This paper proposes a discrete-time adaptive regulation approach for scalar linear time-invariant systems with unknown, constant input time delay that has a known upper-bound, without explicitly estimating the time de...
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ISBN:
(纸本)9789897583803
This paper proposes a discrete-time adaptive regulation approach for scalar linear time-invariant systems with unknown, constant input time delay that has a known upper-bound, without explicitly estimating the time delay. To cope with the unknown time delay, a state substitution is made that results in a delay free system that simplifies the control law design. In addition, the proposed approach does not require that the system have stable open-loop zeros. A stability analysis shows that the proposed regulator drives the system state to zero asymptotically and simulation results are shown to verify the approach.
This paper surveys the kinematics of bikes and details the construction of a dynamics model for a motorbike using the Lagrangian approach. Using data from a typical sports motorbike, a dynamics model is obtained by sy...
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ISBN:
(纸本)9789898565211
This paper surveys the kinematics of bikes and details the construction of a dynamics model for a motorbike using the Lagrangian approach. Using data from a typical sports motorbike, a dynamics model is obtained by symbolic computation. This model, of high algebraic complexity, is then wrapped as a function and used for control purposes. control strategies based on PID, MPC, and nonlinear control are discussed and simulation results for each of them are presented.
This paper deals with the robust stabilization of a car-like mobile robot given in a perturbed chained form. A higher order sliding mode control strategy is developed. This control strategy switches between two differ...
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This paper deals with the robust stabilization of a car-like mobile robot given in a perturbed chained form. A higher order sliding mode control strategy is developed. This control strategy switches between two different sliding mode controls: a second order one (super-twisting algorithm) and a new third order sliding mode control that performs a finite time stabilization. The proposed third sliding mode controller is based on geometric homogeneity property with a discontinuous term. Simulation results show the control performance.
For improving the operability of an omni-directional wheelchair provided with a power assist system, the system must be able to adapt to the individual characteristics of the many different attendants that will use it...
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ISBN:
(纸本)9789728865832
For improving the operability of an omni-directional wheelchair provided with a power assist system, the system must be able to adapt to the individual characteristics of the many different attendants that will use it. For achieving this purpose, an innovative human-interface using a touch panel that provides easy input and feedback information in real time of the operation of a power-assisted wheelchair was developed. The system was tested experimentally with many different attendants and the results show that in addition to providing a human friendly interface by using the touch panel system with monitor it can adapt successfully to the particular habits of the attendants.
Surface temperature control of a thin aluminium plate were investigated using closed loop control approach implemented using inverse problem. The one-dimensional model with periodic boundary condition was solved using...
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ISBN:
(纸本)9789897583803
Surface temperature control of a thin aluminium plate were investigated using closed loop control approach implemented using inverse problem. The one-dimensional model with periodic boundary condition was solved using the Laplace transform and both direct problem and inverse problem transfer functions were obtained. The resulting transfer functions were expanded using Zero-Pole expansion to obtain a finite order polynomial transfer function. Simulation results for closed loop control using fractional controllers (FOPI lambda, FOPD mu, and FOPID mu) were evaluated.
The paper focuses on a recently introduced paradigm for the logistic process of picking, with respect to the man-to-goods and goods-to-man concept: the robot-to-goods. First the task and system architecture of the fas...
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ISBN:
(纸本)9789897581984
The paper focuses on a recently introduced paradigm for the logistic process of picking, with respect to the man-to-goods and goods-to-man concept: the robot-to-goods. First the task and system architecture of the fast deployable autonomous commissioning system are described, then the economic efficiency of the system is analysed in a real business case scenario using a simplified method, which is explained and discussed. The clearly positive Net Present Value of the investment and the short Payback Period obtained in the business case prove how the robot-to-goods paradigm for the commissioning process, implemented through the automation of the forklift platform, is economically attractive for small and medium size enterprises.
Today's factory floors are a distributed system of heterogeneous components. They exist a high degree of production customization to cater for this most factory floor systems are being adapted for customization. M...
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ISBN:
(纸本)9789897581984
Today's factory floors are a distributed system of heterogeneous components. They exist a high degree of production customization to cater for this most factory floor systems are being adapted for customization. Most current manufacturing communication systems do not have a flexible architecture to serve the changeable and dynamic market needs thus presenting a research gap in flexible communication. This paper discusses a middleware communication system that allows for flexible optimal control of information flow in a fixture based production system. The architecture of the system aims to integrate seamlessly a heterogeneous factory environment, for autonomous monitoring and control of information on the factory floor.
Renewable energies, has generated more and more interest of research in control of the HyRES. Thousand of papers deal with MPPT (Maximum Power Point Tracking) to optimize harnessing solar energy. The intent of this pa...
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ISBN:
(纸本)9789897583049
Renewable energies, has generated more and more interest of research in control of the HyRES. Thousand of papers deal with MPPT (Maximum Power Point Tracking) to optimize harnessing solar energy. The intent of this paper is to review the most interesting Algorithm and to propose a Robust Unified Tracking Algorithm.
This paper presents a novel design and architecture control of a foldable quadrotor. This design is based on a variable geometry that can be changed during the flight. It is able to modify the orientation of its arms ...
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ISBN:
(纸本)9789897584428
This paper presents a novel design and architecture control of a foldable quadrotor. This design is based on a variable geometry that can be changed during the flight. It is able to modify the orientation of its arms independently, thanks to its special morphology. This quadrotor, exploits simple mechanisms i.e. rotating arms. We stress that the control of this category of robots is not obvious compared to the conventional ones. So, a detailed generic model and backstepping control that take into account the variation of the center of gravity and the inertia are presented. Simulation results are also provided in order to illustrate the performances of this controller.
The asynchronous control design of continuous-time Markovian jump systems with bounded time-varying transition rates is addressed in this paper. According to the framework of parameterized linear matrix inequalities (...
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ISBN:
(纸本)9789897583803
The asynchronous control design of continuous-time Markovian jump systems with bounded time-varying transition rates is addressed in this paper. According to the framework of parameterized linear matrix inequalities (PLMIs), essential stabilization conditions are established with consideration on dissipativity performance and then transform to solvable sets of linear matrix inequalities (LMIs) under our proposed method. Especially, our technique is derived from not only time-varying system modes but also asynchronous control modes transition rates. The effectiveness of our method is then illustrated through our numerical example.
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