the proceedings contain 211 papers. the topics discussed include: experimental validation of LMI approaches for robust control design of a spatially three-dimensional heat transfer process;the excitation controller wi...
ISBN:
(纸本)9781479987016
the proceedings contain 211 papers. the topics discussed include: experimental validation of LMI approaches for robust control design of a spatially three-dimensional heat transfer process;the excitation controller with gain scheduling mechanism for synchronous generator control;a motion planning algorithm for the invalid initial state disassembly problem;task scheduling with restricted preemptions on two parallel processors;the steady state response of a lti system with singular perturbations in the physical domain;fractional control differential-algebraic systems with many delays - relative controllability;advanced methods of controller design for pneumatic servodrives;parametric optimization of PD alpha controller using Laguerre function approximation;parallel digraphs-building algorithm for polynomial realisations of one-dimensional positive systems with delays;and online identification of an electric PEMFC model for power control by NMPC.
In this paper, we present a numerical method to solve fractional ordinary differential equation (FDE) with Caputo derivative of order in the range (0,1]. the proposed scheme is a variant of Adams - Bashforth - Moulton...
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ISBN:
(纸本)9781479987016
In this paper, we present a numerical method to solve fractional ordinary differential equation (FDE) with Caputo derivative of order in the range (0,1]. the proposed scheme is a variant of Adams - Bashforth - Moulton method. In the final part, examples of numerical results are discussed.
In the first part of this paper the operation mechanism of exchanging the data used in vehicles and equipment as well as the applied security measures have been presented. In the further part of the work, the identifi...
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ISBN:
(纸本)9781479987016
In the first part of this paper the operation mechanism of exchanging the data used in vehicles and equipment as well as the applied security measures have been presented. In the further part of the work, the identification method for the data in the network, for which the encoding system is not known, has been discussed. Subsequently, a suggestion of the decoding method for the network-derived data has been presented.
In this paper a method is introduced that combines Inertial Measurement Unit (IMU) readouts with low accuracy and temporarily unavailable velocity measurements (e.g., based on kinematics or GPS) to produce high accura...
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ISBN:
(纸本)9781479987016
In this paper a method is introduced that combines Inertial Measurement Unit (IMU) readouts with low accuracy and temporarily unavailable velocity measurements (e.g., based on kinematics or GPS) to produce high accuracy estimates of velocity and orientation with respect to gravity. the method is computationally cheap enough to be readily implementable in sensors. the main area of application of the introduced method is mobile robotics.
the aim of this paper is to investigate a direct numerical method for solving a class of a fractional variational problem (FVP). the fractional derivative in the FVP is in the Caputo sense. the Rayleigh-Ritz method is...
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ISBN:
(纸本)9781479987016
the aim of this paper is to investigate a direct numerical method for solving a class of a fractional variational problem (FVP). the fractional derivative in the FVP is in the Caputo sense. the Rayleigh-Ritz method is introduced for the numerical solution of the FVP. the corresponding Euler-Lagrange equation contain the left and right Caputo fractional derivatives. We approximate the solution of the FVP by using the trigonometric function. Finally, the illustrative example is presented.
the routing problem with optimal stopping of linear system is investigated in this paper. the classical linear quadratic control problem was replaced by determining the optimal trajectory (way, track, path). the gener...
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ISBN:
(纸本)9781479987016
the routing problem with optimal stopping of linear system is investigated in this paper. the classical linear quadratic control problem was replaced by determining the optimal trajectory (way, track, path). the general aim of optimal stopping and route determining consists of minimization of composite cost function. To illustrate the optimal track a numerical example is included.
this paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In...
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ISBN:
(纸本)9781479987016
this paper describes the investigation of linear and parametric iterative learning control (ILC) methods with an integrated computed torque control approach and the application in a mobile multi-body service robot. In addition to the controller structure, the development of the nonlinear dynamic model and the trajectory generation for the robot-configuration control are briefly explained.
In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approxima...
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ISBN:
(纸本)9781479987016
In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approximation of half order impedance, allows to multiple-switching between orders 0.5 and 1. Moreover, numerical scheme for solving variable order differential equations is introduced. Experimental results of modeling are also presented and compared with numerical simulations.
the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft i...
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ISBN:
(纸本)9781479987016
the paper describes a nonlinear controller design technique for a servo drive in the presence of: 1) nonlinear friction (or any other load torque), 2) a flexible shaft that connects the motor and the load. the shaft is characterized by the stiffness and the damping coefficients. the proposed controller is based on adaptive backstepping, modified by the use of command filtering. Although in the presence of damping the model is not in a strict-feedback form, the proposed approach allows to accomplish the rigorous proof of the closed-loop system stability. Several experiments prove the control effectiveness and robustness against un-modelled dynamics.
the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been tak...
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ISBN:
(纸本)9781479987016
the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been taken into account. Simulations have been performed for two different objects. Based on the obtained results, it can be said that in some cases incorrect modelling can allow the best estimation quality.
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