the paper brings analytical design of a constrained PD controller for the second order integral plants focused on achieving the possibly best tracking dynamics considering the control signal saturation. the linear pol...
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ISBN:
(纸本)9781479946013
the paper brings analytical design of a constrained PD controller for the second order integral plants focused on achieving the possibly best tracking dynamics considering the control signal saturation. the linear pole assignment control and relay minimum time control are included as its limit solutions. the degree of freedom existing in choice of a distance definition for evaluating deviation of the operating point from a required reference braking trajectory is proposed to be used to achieve a required performance in control of time-delayed systems.
this paper presents a novel method for preventing pressure ulcer for medical use. A unique bed-Chair mechanical structure is introduced, where the system is automatically controlled to reduce pressure and the patient&...
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this paper deals withthe optimization of the observer trajectory when an observer tracks a constant acceleration target. First, optimal controltheory is applied to establish the optimal maneuver model of an observer...
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ISBN:
(纸本)9780769536347
this paper deals withthe optimization of the observer trajectory when an observer tracks a constant acceleration target. First, optimal controltheory is applied to establish the optimal maneuver model of an observer. Second, at range accuracy criterion, necessary conditions for optimal observer course are resolved by analytical means. Finally, the influence of observer speed target acceleration and initial target range on the optimal observer maneuver is discussed by simulation. Simulation results show that the optimal observer trajectory is almost smooth when near target moves at small acceleration and the observer should maneuver at high speed when tracking constant acceleration target accurately.
An important issue in analyzing a Wastewater Treatment Plant (WWTP) is modelling the disturbances acting on the control loops of the plant, especially in case of urban WWTPs. Although in the literature periodic variat...
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ISBN:
(纸本)9781479946013
An important issue in analyzing a Wastewater Treatment Plant (WWTP) is modelling the disturbances acting on the control loops of the plant, especially in case of urban WWTPs. Although in the literature periodic variations are systematically adopted for the influent description, the control solutions to reject these disturbances are not taken into consideration. this paper aims to establish a WWTP control solution based on PI + Resonant controller (PI+R), which are suitable for the rejection of the periodical disturbances. the control strategy was validated on a Activated Sludge Model No. 1 (ASM1) based WWTP implemented in SIMBA (R).
In this paper, the control problem of torsional vibrations occurring along a rotary drillstring system is approached. this task is performed using a predictive control strategy, based on a discrete-time model of the s...
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ISBN:
(纸本)9781509027200
In this paper, the control problem of torsional vibrations occurring along a rotary drillstring system is approached. this task is performed using a predictive control strategy, based on a discrete-time model of the system, taking into account the constraint on control input. Also, the control scheme uses a compensation friction method in order to use a linear part of the initial model for control purpose. the simulation results validate the effectiveness of the proposed control algorithm.
Embedded network systems use serial communication protocols and simplified media access control schemes in order to exchange information among several interconnected nodes. Within this paper a generalization of the cl...
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ISBN:
(纸本)9781479946013
Embedded network systems use serial communication protocols and simplified media access control schemes in order to exchange information among several interconnected nodes. Within this paper a generalization of the classical media access control (MAC) protocols used in small embedded serial networks of microcontrollers is investigated and an implementation platform for testing the proposed MAC schemes is described. thus, the classic master-slave and token-bus protocols turn out to be just two particular cases of the proposed generalized media access control (GMAC) algorithms: a centralized and a distributed one, respectively. By applying these generalized algorithms in practice, significant increase in data throughput is obtained, as it resulted from the simulation tests and then by practical implementation on a typical embedded network of microcontrollers.
this paper introduces a new vision based controller that uses the entries of a homography matrix to control a highly maneuverable mobile robot. It aims to reduce the sensitivity of the control to calibration errors th...
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ISBN:
(纸本)9781479946013
this paper introduces a new vision based controller that uses the entries of a homography matrix to control a highly maneuverable mobile robot. It aims to reduce the sensitivity of the control to calibration errors through connection of the perception and control in the data space of the sensor. the control law is formulated in a way that it is only dependent on features of the current image without measuring or calculating any position in the Cartesian space. Only the target image must be known and the target position should be estimated relatively to the feature plane. An evaluation of the robustness of the controller is presented and verified by simulation.
the control of a three phase AC motor is performed with a three phase inverter. A key role in the correct functioning of the inverter is the used modulation technique. In this paper is proposed a class of modulation a...
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ISBN:
(纸本)9781479946013
the control of a three phase AC motor is performed with a three phase inverter. A key role in the correct functioning of the inverter is the used modulation technique. In this paper is proposed a class of modulation algorithms for the three phase inverters which have the advantage of a very simple implementation. the equivalence between a modulation strategy from this class and classical space vector pulse width modulation is demonstrated using simulation environment Matlab/Simulink. A comparative study of different modulation techniques was done referring to power losses of semiconductors.
this paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. control...
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ISBN:
(纸本)9781479946013
this paper presents the sensorial system for structure of a backbone hyper-redundant arm with an electro-pneumatically system for position control. A system of cables actuated by DC motors is used for bending. controlsystem is based on a PIC microcontroller. the position of the robot can be obtained by bending it withthe cables and by blocking the position of the elements we need, using the electro-pneumatically system. the major advantage of this type of actuation consists in the fact that the robot can be actuated using a boundary control by cables, the position blocking system for any element being relatively simple. the sensorial system is described and the main features of the global system are presented. the advantages of this sensorial system for this robot architecture are discussed.
the paper deals with an optimal tracking problem for linear time variant systems with variable disturbances. A procedure having computational advantages is proposed. the advantages are greater in the time invariant ca...
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ISBN:
(纸本)9781665414968
the paper deals with an optimal tracking problem for linear time variant systems with variable disturbances. A procedure having computational advantages is proposed. the advantages are greater in the time invariant case. the reference and the disturbance are approximated with step functions. the proposed method is validated via simulation tests.
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