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.
Results of the transfer function analysis for a class of distributed parameter systems described by hyperbolic partial differential equations are presented. Assuming two lumped boundary inputs and two outputs distribu...
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Results of the transfer function analysis for a class of distributed parameter systems described by hyperbolic partial differential equations are presented. Assuming two lumped boundary inputs and two outputs distributed along the spatial variable, the expressions for the individual elements of the transfer function matrix are derived for the decoupled system, using both exponential and hyperbolic functions. A formula for converting the transfer function matrix to the form describing the original coupled system is also proposed. the considerations are illustrated with a practical example of an electrical transmission line.
the paper is devoted to the problem of pole assignment by state feedback in non-square implicit linear systems. In particular, the proof of theorem 4.6 in [5] (here theorem 1) is completed by a proof of sufficiency co...
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the paper is devoted to the problem of pole assignment by state feedback in non-square implicit linear systems. In particular, the proof of theorem 4.6 in [5] (here theorem 1) is completed by a proof of sufficiency conditions, providing a complete solution to the problem of pole assignment in the case of column regularizable systems.
the multimode resource-constrained project scheduling problem is considered. In some practical situations resources used to perform an activity have to be set up before the execution of this activity. Setup operations...
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the multimode resource-constrained project scheduling problem is considered. In some practical situations resources used to perform an activity have to be set up before the execution of this activity. Setup operations are characterized by two parameters setup time and setup cost. the latter is considered if the financial aspects of the schedule are taken into account. In this paper we present an adaptation of the classical models of setups, which are known from the machine scheduling theory, to the multimode project scheduling problem. Several new concepts are proposed as well.
this paper addresses the design of an adaptive control strategy for an alcoholic fermentation bioprocess, which takes place inside of a Fed-batch Bioreactor (FBB). this bioprocess is highly nonlinear, some state varia...
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this paper addresses the design of an adaptive control strategy for an alcoholic fermentation bioprocess, which takes place inside of a Fed-batch Bioreactor (FBB). this bioprocess is highly nonlinear, some state variables are not measurable and moreover the reaction kinetics is not perfectly known. the kinetic parameters are estimated by using a high-gain nonlinear estimator. An asymptotic state observer is derived so as to provide the unavailable states necessary to the kinetics estimator. Finally, the indirect adaptive control law is designed by combining a linearizing controller withthe nonlinear observers. Several numerical simulations are performed, in order to test the proposed nonlinear adaptive control strategy.
In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. the Serret-Frenet frame is used to describe the robot relative to the desired path. the way how to transform obtained equ...
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In the paper the path following problem for a wheeled mobile robot of (2,0) type is considered. the Serret-Frenet frame is used to describe the robot relative to the desired path. the way how to transform obtained equations describing kinematic model derived with respect to the Serret-Frenet frame into the chained form is introduced. the kinematic control algorithm which is a combination of Astolfi algorithm - used for systems in the chained form - and Samson algorithm - dedicated to the unicycle - is proposed and compared to the Morin-Samson algorithm. Simulation results are shown to verify the effectiveness of the proposed method.
In this paper we discuss a problem of numerical calculation accuracy of the Fractional-order Backward Difference/Sum (FOBD/S) of some discrete functions applied in discrete control strategies, in real-time closed-loop...
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In this paper we discuss a problem of numerical calculation accuracy of the Fractional-order Backward Difference/Sum (FOBD/S) of some discrete functions applied in discrete control strategies, in real-time closed-loop systems. We compare Grünwald-Letnikov formula vs. its Horner's equivalent form, as well as their “simplified” forms, in our opinion, an interesting tool in minimization of the time and memory shortage problems often to meet in such systems.
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