In the paper we want to present a problem of path following for nonholonomic mobile manipulators. In our consideration we restrict ourself to doubly nonholonomic mobile manipulators. Nonholonomic constraints appear du...
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To predict the throughput of the cluster tool and simulate the system operation process, the paper develops a simulation platform, named as ClusterSim. ClusterSim provides the easy-to-use interface to accept user'...
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This contribution is focused on computation of stability regions for Proportional-Integral-Derivative (PID) controllers. The area of possible placement of the controller parameters which guarantee feedback stabilizati...
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ISBN:
(纸本)9789604742769
This contribution is focused on computation of stability regions for Proportional-Integral-Derivative (PID) controllers. The area of possible placement of the controller parameters which guarantee feedback stabilization of a controlled plant is obtained via plotting the stability boundary locus. This approach is subsequently combined with the desired model method which is used for final controller design. The applicability of the technique is demonstrated on an example where a third order electronic laboratory model is successfully controlled.
This study performs a systematic analysis of dynamic behavior of cutting process of machine tool with unbalance force induced from mass eccentricity of work-piece, nonlinear cutting force and nonlinear suspension effe...
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ISBN:
(纸本)9789898425751
This study performs a systematic analysis of dynamic behavior of cutting process of machine tool with unbalance force induced from mass eccentricity of work-piece, nonlinear cutting force and nonlinear suspension effect. Phase diagrams, power spectra, bifurcation diagrams and Poincaré section are applied to identify the dynamic motions in this study. The simulation results show that the non-periodic dynamic responses are very abundant in cutting process of machine tool. The results presented in this study provide an understanding of the operating conditions under which undesirable dynamic motion takes place in this kind of system and therefore serve as a useful source of reference for engineers in designing and controlling such systems.
Direct Torque control (DTC) is a well known control method, which is used to control the flux and torque of a motor. This method uses a flux and torque estimator and two hysteresis controllers. The main drawbacks of D...
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A tendon-driven multijoint robot is a humanlike robot which is driven by a tendon-driven actuator. One of the problems is that the complexity of the tendon-driven multijoint robot body structure. The complexity makes ...
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This paper presents a new Iterative Feedback Tuning (IFT)-based optimal state feedback control solution dedicated to a class of second-order servo systems with integral component. The state feedback controllers for th...
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This paper reports a navigation and mapping data-set collected in the Croatian Kornati Archipielago during the "Breaking the Surface 2010" international Interdisciplinary Field Training of Marine robotics an...
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An adaptive discrete-time LQG control with loop transfer recovery is considered using shift and delta operators. The control problem is analyzed using state-space model and the parameter estimation problem is implemen...
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ISBN:
(纸本)9789898425744
An adaptive discrete-time LQG control with loop transfer recovery is considered using shift and delta operators. The control problem is analyzed using state-space model and the parameter estimation problem is implemented for corresponding ARMAX model. Analysis of asymptotic performance of delta model approach and continuous-time model case is presented. Computer simulations of third-order system modeled by a second-order model are given to illustrate the robustness properties of the adaptive LQG/LTR controller.
For patients suffering from cardiogenic shock cardiopulmonary resuscitation may not be sufficient to restore normal heart function. However, their chances of survival may be increased with the use of an extracorporeal...
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