The energetical analysis of the drive system had been performed by means of an experimental platform and on it's corresponding SIMULINK model for different static operation points. It was considered feeding the as...
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It is well known that for bilateral teleoperation, force feedback information is needed. In this paper, we propose a control approach for bilateral teleoperation with uncertainties in the model of the slave robot and ...
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In this paper, the performance characteristics of a three-phase brushless DC motor with permanent magnet salient pole are investigated. The studied motor is a three-phase synchronous machine with permanent magnet roto...
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This paper deals with the application of an Iterative Learning control (ILC) structure to the position control of a 3D crane system in the crane position control problem. The control system structure involves Cascade ...
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ISBN:
(纸本)9789898425744
This paper deals with the application of an Iterative Learning control (ILC) structure to the position control of a 3D crane system in the crane position control problem. The control system structure involves Cascade Learning (CL) built around control a loop with a frequency domain designed lead-lag controller. The parameters of the continuous-time real PD learning rule as lead-lag controller are set such that to fulfil the convergence condition of the CL process. A set of real-time experimental results concerning a 3D crane system laboratory equipment is offered to validate the new CL-based ILC structure.
With almost four billion sensor-equipped mobile devices on the planet, the way is open for a variety of new context-based applications and services. However, this new opportunity creates concerns over privacy and acce...
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There are lots of flight scene simulation ways about air targets,and common way is simulation to kinematics and dynamics of targets,which is of high precision,but enormous computation,complicated *** this simulation s...
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There are lots of flight scene simulation ways about air targets,and common way is simulation to kinematics and dynamics of targets,which is of high precision,but enormous computation,complicated *** this simulation system mainly adopts segment outputting and random combination method to create many complicated flight track,finally builds a flight control system based on Virtools,in which we can control3D aircraft model to finish all sorts of flight actions by mouse and keyboard.
This paper addresses the optimal control of multiple (linear) agents in the presence of a set of adversary constraints which makes the convergence towards the "zero" relative position an infeasible task. By ...
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ISBN:
(纸本)9789898425744
This paper addresses the optimal control of multiple (linear) agents in the presence of a set of adversary constraints which makes the convergence towards the "zero" relative position an infeasible task. By consequence, this fixed point of the relative dynamics is replaced by a set of fixed points with different basin of attraction or even by limit cycles. The present analysis is based on the existence of an optimum control law over a receding horizon with one step ahead constraint. The feasible explicit solution in terms of a piecewise affine control law is analyzed in order to characterize the limit behavior of an agent.
This document presents a low-pressure servo-valve specifically designed for haptic interfaces and lightweight robotic applications. The device is able to work with hydraulic and pneumatic fluidic sources, operating wi...
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This paper presents the application of several advanced control techniques to a nonlinear strongly coupled multivariable robot. The main difficulties come from the flexibility of the mechanical chain, but also from th...
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ISBN:
(纸本)9789898425744
This paper presents the application of several advanced control techniques to a nonlinear strongly coupled multivariable robot. The main difficulties come from the flexibility of the mechanical chain, but also from the lack of joints sensors. In a first stage, a state-feedback linear quadratic (LQG) technique and a model predictive control (MPC) are designed using optimal observers. Considering additional sensors that provide measurements of accelerations increases the robustness of the controlled system. The second stage consists into adding a supplementary robustness layer (i.e. explicitly considering the robust stability under unstructured uncertainties) on the stabilizing MPC developed at the previous stage. Comparative results are proposed highlighting the trade-off between robust stability and nominal performance for disturbances rejection.
This paper presents small real-time operating system which has been developed at our institute and also an application and practical verification of this system in a portable data acquisition unit. The system, named R...
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ISBN:
(纸本)9789604742769
This paper presents small real-time operating system which has been developed at our institute and also an application and practical verification of this system in a portable data acquisition unit. The system, named RTMON is intended mainly as a teaching aid for lessons of microcontroller programming where it allows the students to simply write applications in C language with several concurrently running processes. However, it can also be used in practical applications, as is demonstrated by the data acquisition unit described in this paper. The system works on 8-bit microcontrollers with the HC(S)08 core made by Freescale and also on Atmel AVR Mega8 microcontrollers.
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