One of the important directions of the digital trends defining our everyday life is the integration of smart devices into our systems, so that thanks to this we can collect more and more detailed data and control cert...
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ISBN:
(纸本)9798350398823
One of the important directions of the digital trends defining our everyday life is the integration of smart devices into our systems, so that thanks to this we can collect more and more detailed data and control certain units remotely or automatically. As a result, our systems, which until now only operated in an isolated environment, are now connected to external services, or even establish a network connection to the Internet. However, this can have serious and dangerous consequences, pronounced in the case of systems that are considered critical infrastructure, because the wider the network range achieved, the more vulnerabilities and security gap can appear in the systems. In this article, we will present some options for network-based data collection methods, as well as highlight their most important properties and their parameters, which are useful to consider when planning a network system.
As the applications of mobile robot teams become more complex, the impracticality of designing custom solutions is becoming increasingly obvious. A new approach to control system design is required to facilitate the d...
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ISBN:
(纸本)9781424448081
As the applications of mobile robot teams become more complex, the impracticality of designing custom solutions is becoming increasingly obvious. A new approach to control system design is required to facilitate the development of modular and scalable systems. control ad libitum is an approach that decouples the software and hardware design of robot teams, allowing the system to adapt to changing hardware and simplifying the process of adding functionality to the control system. The "Host, Avatar, Agent" control architecture was developed utilizing this approach and preliminary experimental results from an exploration and mapping scenario are presented here. The experimental results demonstrate the viability of the architecture, specifically in the areas of modularity and scalability, and provide some insights into how such a system could work for real-world applications.
Recently multi-agent systems have been discussed to realize a large size of distributed autonomous systems. This paper proposes an intelligent control of multiple partner robots as one of multi-agent systems. First of...
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ISBN:
(纸本)9781424407897
Recently multi-agent systems have been discussed to realize a large size of distributed autonomous systems. This paper proposes an intelligent control of multiple partner robots as one of multi-agent systems. First of all. we discuss the current state of researches on the multi-agent systems. Next, we propose a multi-objective behavior coordination to realize formation behaviors based on the integration of the intelligent control from the local viewpoint of individual intelligence and the spring model from the global viewpoint of collective intelligence. Finally, we discuss the effectiveness of the proposed method through several computer simulation results.
By combining optimal control theory and linear regulator theory with the Takagi-Sugeno fuzzy methodology, a global optimal and stable fuzzy controller is presented to achieve trajectory tracking for a specific underac...
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This work proposes a theoretical approach of gain-scheduled fuzzy PI control design based on gain and phase margins specifications for LPV (Linear and Parameters Varying) systems, in the continuous time domain. A math...
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ISBN:
(纸本)9781424448081
This work proposes a theoretical approach of gain-scheduled fuzzy PI control design based on gain and phase margins specifications for LPV (Linear and Parameters Varying) systems, in the continuous time domain. A mathematical formulation from the Takagi-Sugeno fuzzy model structure as well as the PDC (Parallel Distributed Compensation) strategy is developed. Analytical formulas are deduced for the PI sub-controllers parameters, in the robust fuzzy controller rules base, according to the fuzzy model parameters of the LPV plant to be controlled. Results of the necessary and sufficient conditions for the fuzzy controller design, from the proposed robust methodology, with one Axiom and two Theorems are also presented.
A new control approach for direct-drive robots with sinusoidal permanent magnet AC (PMAC) motors is developed. The conventional vector control for PMAC motors has been simplified by specifying the motor stator phase s...
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ISBN:
(纸本)0780372034
A new control approach for direct-drive robots with sinusoidal permanent magnet AC (PMAC) motors is developed. The conventional vector control for PMAC motors has been simplified by specifying the motor stator phase so that the rotating d-axis current is zero. This makes the motor work in maximum torque-per-amp operation. The proposed torque control, in the form of torque feedforward plus PI-type torque feedback, utilizes the feedback of nominal torque signal only, a signal that can be readily calculated, on-line. No torque sensor is required. Through proper design of the desired nominal torque with adaptive control technology, the proposed torque control can overcome the disturbances due to torque estimation error and model uncertainties. Experiments conducted on a commercial motion control system demonstrates the validity of the proposed approach in high-speed motions.
This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces traje...
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ISBN:
(纸本)0780372034
This paper proposes a technique for planar trajectory following for an autonomous aerial robot. A trajectory is modeled as a planar spline. A behavior-based control system which stabilizes the robot and enforces trajectory following, ha, ban implemented and tested on an autonomous helicopter. Results from two flight experiments are presented. The trajectory tracking error is on the order of the size of the robot (1.8 m). Given the inherent error in GPS positioning, and environmental disturbances (wind), this is quite reasonable.
This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air usi...
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ISBN:
(纸本)0780378660
This paper presents a novel design of indoor airship having a passive wheeled mechanism and its stationary position control. This wheeled blimp can work both on the ground using wheeled vehicle part and in the air using the floating capability of the blimp part. The wheeled blimp stands on the floor keeping its balance using a caster-like passive wheel mechanism. In tele-guidance application, stationary position control is required to make the wheeled blimp naturally communicate with people in standing phase since the stationary blimp system responds sensitively to air flow even in indoor environments. To control the desired stationary position, a computed torque control method is adopted. By performing a controller design through dynamic analysis, the control characteristics of the wheeled blimp system have been found and finally the stable control system has been successfully developed The effectiveness of the controller is verified by experiment for the real wheeled blimp system.
On this paper new measurement disturbance detection method based on Q-chart is presented. The disturbance detection is used on multiplexed particle size analyzer to detect air bubbles appearing on end of measurement s...
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