the present paper describes a methodology to estimate the attitude and the position of a bio-inspired robot as well the position of a target. the robot is equipped with a decoupled eye yielding an angular measurement ...
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ISBN:
(纸本)9781467321686;9781467321709
the present paper describes a methodology to estimate the attitude and the position of a bio-inspired robot as well the position of a target. the robot is equipped with a decoupled eye yielding an angular measurement relative to a target and it does not use an IMU. An Extended Kalman Filter is designed to estimate robot and target states. Simulation results show that the estimator is able to converge to the actual states, and reject some perturbations. It is important to highlight that the method assumes that the initial position of the target is unknown. As a consequence no initial guess for the target position is needed.
this paper deals with a new approach to robust control design for a class of nonlinearly affine control systems. the dynamical models under consideration are described by a special class of structured implicit differe...
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ISBN:
(纸本)9781467321686;9781467321709
this paper deals with a new approach to robust control design for a class of nonlinearly affine control systems. the dynamical models under consideration are described by a special class of structured implicit differential equations called semi-explicit differential-algebraic equations (of index one), in the presence of additive bounded uncertainties. the proposed robust feedback design procedure is based on an extended version of the classical invariant ellipsoid technique that we call the Attractive Ellipsoid (AE) method. the theoretic schemes elaborated in our contribution are illustrated by a simple computational example
the mechanical design, electronics and the control program developed in order to perform, automatically, the deposition of crystalline layers on substrates using the liquid phase epitaxy technique is described. the im...
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ISBN:
(纸本)9781467321686
the mechanical design, electronics and the control program developed in order to perform, automatically, the deposition of crystalline layers on substrates using the liquid phase epitaxy technique is described. the implementation of the system includes the hardware and control software of the substrate movements, the gas flow system, the temperature program and the monitoring of the main physical variables such as temperature, humidity, flow, pressure etc. the movement the substrate is done by means of a solenoid whose core is coupled to the slider of the graphite boat. this system was proposed in order to maintain the hermeticity of the system which is vital to achieve the epitaxial growth and to decrease the power of the electric motor that drives the solenoid.
the purpose of this paper is to present the analysis of the dynamics immersion of an Autonomous Underwater Vehicle considering the time-delay produced by implementing artificial vision algorithm. the parameter tuning ...
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ISBN:
(纸本)9781467321686;9781467321709
the purpose of this paper is to present the analysis of the dynamics immersion of an Autonomous Underwater Vehicle considering the time-delay produced by implementing artificial vision algorithm. the parameter tuning of the PD controller is based on the analysis of the stability region taking into account the vision delay. the PD controller goal is to keep the vehicle in a region close to the landmark, and the performance is shown in simulation and real-time experimental results.
We present preliminary results of a one degree of freedom (DOF) linear moving force augmenting device (FAD) with a force sensor for enhancing the lifting capabilities of a human user. We perform a stability test of th...
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ISBN:
(纸本)9781467321686;9781467321709
We present preliminary results of a one degree of freedom (DOF) linear moving force augmenting device (FAD) with a force sensor for enhancing the lifting capabilities of a human user. We perform a stability test of the feedback loop formed by the device and a model of the human operator. It is shown that the operator lifts a small fraction of the total weight of the load. the proposed control scheme is illustrated using numerical simulations and an experiment.
this work presents the design of a discontinuous output regulator for a DC-to-AC power conversion problem on a boost converter, for asymptotic output trajectory tracking. the steady state reference signal for the indu...
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ISBN:
(纸本)9781467321686;9781467321709
this work presents the design of a discontinuous output regulator for a DC-to-AC power conversion problem on a boost converter, for asymptotic output trajectory tracking. the steady state reference signal for the inductor current is proposed as an approximated solution of the well known Francis-Isidori-Byrnes equations, then, by a proper selection of a sliding surface one can stabilize the non-minimum phase inductor current tracking variable. Finally, by means of numerical simulations one verifies the performance of the proposed control strategy.
this paper presents the study, development and implementation of an attitude controller for an AUV(Autonomous Underwater Vehicle). the goal is the hover stabilization of the prototype taking in account the dynamic mod...
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ISBN:
(纸本)9781467321686;9781467321709
this paper presents the study, development and implementation of an attitude controller for an AUV(Autonomous Underwater Vehicle). the goal is the hover stabilization of the prototype taking in account the dynamic modeling of translation and orientation. Missions were performed at slow speed to evaluated real time autonomous navigation. the control is based on a saturated PD control law. Results are presented from real time experiments.
this paper proposes a model of a standard application programming interface (API) for common services used by cloud applications. It aims to homogenize the development over clouds in order to ease portability. the mod...
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this work is concerned withthe synthesis of nonlinear controllers for plants where full state information is not available. By means of the equivalent Takagi-Sugeno form of the nonlinear model, conditions were found ...
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ISBN:
(纸本)9781467321686;9781467321709
this work is concerned withthe synthesis of nonlinear controllers for plants where full state information is not available. By means of the equivalent Takagi-Sugeno form of the nonlinear model, conditions were found that allow a parallel distributed compensation of the model to be constructed only with partial information of the state and no need of an observer. these conditions are expressed in terms of linear matrix inequalities which are efficiently solved by convex optimization techniques in commercially available software. the proposed approach is successfully applied to the stabilization of a twin rotor MIMO system and compared with another partial-information technique.
this paper presents an application of genetic algorithms to the improvement of voltage sags indices by reconfiguration of an electrical system. Considering known reference indices of voltage sags at system buses, the ...
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ISBN:
(纸本)9781467321686;9781467321709
this paper presents an application of genetic algorithms to the improvement of voltage sags indices by reconfiguration of an electrical system. Considering known reference indices of voltage sags at system buses, the proposed methodology leads to a new configuration where the buses with previous indices of voltage sags outside the range of the reference values are reduced in order to minimize these values. In this paper, in order to streamline the solution process the Genetic Algorithm Matlab Toolbox (R) was used to solve the formulated optimization problem. the performance of the proposed methodology is assessed by means of case studies applied in the IEEE 24-bus Reliability Test System and in the IEEE 118-bus Test System.
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