This paper mainly focuses on designing a sliding mode boundary controller for a single flexible-link manipulator based on adaptive radial basis function （RBF） neural network. The flexible manipulator in this paper i...
详细信息
This paper mainly focuses on designing a sliding mode boundary controller for a single flexible-link manipulator based on adaptive radial basis function （RBF） neural network. The flexible manipulator in this paper is considered to be an Euler-Bernoulli beam. We first obtain a partial differential equation （PDE） model of single-link flexible manipulator by using Hamiltons approach. To improve the control robustness, the system uncertainties including modeling uncertainties and external disturbances are compensated by an adaptive neural approximator. Then, a sliding mode control method is designed to drive the joint to a desired position and rapidly suppress vibration on the beam. The stability of the closed-loop system is validated by using Lyapunov＇s method based on infinite dimensional model, avoiding problems such as control spillovers caused by traditional finite dimensional truncated models. This novel controller only requires measuring the boundary information, which facilitates implementation in engineering practice. Favorable performance of the closed-loop system is demonstrated by numerical simulations.
The work is devoted to the synthesis of terminal controls by non-linear holonomic systems. The solution is based on the variational formulation of the problem in conjunction with the principle of the stationary Lagran...
详细信息
The work is devoted to the synthesis of terminal controls by non-linear holonomic systems. The solution is based on the variational formulation of the problem in conjunction with the principle of the stationary Lagrange action for the Appell acceleration energy, which is used to form the extended functional by the method of uncertain Lagrange multipliers. An analysis of the variation of the extended functional leads to optimality conditions in the form of a two-point boundary value problem. A special example of its solution using the functions of A.N. Krylov. The synthesized control exactly coincides with the control of the Pontryagin maximum principle. This confirms the reliability of the results. It is shown that the decomposition of the initial system leads to n independent linear subsystems. This provides a solution to the problem of synthesis of terminal controls by non-linear holonomic systems. The effectiveness of the developed method is demonstrated by the results of mathematical modeling using the example of a two-link pendulum.
The method of multiobjective parametric synthesis of nonlinear robust electromechanical servo systems with parametric uncertainty is developed. Matrices of the gain coefficients of the linear feedbacks state regulator...
详细信息
ISBN:
(纸本)9781538695456
The method of multiobjective parametric synthesis of nonlinear robust electromechanical servo systems with parametric uncertainty is developed. Matrices of the gain coefficients of the linear feedbacks state regulator and the linear observer are determined on the basis of the vector minimax nonlinear programming problem solution. Components of the vector goal function are the direct quality indicators that are presented to the system in different modes of operation. Vector minimax nonlinear programming problem solution based on stochastic multi-agent multi swarm optimization algorithm. The results of modeling and experimental research of the dynamic characteristics of a synthesized nonlinear electromechanical servo system are presented.
aiming at the problems of time-varying parameters, multivariate and nonlinear of permanent magnet synchronous motor (PMSM), this paper presents a compound anti-disturbance speed regulation method based on feedback lin...
详细信息
ISBN:
(纸本)9781538670576
aiming at the problems of time-varying parameters, multivariate and nonlinear of permanent magnet synchronous motor (PMSM), this paper presents a compound anti-disturbance speed regulation method based on feedback linearization. Firstly the feedback linearization model of nonlinear plant PMSM is established by using the feedback linearization method of lie differential. Then the problems such as load disturbance and friction moment that may be encountered in the process of operation are considered. Disturbance observer is used to observe the disturbance, and the effect of disturbance is eliminated by feed-forward compensation. Considering that the change of load inertia will affect the performance of the speed regulating system, the method of moment of inertia identification is added. To improve the motor speed tracking performance. The simulation results show that the proposed complex anti-disturbance control method based on feedback linearization has better speed tracking performance and anti-disturbance ability than the traditional Pi and disturbance observation composite control methods.
This paper describes heterogeneous redundancy of FPGA based control system using cloud. Since conventional cloud servers have problems in responsiveness, we propose the concept and architecture of controller virtualiz...
详细信息
ISBN:
(纸本)9783319615660;9783319615653
This paper describes heterogeneous redundancy of FPGA based control system using cloud. Since conventional cloud servers have problems in responsiveness, we propose the concept and architecture of controller virtualization using FPGAs. However, we should consider the negative effect on the controllability by the communication delay when control is performed using the cloud. We evaluated the stability of control using cloud by means of a simulation for a representative process control model.
In complex production system that involves multiple process, unplanned disruption often turn to make the entire production system vulnerable to a number of problems which leads to customer's dissatisfaction. Howev...
详细信息
In complex production system that involves multiple process, unplanned disruption often turn to make the entire production system vulnerable to a number of problems which leads to customer's dissatisfaction. However, this problem has been an ongoing problem that requires a research and methods to streamline the entire process or develop a model that will address it, in contrast to this, we have developed a feedback scheduling model that can minimize some of this problem and after a number of experiment, it shows that some of this problems can be eliminated if the correct remedial actions are implemented on time.
In this paper, an optimal controller for dynamic model describing a system of human postural balance in response to small perturbations is developed. The purpose is to analyze the scientific problem of particular simu...
详细信息
ISBN:
(纸本)9781538685372
In this paper, an optimal controller for dynamic model describing a system of human postural balance in response to small perturbations is developed. The purpose is to analyze the scientific problem of particular simulating the work of separate parts of central nervous system (CNS) in terms of understanding the ways of its functioning, as well as the application of these knowledge for solving topical and actual issues of biomechanics and mechatronics. In the article the problems of adaptation of controlsystems methods analysis of human postural balance in a presence of CNS problems are considered. Robust control strategy that describes, as close as possible the role of knee, ankle and hip joints in the human postural stabilization is developed. The proposed control law simulates the ankle joints functioning and minimizes the nervous efforts of the central nervous system, as well as implements the stabilization of the center of mass of a human in the presence of small state perturbations of the body from the position of equilibrium in the sagittal plane.
The article describes control synthesis for mobile walking robot, which has an interval mathematical model. We proposed proof of concept for mobile walking robot, carrying load up to sixty percents of robot's mass...
详细信息
ISBN:
(纸本)9783319594156;9783319594149
The article describes control synthesis for mobile walking robot, which has an interval mathematical model. We proposed proof of concept for mobile walking robot, carrying load up to sixty percents of robot's mass. control system includes a computing unit, seven servos, a three-axis accelerometer and a moving camera operating in a visible optical range. Results of interval algorithms synthesis are shown for robot as an object of automatic control (OAC), with interval mathematical model. We defined the operational mode range of the system, its structure and interval parameters of mathematical model. It is shown that setting of interval values allows adequate modeling and description of processes in dynamic systems such as mobile walking robots. Main goal of this paper is to show possibility of classical Bode Diagram modification and application for the synthesis of interval control.
Flexible Manufacturing systems (FMSs) need Hybrid controlsystems (HCSs) to solve the specified requirements. An HCS is composed of a discrete event system (DES) and a continuous Discrete Time System (DTS) that intera...
详细信息
ISBN:
(纸本)9781538622056
Flexible Manufacturing systems (FMSs) need Hybrid controlsystems (HCSs) to solve the specified requirements. An HCS is composed of a discrete event system (DES) and a continuous Discrete Time System (DTS) that interact each other to fulfil some shared goals. The control of hybrid systems is difficult due to the complex requirements concerning asynchronous reactions to discrete events and continuous adjustment of some outputs. The main goals of the current research are to conceive models that describe the structure and the behaviour of an FMS (which by its nature is a hybrid system) and the synthesis of HCS that determines the desired behaviour with specified performances. The proposed models endow the Enhanced Time Petri Nets (ETPN) with Fuzzy Logic (FL) inference rules obtaining the Fuzzy Logic Enhanced Time Petri Net (FLETPN) models. These can be used to describe the control and controlled components of an FMS. Components that include FLETPN models are used to partition the HCS with the aim to divide the complex problem into smaller sub-problems that can be solved step by step using genetic algorithms.
Distributed time-varying output formation (TVOF) controlproblems are addressed in this paper using an adaptive output-feedback approach for general linear swarm systems with directed interaction topology. Compared wi...
详细信息
ISBN:
(纸本)9781538660898
Distributed time-varying output formation (TVOF) controlproblems are addressed in this paper using an adaptive output-feedback approach for general linear swarm systems with directed interaction topology. Compared with the previous work on formation control, a desired TVOF can be achieved by the swarm system without using any global information about the interaction topology. Firstly, an adaptive formation controller is constructed via dynamic output feedback information and sequential observers. Then, a distributed algorithm is proposed to determine the parameters in the adaptive formation controller. A feasible TVOF set is given. Moreover, the stability of the proposed distributed algorithm is proved. Finally, a simulation example is presented to demonstrate the effectiveness of the obtained results.
暂无评论