In this article we address the problem of expanding literature-known model of quadrotor dynamics and the benefits it brings. this extended model is used together with LQR controller to show the capability of controlle...
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In this article we address the problem of expanding literature-known model of quadrotor dynamics and the benefits it brings. this extended model is used together with LQR controller to show the capability of controlled flight and intuitive 3D trajectory composition.
Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Prop...
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Structure choice and identification of stratified models' parameters are presented in this paper. Stratification is suggested to base on the environmental structure of the plant. Algorithm of Generalized Back Propagation through Time is applied as the identification method. Vertical hot water tank serves as the illustration of application to single dimensional case. methods of generalization on three dimensional case are suggested.
A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then...
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A new relation between Lyapunov theory and control of mechanical models is presented. A goal function is constructed on the base of a mechanical system geometry independently of a control model. Control tasks are then related to a function minimization problem over the system trajectory. It is shown that such minimization problems are strictly related to the Lyapunov condition.
Normalized finite fractional differences are considered as an approximation to the Grunwald-Letnikov fractional difference. In particular, adaptive finite fractional difference (AFFD) is recalled and effectively modif...
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Normalized finite fractional differences are considered as an approximation to the Grunwald-Letnikov fractional difference. In particular, adaptive finite fractional difference (AFFD) is recalled and effectively modified by the introduction of a time-varying forgetting factor. the modified AFFD is shown in simulations to provide an excellent approximation performance, both in terms of the modeling accuracy and robustness.
the paper presents a survey of proposed in the scientific works, as well as applications implemented in industrial practice of anti-sway crane control systems based on the intelligent solution (fuzzy logic, neural net...
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the paper presents a survey of proposed in the scientific works, as well as applications implemented in industrial practice of anti-sway crane control systems based on the intelligent solution (fuzzy logic, neural network and genetic algorithm and hybrid combine solution. the other part of paper contain review of solution concern crane workspace visualization techniques with obstacle identification for non-collision payload trajectory path planning. Presented solution was base on the image processing techniques, especially base on the stereovision technique.
the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the de...
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the current paper proposes a new network control structure based on a nonlinear network transmission model recently proposed by the authors, a switched PD time delay compensator and a state feedback controller. the design methodology described for the control structure consists in a coupling between analytical tuning methods and numerical optimization methods. the stability is assessed in the framework of switched linear systems through a switched quadratic Lyapunov function. Finally, the results are validated on a numerical example.
In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were eval...
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In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were evaluated with respect to energy expenditure on controls and speed of its convergence. Based on characteristic features of the task, two modifications of the algorithm were proposed. Simulations were carried out on the unicycle model and an exemplary nilpotent nonholonomic system. Finally, the relevance of the algorithm to possible applications was discussed.
In the paper an approach to discrete-time frequency response as well as the corresponding parametric model identification using deterministic discrete-time multisine excitations and quantized plant output is presented...
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In the paper an approach to discrete-time frequency response as well as the corresponding parametric model identification using deterministic discrete-time multisine excitations and quantized plant output is presented. A focus on model identification in the case of disturbance-free plant output and output signal level comparable with data acquisition system accuracy is given. Convergence of the identified model to true plant is discussed. the presented discussion is illustrated by an example showing properties of the presented approach.
It is possible to obtain an unbiased coefficient estimates of a stable elementary bilinear time-series model by using Saturated Mean Square Error as a cost function of identification algorithm. However, a proper evalu...
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It is possible to obtain an unbiased coefficient estimates of a stable elementary bilinear time-series model by using Saturated Mean Square Error as a cost function of identification algorithm. However, a proper evaluation of Saturation Level is required to ensure correct placement of the global minimum of the cost function therefore, the variance of the original innovation signal is required. Due to lack of this information before the identification run, an approximation procedure is necessary which is proposed in this paper.
the problem of distributing gas through a network of pipelines is formulated as an linearized nonstationary differential repetitive model subject to some flow-pressure constraints of material balances and pressure bou...
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the problem of distributing gas through a network of pipelines is formulated as an linearized nonstationary differential repetitive model subject to some flow-pressure constraints of material balances and pressure bounds. the linear model is constructed in the neighborhood of the known basic operating regime of gas delivery. the considered problem is to minimize the total supply cost of a gas transmission company withthe minimal guaranteed pressure at the nodes. Some aspects of a comprehensive optimization theory based on a `constructive approach' are discussed.
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