the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been tak...
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the impact of the usage another than the Gaussian probability density functions in transition and measurement models has been verified in the article. Cases, in which wrong models have been assumed, also have been taken into account. Simulations have been performed for two different objects. Based on the obtained results, it can be said that in some cases incorrect modelling can allow the best estimation quality.
Control of active magnetic bearings is an important area of research. In this paper authors present the methodology of design, discretization and implementation PI λ D controller for magnetic levitation system. Imple...
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Control of active magnetic bearings is an important area of research. In this paper authors present the methodology of design, discretization and implementation PI λ D controller for magnetic levitation system. Implementation on the laboratory system was performed to validate the presented methodology. the presented methodology is promising and can be successfully used in other control systems.
Paper presents a new method for implementing Oustaloup approximation of non-integer order systems in digital environment. Classical method and its limitations are presented and discussed. Method of realization is form...
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Paper presents a new method for implementing Oustaloup approximation of non-integer order systems in digital environment. Classical method and its limitations are presented and discussed. Method of realization is formulated and schemes for discretization are presented. Operation of method is illustrated with two examples. Work is ended with discussion of method limitations and conclusions.
In the paper results of using fractional order PI current controller in comparison with using classical one in case of servo drive cascade control system are presented. the issue of modelling static friction, that is ...
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In the paper results of using fractional order PI current controller in comparison with using classical one in case of servo drive cascade control system are presented. the issue of modelling static friction, that is the most important factor having a huge influence on the motion and current characteristic especially in case of slow motion and small movements, were also described. the most significant result in case of using fractional order current controller observed for starting servo drive are presented and commented.
In this paper a concept of application of polynomial matrix σ-inverse in multivariable state-space perfect control is presented. the new inverse is derived from perfect control of systems described by the input-outpu...
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In this paper a concept of application of polynomial matrix σ-inverse in multivariable state-space perfect control is presented. the new inverse is derived from perfect control of systems described by the input-output approach. Rather surprisingly, the σ-inverse clearly outperforms some other inverses of nonsquare parameter matrices, including the classical minimum-norm right one. A minimum-energy simulation example made in Matlab/Simulink confirms the usefulness of the proposed method.
In the paper, the numerical results concerning the kinetics and proposed heat exchange models in nuclear reactor based on fractional calculus are presented for typical inputs. Two fractional models are proposed and co...
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In the paper, the numerical results concerning the kinetics and proposed heat exchange models in nuclear reactor based on fractional calculus are presented for typical inputs. Two fractional models are proposed and compared withthe model based on ordinary derivative. the first fractional model is based on one of the generalized Cattaneo equations. the second one is based on replacing the ordinary to fractional order of derivative in differential system of equations. Modified Oustaloup Method is implemented. Simulation results of proposed models are presented.
In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approxima...
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In the paper, a novel practical analog modeling of multiple-switching fractional order systems based on recursive fractional variable order integrals, is introduced. Presented circuit, based on domino ladder approximation of half order impedance, allows to multiple-switching between orders 0.5 and 1. Moreover, numerical scheme for solving variable order differential equations is introduced. Experimental results of modeling are also presented and compared with numerical simulations.
this paper presents a general, modified framework for various time-domain approximations to the Grünwald-Letnikov fractional difference, namely finite fractional and Laguerre-based differences. the approximations...
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this paper presents a general, modified framework for various time-domain approximations to the Grünwald-Letnikov fractional difference, namely finite fractional and Laguerre-based differences. the approximations are applied in the modeling problem for linear fractional-order state space systems, with two different implementation schemes presented.
In this work, we present a generic approach to optimize the design of a parametrized robot gripper including both gripper parameters and parameters of the finger geometry. We demonstrate our gripper optimization on a ...
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In this work, we present a generic approach to optimize the design of a parametrized robot gripper including both gripper parameters and parameters of the finger geometry. We demonstrate our gripper optimization on a parallel jaw type gripper which we have parametrized in a 11 dimensional space. We furthermore present a parametrization of the grasping task and context, which is essential as input to the computation of gripper performance. We exemplify the feasibility of our approach by computing several optimized grippers on a real world industrial object in three different scenarios.
the paper presents a determination method of a quantitative and qualitative description of the interaction between two-wheeled self-balancing vehicle and its rider. this leads to the problem of finding parameters of a...
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the paper presents a determination method of a quantitative and qualitative description of the interaction between two-wheeled self-balancing vehicle and its rider. this leads to the problem of finding parameters of a control law for the rider controlling system. the propose method is based on the comparison of experimental results withthe computer simulation results. the mathematical model of the system vehicle-rider used during simulation contains qualitative mathematical form of interaction with unknown coefficients (in practice they estimate parameters of the rider). this unknown coefficients were obtained by the designation of matching function between the experimental data and the simulation data.
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