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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61-70 订阅

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Cascade balance-based adaptive control of heating system — Simulation validation

Cascade balance-based adaptive control of heating system — ...

引用

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

作者： Michal Fratczak Rafal Czubasiewicz Faculty of Automatic Control Electronics and Computer Science Institute of Automatic Control Gliwice Poland

This paper is dedicated to simulation validation of cascade control structure for heating system consisting of single heat source and single heat receiver. In this structure, two Balance-Based Adaptive Controllers are applied. One of them has the conventional form while the second one (so-called distributed parameter Balance-Based Adaptive Controller operating in primary loop) is derived based on simplified distributed parameter modeling of plate heat exchanger. Modeling of heating system is based on measurement data collected from real laboratory plant and the simulation validation shows significant superiority of the suggested control approach in terms of control performance.

关键词： Resistance heating Water heating Adaptation models Data models Process control

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An easily trained neural model of a distributed parameter system

An easily trained neural model of a distributed parameter sy...

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

作者： Maciej Ławryńczuk Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland

This paper is concerned with black-box modelling of a distributed parameter thermal system (a long duct) by means of neural networks. A new model structure is discussed which consists of a set of local neural sub-models and a neural interpolator. The local sub-models calculate temperatures for a number of predefined locations of sensors. They are trained independently, using limited data sets. Next, the neural interpolator, using the local temperatures modelled by the sub-modes, calculates the value of the temperature for any sensor location. The interpolator is also trained independently. This paper also discusses the method of choosing which local sub-models should be actually used. It is shown that for the initial structure with 10 sub-models as many as 6 or 7 of them may be removed without significant deterioration of overall model accuracy.

关键词： Temperature sensors Training Ducts Data models Neural networks Temperature measurement

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stability and stabilization of the subclass of 2D systems modeled as descriptor systems

Stability and stabilization of the subclass of 2D systems mo...

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

作者： Bartłomiej Sulikowski Krzysztof Gałkowski Eric Rogers Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland Department of Electronics and Computer Science University of Southampton Southampton UK

Ladder circuits are a member of a class of spatially interconnected systems and can be considered as two-dimensional (2D) systems where information is propagated in two separate directions, i.e., in time and space represented by a node number. In previous work, results on the modeling, stability analysis and stabilization of such systems were given but in some cases a descriptor-like system model can result and hence these earlier results cannot be applied. This paper gives new results on the stability and stabilization of examples described by such a descriptor system model.

关键词： Integrated circuit modeling Two dimensional displays Mathematical model stability analysis Circuit stability Analytical models state-space methods

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Control system design procedure of a mobile robot with various modes of locomotion

Control system design procedure of a mobile robot with vario...

引用

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

作者： Dawid Seredyński Maciej stefańczyk Konrad Banachowicz Bartosz Świstak Vitalii Kutia Tomasz Winiarski Institute of Control and Computation Engineering Warsaw University of Technology Warsaw Poland Department of Automation National University of Water Management and Nature Resources Use Rivne Ukraine

In this article the design procedure of a control system of a mobile robot with various modes of locomotion has been considered. The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them. The procedure was introduced to speed up and organize the whole controller development process. The effectiveness of the proposed approach is proved through control system development and experimental verification of the custom-built Lynx mobile robot with vertical and horizontal modes of locomotion.

关键词： Legged locomotion Control systems Hardware Mobile communication Robot sensing systems

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A random time-series decomposition and its applications in time-series identification

A random time-series decomposition and its applications in t...

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

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

In this paper a decomposition of observed mixtures of wide-sense stationary time-series coming from different sources into the corresponding orthogonal components being autoregressive-moving-average (ARMA) time-series is proposed. The first step is to estimate power spectral density or autocorrelation function for the observed mixture. models of the mentioned orthogonal components are obtained by an optimisation algorithm utilizing ideas of randomized search. Exemplary applications of the proposed decomposition in identification of ARMA time-series models using ultra low- and ultra high-power measurements obtained with data acquisition system equipped with quantizer having saturation as well as in identification of ARMA components of time-series being outputs of classical Wiener or Hammerstein systems excited by white noise are presented. The presented discussion is illustrated by a set of simulated identification experiments.

关键词： Data acquisition White noise Random processes Data models Linear programming Correlation Minimization

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Practical verification of adaptive dynamic matrix control with interpolated parameters

Practical verification of adaptive dynamic matrix control wi...

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

作者： Tomasz Kłopot Piotr Skupin Faculty of Automatic Control Silesian University of Technology Gliwice Poland

The paper presents the experimental studies of the adaptive dynamic matrix control (DMC) algorithm with interpolated parameters. The idea of adaptation mechanism is to determine the controller parameters that appear in the control law equation for several operating points of the system. In turn, the parameter values between the two consecutive operating points are calculated by using linear spline interpolation. The effectiveness of the adaptive DMC algorithm is studied for the electric flow heater for various number of operating points (interpolation nodes) in the presence of step changes in the set point and mean power of the electric heater. The obtained results show that it is possible to significantly reduce the number of interpolation nodes, while keeping the control system performance at a satisfactory level.

关键词： Interpolation Monte Carlo methods Resistance heating Heuristic algorithms Adaptive systems

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Comparision of model predictive, input shaping and feedback control for a lab-scaled overhead crane

Comparision of model predictive, input shaping and feedback ...

引用

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

作者： Jaroslaw Smoczek Janusz Szpytko Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

The paper focuses on comparing the model predictive control, feedback controller and input shaping control for a laboratory scaled overhead traveling crane. The adaptive control of an overhead crane is developed based on the Generalized Predictive Control (GPC) procedure. Particle swarm optimization is applied to solve the optimal constrained control problem. The recursive least square (RLS) algorithm is applied to real-time estimate parameters of discrete-time model of a crane dynamic system. Feasibility and applicability of the proposed control technique were confirmed during experiments carried out on a laboratory stand. The results of experiments are presented and compared with the performances of the feedback controller and zero vibration derivative (ZVD) input shaper.

关键词： Cranes Payloads Feedback control Prediction algorithms Predictive control Adaptive control Heuristic algorithms

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Sensitivity of optimal controls for time delay parabolic systems

Sensitivity of optimal controls for time delay parabolic sys...

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

作者： Adam Kowalewski Zbigniew Emirsajłow Jan Sokołowski Anna Krakowiak Faculty of Electrical Engineering Institute of Automatics and Biomedical Engineering Cracow Poland Institute of Control Engineering West Pomeranian University of Technology Szczecin Institut Elie Cartan Systems Research Institute of the Polish Academy of Sciences Poland France Institute of Mathematics Technical University of Cracow Cracow Poland

The first order sensitivity analysis is performed for a class of optimal control problems for time delay parabolic equations in which retarded arguments appear in the integral form with h ϵ (0,6). The optimality system is analyzed with the respect to a small parameter. The directional derivative of the optimal control is obtained as a solution to an auxiliary optimization problem. The control constraints for the auxilary optimization problem are received.

关键词： Optimal control Sensitivity analysis Mathematical model Analytical models Delay effects Optimization

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Dynamic quasi-soft VSC of discrete-time systems with magnitude-constrained inputs

Dynamic quasi-soft VSC of discrete-time systems with magnitu...

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

作者： Przemysław Ignaciuk Institute of Information Technology Lodz University of Technology Lodz Poland

In order to improve convergence rate while retaining smooth control action soft Variable structure Control (VSC) can be considered. The classical formulation of soft VSC in continuous time domain assumes smooth switching among an infinite number of controllers. In now commonplace digital implementation changing the control structure is limited to sampling instances, leading to a quasi-soft control system. This paper explores the possibility of extending the favorable characteristics of dynamic soft VSC to the input-constrained systems with finite sampling. The design procedure and stability analysis are conducted directly in discrete time domain. The properties of the proposed controller are formally proved and illustrated by numerical tests. Comparison with discrete sliding-mode control is provided.

关键词： Convergence Time-domain analysis Switches Lyapunov methods Variable structure systems Robustness

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Solvability of reactions and inverse dynamics problem for complex kinematic chains

Solvability of reactions and inverse dynamics problem for co...

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

作者： Marcin Pękal Janusz Frączek Paweł Tomulik Division of Theory of Machines and Robots Warsaw University of Technology Warsaw Poland

Driving forces and joint reactions for a known, prescribed motion of a robot have to be determined in a process of robot design. For robots with complex kinematical structure and/or redundantly actuated the inverse dynamic problem may have non-unique solution. Certain driving forces or selected reactions in some joints may still be unique, however. The paper presents a general method of detection of unique drives and joint reactions. The kinetostatic analysis with free-body diagram of the robot is used. Three variants of the method are proposed: rank comparison method, and QR and SVD based methods. Two simple robotic systems are considered as examples: planar gripper and spatial redundant manipulator.

关键词： Robot kinematics Transmission line matrix methods Grippers Jacobian matrices Indexes Kinematics

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