Since system identification is closely related to control theory it is quite convenient that common tools of control may prove to be useful for identification as well. Semidefinite programming is now considered as a s...
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The paper presents aspects concerning the tuning of two-degree-of-freedom (2-DOF) fuzzy controllers focused on 2-DOF PI-fuzzy controllers and on 2-DOF PID-fuzzy controllers. 2-DOF Mamdani and Takagi-Sugeno fuzzy contr...
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The paper presents aspects concerning the modeling, driving scenarios and control structures of two classes of vehicular power train systems with continuously variable transmission (CVT). The modeling includes an anal...
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Paper presents a practical experience from testing intelligent devices for household aimed for mainstream usage in practical life. They are developed with intelligent functions that make them accessible and usable als...
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Paper presents a practical experience from testing intelligent devices for household aimed for mainstream usage in practical life. They are developed with intelligent functions that make them accessible and usable also for people with weakened sensor and physical abilities, including people with impairments and elderly people. Testing process was conducted in Padeborn, Germany, in C-lab in cooperation with Siemens company. The paper consists of particular findings from testing household devices with intelligent features made by person with visual impairment. The results of the testing concluded to a case study summarizing experience of the potential end-user.
The paper describes a Neuro Active Force control (NAFC) method that is applied to control a vertical moving mass (trolley) actuated by a fluidic muscle or pneumatic artificial muscle (PAM). The NAFC is in effect coupl...
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ISBN:
(纸本)9781424427529
The paper describes a Neuro Active Force control (NAFC) method that is applied to control a vertical moving mass (trolley) actuated by a fluidic muscle or pneumatic artificial muscle (PAM). The NAFC is in effect coupled to a proportional-integral-derivative (PID) controller and was practically implemented on a physical test rig that was developed in the laboratory. The effectiveness of the proposed controller was verified through the experiments, which suggests its superior performance in terms trajectory tracking control capability and disturbance suppression.
In this paper the new algorithm SUHICLUST (SUpervised HIerarchical CLUSTering) is presented. It unifies the strengths of the supervised, incremental construction scheme LOLIMOT with the advantages of product space clu...
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Networked control systems (NCS) have gained an increasing attention in recent years due to their flexibility and cost reduction. The two main problems affecting stability and performance of closed-loop NCS are packet ...
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ISBN:
(纸本)9781424427529
Networked control systems (NCS) have gained an increasing attention in recent years due to their flexibility and cost reduction. The two main problems affecting stability and performance of closed-loop NCS are packet delay and drop. The problem of delay is severe in large scale NCS where the sensor-controller-actuator are connected via a network with large number of switches and routers. In this paper, we propose a real time optimization algorithm, called Asexual Reproduction Optimization (ARO) which is inspired by asexual reproduction, to find the least delay link in the control loop. Simulation results reveal that the proposed algorithm remarkably outperforms the recently cited Genetic Algorithm (GA) in finding the minimum delay link.
In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this pape...
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ISBN:
(纸本)9781424427529
In order to model a Wheeled Mobile Robot (WMR) system to improve its maneuverability in a real environment, wheel dynamics, which may violate no-slipping and pure rolling constraints, needs to be studied. In this paper, wheel dynamics with slip is modeled and introduced into the robot overall dynamics. Wheel slip phenomenon is captured and at the same time accommodated. Considering both lateral and longitudinal slip phenomena due to traction, a WMR system becomes an underactuated dynamic system. A time-invariant discontinuous feedback law is developed to asymptotically stabilize the system to the desired configuration with exponential convergence rate. Simulation results are provided to validate the theoretical results.
This paper deals with decentralized stabilization of nonlinear systems composed of interconnected Takagi-Sugeno fuzzy descriptors. To ensure the stability of the overall closed-loop system, a set of decentralized Para...
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ISBN:
(纸本)9781424427529
This paper deals with decentralized stabilization of nonlinear systems composed of interconnected Takagi-Sugeno fuzzy descriptors. To ensure the stability of the overall closed-loop system, a set of decentralized Parallel Distributed Compensations (PDC) controllers is employed. The stability conditions are then derived into Linear Matrix Inequalities (LMI) using a fuzzy Lyapunov function for less conservatism. Nevertheless, it contains decision parameters that are not available in practice. So the LMIs are casted into relaxed quadratic conditions using simple assumptions. Finally, a numerical example is proposed to illustrate the effectiveness of the suggested decentralized approach.
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