectories.

关键词： Friction Force Adaptation models Iron Trajectory Observers Adaptive control

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A new output feedback adaptive input time-delay compensation scheme for uncertain systems

A new output feedback adaptive input time-delay compensation...

引用

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

作者： Boris Mirkin Per-Olof Gutman Yuri Shtessel Faculty of Civil and Environmental Engineering Technion – Israel Institute of Technology Haifa Israel University of Alabama in Huntsville Huntsville Alabama USA

Design of output feedback model reference adaptive control (MRAC) for a class of systems with input delay based only on the lumped-delays is developed. To overcome the difficulty to directly predict the plant output, a control design is proposed based on new approach. the approach relies on a decomposition of the adaptive control design procedure where a “generalized error”, and auxiliary linear filters with adjustable gains are introduced. the effect of such a decomposition is to pull the input delay out of first step of the design procedure.

关键词： Delays Adaptation models Adaptive control Equations Delay effects Mathematical model Transfer functions

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Single camera-based crane sway angle measurement method

Single camera-based crane sway angle measurement method

引用

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

作者： Pawel Hyla Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

this paper presents the architecture of the non-contact sensor for measuring the rope swinging angle in two planes. the sensor were dedicated to the all kind of the crane device, especially to overhead travelling crane. the main objective of this statement applies a solution for improving early developed and described non-contact vision swinging sensor. In the article, the author main attention has been focused on issues related to the possibility of using a "smart camera" device as a full functional contactless two-dimensional sway sensor. All tests and considerations were conducted on the scaled physical model of overhead travelling crane with hosting capability 150kg.

关键词： Measurement by laser beam Cranes Machine vision Smart cameras Cameras Payloads Laser beams

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