this paper presents the results of determining thermal model parameters of the supercapacitors used in industrial applications. the energy losses inside the supercapacitor were determined based on measured current and...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this paper presents the results of determining thermal model parameters of the supercapacitors used in industrial applications. the energy losses inside the supercapacitor were determined based on measured current and voltage during the charging and discharging cycles. Based on them and measured temperatures, the thermal resistances of conduction and convection and the heat capacities were calculated. thermal model parameters were derived for different charging and discharging currents leading to supercapacitor heating. Results will allow the temperature of supercapacitor housing and terminals to be calculated, depending on the charging and discharging currents at a constant ambient temperature.
this paper presents the transfer function analysis of the closed-loop system with an active disturbance rejection control (ADRC) algorithm. Although the classical interpretation of the extended state observer (ESO) an...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this paper presents the transfer function analysis of the closed-loop system with an active disturbance rejection control (ADRC) algorithm. Although the classical interpretation of the extended state observer (ESO) and control algorithm (state feedback) in the state space usually allows for achieving satisfactory control quality, the presented analysis enables calculation of the obtained pole values in the closed-loop system. Furthermore, reduction of the algorithm order by omitting the non-dominant poles of the control plant has also been proposed. the experiments were carried out on a third-order mechanical object, a ball balancing table (BBT) setup. In addition to reducing computational complexity, the presented order reduction procedure allows one to improve the properties of a closed-loop system in the case of poles with large modules affecting the control quality.
this paper addresses trajectory tracking in a stochastic environment. Active disturbance rejection control (ADRC) in a generalized approach was designed for a two degrees of freedom (DoF) mechanical system, a ball bal...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this paper addresses trajectory tracking in a stochastic environment. Active disturbance rejection control (ADRC) in a generalized approach was designed for a two degrees of freedom (DoF) mechanical system, a ball balancing table (BBT). A modification of the extended state observer (ESO) tuning based on the Kalman filter (KF) gains was presented. the experiments were carried out for different levels of measurement noise. Using the proposed modification of the ESO gains selection, a better quality of trajectory tracking under measurement noises was achieved compared to the standard pole placement (PP) tuning method.
We address the motion planning problem for smooth control-nonlinear systems by presenting a regularised version of the well-established homotopy continuation method. the proposed approach (inspired by Tikhonov regular...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
We address the motion planning problem for smooth control-nonlinear systems by presenting a regularised version of the well-established homotopy continuation method. the proposed approach (inspired by Tikhonov regularisation in the Moore-Penrose pseudo-inverse theory) deals withthe two issues of the classical method: the singularities of the endpoint map of the nonlinear control system and the global existence of solutions of a differential equation posed on the control space, the path lifting equation (PLE). We analyse the properties of our method and show that it is always well-posed and that the regularised PLE always possesses a global solution. We additionally examine the effect of the regularisation and we give conditions under which the regularized solution converges to the initial solution. Finally, we illustrate the potential of our method through several numerical examples.
this paper presents a solution to the set-point control problem for nonholonomic mobile robots in the presence of time and control input constraints. We consider the kinematics of a unicycle mobile robot, in which the...
this paper presents a solution to the set-point control problem for nonholonomic mobile robots in the presence of time and control input constraints. We consider the kinematics of a unicycle mobile robot, in which the constraints on the control inputs are longitudinal and angular velocity limitations, while the time constraints impose an upper bound on a settling time for stabilization errors. We show a solution based on the Vector-Field-Orientation (VFO) methodology, which is characterized by non-oscillatory transient states and well-predictable time evolution of these states. Formally derived upper bounds of settling time for configuration errors are verified by results of numerical simulations and experimental results obtained in a fast prototyping system.
this work addresses the issues of robust consensus in descriptor multi-agent systems. the interaction topology among agents is considered as a directed graph and the proposed distributed consensus protocol is output f...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this work addresses the issues of robust consensus in descriptor multi-agent systems. the interaction topology among agents is considered as a directed graph and the proposed distributed consensus protocol is output feedback-based. the robust consensus control problem is reformulated through a unified framework model into a robust stability problem for a single agent. the controller gain parameters are obtained by solving a set of linear matrix equality constraints and strict linear matrix inequality constraints. these constraints are derived from the bounded real lemma. the effectiveness of the proposed methodology is illustrated through a numerical example.
In this paper, we deal withthe problem of self-collision detection for a mobile-manipulating robot. Typically, this problem is solved by the method that precisely checks the collision between triangles in the 3D mesh...
In this paper, we deal withthe problem of self-collision detection for a mobile-manipulating robot. Typically, this problem is solved by the method that precisely checks the collision between triangles in the 3D meshes. In this case, the iterative methods for collision checking use techniques like Bounding Volume Hierarchy that reduce the computation time. However, collision checking is still time-consuming during motion planning when this procedure is executed multiple times. To deal withthis problem, we propose to define collision detection as a binary classification problem. then, we show how to collect samples to train the machine learning model for classification. We systematically compare a set of techniques and evaluate them in the task of motion planning for a robotic arm taking into account the accuracy and computation time. the obtained collision classifier is implemented and verified in the Robot Operating System.
In the Two Rotor Aerodynamical System the aim of the control is to achieve the azimuth and pitch angles reference values. However, TRAS is a non-linear system in which cross-coupling occurs - each of the two rotors af...
In the Two Rotor Aerodynamical System the aim of the control is to achieve the azimuth and pitch angles reference values. However, TRAS is a non-linear system in which cross-coupling occurs - each of the two rotors affects both angular values. therefore, to prepare two control values one should use both angular values for each of them. the obvious solution is a system that uses four controllers. In the article it was decided to use only FOPID and to check the behavior of the system in three different arrangements: parallel, cascade and hybrid. the tests were carried out in the Matlab / Simulink environment. For optimization purposes the Grey Wolf Optimizer algorithm was used, which helped to find coefficients.
In this paper, we propose novel algorithms for the Scheduling and Location problem (called ScheLoc problem) that combine fields of job scheduling withthe makespan criterion on unrelated machines and machine deploymen...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
In this paper, we propose novel algorithms for the Scheduling and Location problem (called ScheLoc problem) that combine fields of job scheduling withthe makespan criterion on unrelated machines and machine deployment. this research’s fundamental aim and distinguishing feature is the application of robust (nondeterministic) optimization with interval data for the ScheLoc problem (deterministic problem with precisely defined input parameters). the minimax regret criterion is considered as the measure of robustness, and the release dates of jobs are represented as well-defined intervals. We show that the algorithms designed for the robust optimization problem with interval release dates determined based on the ScheLoc problem can achieve a lower makespan than a schedule obtained by the greedy algorithm intended for the deterministic ScheLoc problem.
Cellular networks are growing in complexity at increasing speed and the geographical locations in which they are deployed in are getting denser. Traditional control methods fall short in providing a scalable and dynam...
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