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94 篇 会议

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检索条件"任意字段=21st International Conference on Methods and Models in Automation and Robotics, MMAR 2016"

共 94 条记录，以下是31-40 订阅

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Dynamic stabilization of the pendulum in a moving potential well

Dynamic stabilization of the pendulum in a moving potential ...

引用

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

作者： Maciej Ciężkowski Department of Automatics and Robotics Bialystok University of Technology Wiejska 45C Bialystok Poland

The paper presents a new approach to the dynamic stabilization of the pendulum in an arbitrary angle. In this approach the desired angle of the pendulum's position is changed in time. This is achieved by controlling the angle of oscillations of the pendulum's suspension point which leads to controlling the pendulum in a moving potential well. The exemplary form of the input control was proposed and then the ability to control the pendulum was confirmed by numerical analysis. Additionally, the transition of the pendulum through the whole range of its angle position has been shown.

关键词： Suspensions Mathematical model Oscillators Vibrations Mechanical energy stability analysis Potential well

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Adaptive tracking control of a Duffing oscillator with hard error constraints

Adaptive tracking control of a Duffing oscillator with hard ...

引用

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

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

A general tracking control problem is solved for a chaotic system (Duffing oscillator) with unknown parameters, under the additional requirement that the tracking error must remain inside an imposed hard constraint. The barrier Lyapunov functions technique is applied in an adaptive backstepping scheme. Several system properties are investigated and benefits coming from state variable constraints are discussed. The same approach may be used for chaos synchronization and chaotification.

关键词： Oscillators Trajectory Lyapunov methods Backstepping Chaos Synchronization Force

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Adaptation in active noise control — A simulation case study

Adaptation in active noise control — A simulation case stud...

引用

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

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

In this paper properties of adaptive algorithms utilising ideas of stochastic gradient search optimisation applied to noise reduction are discussed. A focus on their average rate of convergence as well as on the obtained noise reduction is given. The presented discussion is based on a simulation case study devoted to noise reduction using a feedforward adaptive active noise control system.

关键词： Adaptation models Microphones stochastic processes Noise reduction Adaptive systems Optimization Feedforward neural networks

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Design of a controller for stabilization of spherical robot's sideway oscillations

Design of a controller for stabilization of spherical robot'...

引用

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

作者： Kacper Landa Adam Krzysztof Pilat Master's student at Automatic Control and Robotics AGH University of Science and Technology Cracow Poland Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Cracow Poland

In this study, the dynamics and control aspects of a spherical rolling robot's lateral motion are investigated. An approximate, simplified to a single plane, mathematical model is derived using Lagrange equations to check stability of the system. Utilizing the fusion of sensor data, a precise orientation measurement is achieved. Document focuses on a synthesis of a PID controller reducing sideway oscillations that occur in motion of a spherical robot with internal pendulum mechanism.

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Identification of a multivariable incremental model of the vessel

Identification of a multivariable incremental model of the v...

引用

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

作者： Anna Miller Department of Ship Automation Gdynia Maritime University Gdynia Poland

In this paper the incremental linear state-space model identification procedure is presented. In contrast to spacestate models incremental models are not popular due to their identification complication. Model structure selection, identification and validation procedures are described in details. Accurate prediction model cannot simultaneously be acceptable simulation model. They are identified using different algorithms and are used for different purposes. Proposed methodology shows that simple and good quality prediction incremental model can be obtained and used for future Model Predictive Control purposes.

关键词： Mathematical model Predictive models Computational modeling Marine vehicles state-space methods Predictive control Prediction algorithms

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On evaluating H∞ and H2 performance of uncertain systems

On evaluating H∞ and H2 performance of uncertain systems

引用

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

作者： Vladimir Pozdyayev Arzamas Polytechnic Institute of Alekseev Nizhny Novgorod State Technical University Arzamas Russia

In this paper we consider optimization problems related to calculating and H 2 performance of linear systems with structured uncertainty. A way to transform these problems that reduces computational power required to find their solutions is presented. The resulting approach allows finding performance lower bounds using an optimization method proposed earlier by the author. Its properties include being reasonably easy to use, and its search space coverage being adjustable via the algorithm's settings.

关键词： Uncertainty Linear matrix inequalities Optimization methods Atomic measurements Linear systems Output feedback

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structural stability of biological models with switchings

Structural stability of biological models with switchings

引用

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

作者： Magdalena Ochab Krzysztof Puszynski Andrzej Swierniak Institute of Automatic Control Silesian University of Technology Gliwice Poland

We analyse properties of the control system with switchings in parameters. We consider biological model of proteins production in three variants of the model structure: a simple model without any autoregulation, the one with negative feedback loop and one with positive. In the system we introduce an action of drug in order to decrease proteins number. The drug application is considered as a step change of the protein degradation parameter. The aim of this work is to analyse stability of the model.

关键词： Mathematical model Proteins Switches steady-state Negative feedback loops Drugs

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Optimal stopping of controlled linear stochastic systems

Optimal stopping of controlled linear stochastic systems

引用

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

作者： Edward Kozłowski Department of Quantitative Methods Lublin University of Technology Lublin Poland

The optimal control problem with stopping for a discrete time linear stochastic system is investigated in this paper. Sometimes, in order to optimally realise the aim we need to know how long the system will be controlled. The traditional solutions with fixed terminal time are not enough to control the system optimally. The general aim of optimal control and stopping consists in minimization of a composite cost function. The paper presents two methods of solving this problem. A numerical example is included to illustrate the optimal control with stopping.

关键词： Optimal control stochastic systems Linear systems Optimization Linear programming Random processes

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Towards control development for flexibly automated systems in high-level programming environments

Towards control development for flexibly automated systems i...

引用

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

作者： Elzbieta Roszkowska Kamil Mowinski Department of Cybernetics and Robotics Wroclaw University of Science and Technology Poland

The paper presents an approach to control development for FMSs with mobile-robot transport systems. The proposed architecture of the system comprises two loosely coupled DFSA based controllers that can cooperate with both real and simulated plants. The formal representation of the control concept ensures its correctness, while the modular architecture of the system allows development and testing of different control policies for both supervisory control and motion control of the mobile robots. The proposed approach is illustrated by its example implementation in the Matlab/Simulink/stateflow programming environment.

关键词： Machining Robot kinematics Mobile robots Automata Frequency modulation Resource management

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Fractional order controller in a servo drive — Case of cogging moment

Fractional order controller in a servo drive — Case of cogg...

引用

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

作者： Bogdan Broel-Plater Paweł Dworak Krzysztof Jaroszewski Chair of Control Engineering and Robotics West Pomeranian University of Technology in Szczecin Szczecin Poland

Results of using fractional order PI current controller, and classical one, in case of cogging effect in servo drive are presented in the paper. The general cascade control system of the servo drive and motor model with dry friction are presented. The most significant result in case of using fractional order current controller (FOCC) observed for starting servo drive in the presence of cogging moment are presented and commented.

关键词： Servomotors Permanent magnet motors Mathematical model Torque Forging Synchronous motors Friction

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