the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Opti...
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ISBN:
(纸本)9781457709142
the paper presents a combined prior knowledge - black-box approach to modeling of the dynamic systems. Proposed methodology assumes two basic steps: first an optimization of a physical model, using Particle Swarm Optimization algorithm is performed. Next, a black-box model is estimated so as to reduce the remaining error of the physical model. Proposed methodology was presented on the example of improving the accuracy of a pneumatic actuator physical model.
In the paper a novel method of analog modeling of fractional order integrators is presented. In particular, two special cases are discussed, i.e. integrators of order alpha = 0.25, and alpha = 0.5. the method proposed...
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ISBN:
(纸本)9781457709142
In the paper a novel method of analog modeling of fractional order integrators is presented. In particular, two special cases are discussed, i.e. integrators of order alpha = 0.25, and alpha = 0.5. the method proposed is based on the domino ladder approximation of irrational transfer function. It allows to obtain an analog model using only electric elements like resistors and capacitors of standard produced values.
An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which th...
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ISBN:
(纸本)9781457709142
An adaptive fuzzy logic control scheme is developed for tracking a square trajectory by the endpoint of a two-link rigid joint space robot. the control strategy is based on a direct adaptive control scheme in which the controller gains are adapted in real-time according to fuzzy logic systems such that the tracking errors between a reference model and the actual robot system outputs are brought to zero.
this paper touches upon the issue of dexterous control of rehabilitation robots. there have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the grav...
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ISBN:
(纸本)9781457709142
this paper touches upon the issue of dexterous control of rehabilitation robots. there have been proposed a high-level control system and algorithms used for training patients. Emphasis was made especially on the gravitation compensation algorithm, because of the low velocity and acceleration of movement parameters during rehabilitation. the direction of movements was estimated based on the model of surface electromyographic (sEMG) signal, which renders muscle activity very well. the model of manipulator is stable, behaves in a predictable way and, according to the EMG interpretation block, satisfyingly deduces the intention of motion and controls the model.
A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tr...
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ISBN:
(纸本)9781457709142
A physically based, nonlinear model of the masses of air and burned gas inside the cylinders of a spark ignition (SI) engine is presented. Goal of this work is to develop a feed forward control law, which perfectly tracks given reference values of these masses. this is done by utilizing the exact linearization approach [1]. the final feed forward control law is verified in combination with a slightly modified design model as well as the original model.
this paper presents an identification method of dynamic systems based on the Group Method of Data Handing. In particular, a new structure of the dynamic neuron in pole representation is proposed. Moreover, a new train...
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ISBN:
(纸本)9781457709142
this paper presents an identification method of dynamic systems based on the Group Method of Data Handing. In particular, a new structure of the dynamic neuron in pole representation is proposed. Moreover, a new training algorithm based on the Unscented Kalman Filter is presented. the final part of this work contains an illustrative example regarding the application of the proposed approach to an identification of the tunnel furnace.
Recently, study on a control of flexible manipulators have been receiving increasing attension in the domain of master-slave system. the master-slave system is a control system to operate a manipulator for objects in ...
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ISBN:
(纸本)9781467322478
Recently, study on a control of flexible manipulators have been receiving increasing attension in the domain of master-slave system. the master-slave system is a control system to operate a manipulator for objects in a remote environment which is at a distance from the presence of a human operator. In order to consider the influence by the elasticity of flexible manipulators, it is necessary to study on the control of vibration of flexible master-slave manipulators and the passivity. thus in this paper, we discuss about a new modified bilateral controller considering the elasticity by using intervention impedance in basis on the passivity and a control performance of the system. this paper is organized in the following way: First, we introduce mechanical models of manipulators. Second, we propose bilateral controls by using intervention impedance based on passivity. third, we transeform each models represented by time domain into models represented by s-plain, find the scattering matrix, and prove the passivity of system. Fourth, we propose a new modified controller controller for the purpose of realizaion. Lastly, we show some results of experiments in order to verify the usefulness of proposed controller.
this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. Fr...
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ISBN:
(纸本)9781457709142
this paper uses the continuation method as a guideline to address the trajectory planning problem in robotic systems. It is assumed that the robotic system can be represented by a control affine system with output. From the homotopy map a partial differential equation is derived involving the control system and its variational system, whose solution yields a 1 parameter family of control functions. this family contains a solution to the trajectory planning problem, corresponding to the parameter growing up to infinity. the approach developed in the paper is illustrated with a trajectory planning problem for the kinematics of the rolling ball.
the proceedings contain 78 papers. the topics discussed include: composite control of periodic-review just-in-time inventory systems with asymmetric costs;sensitivity-based feedforward and feedback control using algor...
ISBN:
(纸本)9781424478279
the proceedings contain 78 papers. the topics discussed include: composite control of periodic-review just-in-time inventory systems with asymmetric costs;sensitivity-based feedforward and feedback control using algorithmic differentiation;robust polynomial eigenstructure assignment control of a class of nonlinear systems;constrained robot motion planning: imbalanced Jacobian algorithm vs. optimal control approach;control of nonholonomic autonomous vehicles and their formations;energy saving control in low cost pneumatic positioning systems;autonomous navigation of transport robot in the urban environment;application of adaptive neural network to dishwasher operation control;Takagi-Sugeno-Kang type fuzzy models with fuzzy equations in the consequence part;numerical method for drag minimization in compressible flows;adaptive tracking-control synthesis for functionally uncertain systems via modified backstepping;and sensitivity analysis of infinite order hyperbolic optimal control problems.
the automation industry seeks for positioning systems with high dynamics and precision. In robotics or other lightweight applications where mechatronic drives are used, the end-effector often undesirably oscillates du...
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ISBN:
(纸本)9781457709142
the automation industry seeks for positioning systems with high dynamics and precision. In robotics or other lightweight applications where mechatronic drives are used, the end-effector often undesirably oscillates due to a relatively low system damping. Knowing the frequency of the damped oscillation would allow, e. g. "posicast"-or "input shaping"-control methods. thus, suppression or even elimination of such an oscillation can be achieved. When the frequency changes due to e. g. variable loads or gravitational issues, the control settings should be changed as well. then dynamics/precision can be held among non oscillation. Having a method which adapts e. g. a shaper to the actual frequency would allow a better suppression of such an oscillation. During run time, several sensor data of a mechatronic system contains this frequency more or less incisive. Several methods which may estimate online (during run time) this frequency in "transient"-as well as "semi-steady"-state were discussed in the following.
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