A new method for the design of linear systems with desired poles and zeros of their transfer matrices is proposed. Conditions for the existence of the solution to the problem and the procedure for computation of the d...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
A new method for the design of linear systems with desired poles and zeros of their transfer matrices is proposed. Conditions for the existence of the solution to the problem and the procedure for computation of the desired matrices are given. the procedure is illustrated by numerical simple examples.
the focus of the paper are accessibility (in a finite number of steps) conditions for nonlinear control systems withthe Grünwald-Letnikov fractional order h-difference operator. these conditions are presented in...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the focus of the paper are accessibility (in a finite number of steps) conditions for nonlinear control systems withthe Grünwald-Letnikov fractional order h-difference operator. these conditions are presented in terms of the greatest left common divisors of shifted polynomials associated withthe given system. the obtained results extend the polynomial approach to accessibility problem of nonlinear discrete-time control systems on fractional case.
In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. the modeling of the dynamics of robot manipulators is currently done us...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. the modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.
this paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cas...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this paper is devoted to normal forms for x-flat control-affine systems with two inputs. We propose a general triangular normal form which contains several other normal forms discussed in the literature as special cases. We derive conditions under which a system with given x-flat output can be transformed into the proposed triangular form. Based on the triangular form we motivate a simple algorithm for identifying candidates for flat outputs.
the paper deals with sensitivity analysis of a new, fractional interval order model of the heat transfer in one dimensional body. In the model the derivative with respect to time is described by the fractional Caputo ...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the paper deals with sensitivity analysis of a new, fractional interval order model of the heat transfer in one dimensional body. In the model the derivative with respect to time is described by the fractional Caputo operator (C operator). the order of the $\mathbf{C}$ operator is not exactly known and it is described by an interval. Such a model has not been proposed yet and it is expected to properly describe e.g. disturbed measurements. For that model new senstivitity functions are proposed and used for numerical analysis. Simulations are supported by experimental data.
this paper presents the design of a robust estimator for simultaneous actuator and sensor faults aimed at Fault Diagnosis (FD) in a specific class of fractional-order digital systems. the proposed ${\mathcal{H}}_{\inf...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
this paper presents the design of a robust estimator for simultaneous actuator and sensor faults aimed at Fault Diagnosis (FD) in a specific class of fractional-order digital systems. the proposed ${\mathcal{H}}_{\infty}$ estimator design methodology ensures a specified disturbance attenuation level and convergence, making it suitable for both fault diagnosis and fault-tolerant control applications.
the paper presents software that allows a user to control and program a robot using virtual reality. the user will be equipped with a Virtual Reality kit and will be able to use it to manipulate the robot arm as if th...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
the paper presents software that allows a user to control and program a robot using virtual reality. the user will be equipped with a Virtual Reality kit and will be able to use it to manipulate the robot arm as if they were physically interacting with it. One key feature of the software will be the ability to set the robot in a specific position, allowing the user to create and execute complex movement sequences for the robot to follow. the use of VR technology in this context offers a unique and immersive way for users to interact with and program the robot, making it an exciting and innovative approach to robotic control.
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