this paper addresses higher order sliding mode control for continuous nonlinear systems. We propose a new method of reaching control design while the sliding surface and equivalent control can be designed conventional...
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ISBN:
(纸本)9789896740016
this paper addresses higher order sliding mode control for continuous nonlinear systems. We propose a new method of reaching control design while the sliding surface and equivalent control can be designed conventionally. the deviations of the sliding variable and its high order derivatives from zero are penalized. this is realized by minimizing the amplitudes of the higher order derivatives of the sliding variable. An illustrative example-a field-controlled DC motor-is given at the end.
Flexibility, throughput, maintainability, scalability, reliability and low cost: that are the main optimization criteria of material flow systems (MFS). the most of this criteria are diametrical and so hardly to impro...
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ISBN:
(纸本)9789896740009
Flexibility, throughput, maintainability, scalability, reliability and low cost: that are the main optimization criteria of material flow systems (MFS). the most of this criteria are diametrical and so hardly to improve considerably with today's existing transportation devices and their static control structures. Hence a new approach of a transportation systems with cooperating robotic units and a novel cognitive environment will be presented. this approach will combine different research areas like robotics and wireless sensor networks to achieve a higher degree of flexibility.
In the work vehicle acceleration prediction issue is discussed. three types of parameters are used for prediction system input: CAN-bus parameters - speed and curvature, derived speed parameters and newly offered spec...
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ISBN:
(纸本)9789896740009
In the work vehicle acceleration prediction issue is discussed. three types of parameters are used for prediction system input: CAN-bus parameters - speed and curvature, derived speed parameters and newly offered specific curve point parameters, denoting changes in a curve. the real road data was used for predictions. Road curvature segments were divided into single and S-type curves. Acceleration was predicted using artificial neural networks and look-up table. the look-up table method showed the best results with newly offered specific curve parameters.
Closed-loop robot control based on visual feedback is an important research area, with useful applications in various fields. Planning the trajectory to be followed by the robot allows one to take into account multipl...
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ISBN:
(纸本)9789896740009
Closed-loop robot control based on visual feedback is an important research area, with useful applications in various fields. Planning the trajectory to be followed by the robot allows one to take into account multiple constraints during the motion, such as limited field of view of the camera and limited workspace of the robot. this paper proposes a strategy for path-planning from an estimate of the point correspondences between the initial view and the desired one, and an estimate of the camera intrinsic parameters. this strategy consists of generating a parametrization of the trajectories connecting the initial location to the desired one via polynomials. the trajectory constraints are then imposed by using suitable relaxations and LMIs (linear matrix inequalities). Some examples illustrate the proposed approach.
In the paper a fast computational routines for identification algorithms for recovering nonlinearities in Hammerstein systems based on orthogonal series expansions of functions are proposed. It is ascertained that bot...
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ISBN:
(纸本)9789898111999
In the paper a fast computational routines for identification algorithms for recovering nonlinearities in Hammerstein systems based on orthogonal series expansions of functions are proposed. It is ascertained that both, convergence conditions and convergence rates of the computational algorithms are the same as their much less computationaly attractive 'theoretic' counterparts. the generic computational algorithm is derived and illustrated by three examples based on standard orthogonal series on interval, viz. Fourier, Legendre, and Haar systems. the exemplary algorithms are presented in a detailed, ready-to-implement, form and examined by means of computer simulations.
the paper presents the model-based approach to process simulation and advanced control in the industrial granulation circuit of fertilizer production. Different knowledge sources, such as physical phenomena, statistic...
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ISBN:
(纸本)9789896740016
the paper presents the model-based approach to process simulation and advanced control in the industrial granulation circuit of fertilizer production. Different knowledge sources, such as physical phenomena, statistical analysis of process parameters, expert information cover different cognition domains of the process. the mechanistic growth model developed is based on particle coating phenomena, mass and energy transfer. the model partially takes into account the main process parameters, features and the equipment used. Simulation has been executed to test the model performance. the model built can be used for the evaluation of plant control methods and staff training.
Realistic models and robust control are vital to reach a sufficient fidelity in military simulation projects including surface vessels. In this study, a nonlinear model including sea-state modelling is obtained and fe...
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ISBN:
(纸本)9789896740016
Realistic models and robust control are vital to reach a sufficient fidelity in military simulation projects including surface vessels. In this study, a nonlinear model including sea-state modelling is obtained and feedback linearization control is implemented in this model. To controlthe system, nonlinear analysis techniques are used. the model is integrated into a commercial framework based CGF application within a high-fidelity military training simulation. the simulation results are presented at the end of the study.
In this paper we propose a software framework where the main aim is to make easier the implementation of supervisory control. the main idea is that functionalities must be offered with no effects on the robustness of ...
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ISBN:
(纸本)9789896740009
In this paper we propose a software framework where the main aim is to make easier the implementation of supervisory control. the main idea is that functionalities must be offered with no effects on the robustness of the system. We prove that our methodology has a solid base, so the approach can be applied to any kind of industrial process unit. In this way, a real application of a developed framework is presented. the implementation is done over well-known devices (such as PLC with a conveyor belt) so the technical feasibility of the procedure is guaranteed.
In this paper we present the Riccati solution of linear quadratic control problems with input and state dependent noise which is encountered during our previous study to the adaptive critic solution for systems charac...
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ISBN:
(纸本)9789898111999
In this paper we present the Riccati solution of linear quadratic control problems with input and state dependent noise which is encountered during our previous study to the adaptive critic solution for systems characterized by functional uncertainty. Uncertainty of the system equations is quantified using a state and control dependent noise model. the derived optimal control law is shown to be of cautious type controllers. the derivation of the Riccati solution is via the principle of optimality. the Riccati solution is implemented to linear multi dimensional control problem and compared to the certainty equivalent Riccati solution.
A method for detecting the nature of a fault of a process controlled by SPC ( Statistical Process control) is presented. the method use the integration of SPC, traditional APC (Automatic Process control) and the Syste...
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ISBN:
(纸本)9789898111999
A method for detecting the nature of a fault of a process controlled by SPC ( Statistical Process control) is presented. the method use the integration of SPC, traditional APC (Automatic Process control) and the System Identification technique. By a statistical on line control of the parameters of a transfer function and the identification of the transfer function itself, the case of a fault due to a change in the system is recognised. An algorithm called 'batch control' for the implementation of the method in a real plant is proposed.
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