The complexity of modern automation systems is growing steadily. In software engineering, model-driven development proved that it contributes significantly to cope with this complexity in development, while increasing...
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ISBN:
(纸本)9789896740009
The complexity of modern automation systems is growing steadily. In software engineering, model-driven development proved that it contributes significantly to cope with this complexity in development, while increasing efficiency and the quality of the development results. However, hardware-software dependencies, different types of requirements that must be considered in development and the large number of modeling languages are specific challenges for a model-driven approach in automation technology. In this paper a concept of model-driven system development is presented that takes into account these challenges, and thus provides the possibility to leverage model-driven development in industrial automation technology.
The rendezvous problem between autonomous vehicles is formulated as an optimal cooperative control problem with terminal constraints. A major approach to the solution of optimal control problems is to seek solutions w...
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ISBN:
(纸本)9789728865832
The rendezvous problem between autonomous vehicles is formulated as an optimal cooperative control problem with terminal constraints. A major approach to the solution of optimal control problems is to seek solutions which satisfy the first order necessary conditions for an optimum. Such an approach is based on a Hamiltonian formulation, which leads to a difficult two-point boundary-value problem. In this paper, a different approach is used in which the control history is found directly by a genetic algorithm search method. The main advantage of the method is that it does not require the development of a Hamiltonian formulation and consequently, it eliminates the need to deal with an adjoint problem. This method has been applied to the solution of interception and rendezvous problems in an underwater environment, where the direction of the thrust vector is used as the control. The method is first tested on an interception chaser-target problem where the passive target vehicle moves along a straight line at constant speed. We then treat a cooperative rendezvous problem between two active autonomous vehicles. The effects of gravity, thrust and viscous drag are considered and the rendezvous location is treated as a terminal constraint.
Predictive and optimal process control using finite Markov chains is considered. A basic procedure is outlined, consisting of discretization of plant input and state spaces;conversion of a (a priori) plant model into ...
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ISBN:
(纸本)9789728865849
Predictive and optimal process control using finite Markov chains is considered. A basic procedure is outlined, consisting of discretization of plant input and state spaces;conversion of a (a priori) plant model into a set of finite state probability transition maps;specification of immediate costs for state-action pairs;computation of an optimal or a predictive control policy;and, analysis of the closed-loop system behavior. An application, using a MATLAB toolbox developed for MDP-based process control design, illustrates the approach in the control of a multivariable plant with both discrete and continuous action variables. For problems of size of practical significance (thousands of states), computations can be performed on a standard office PC. The aim of the work is to provide a basic framework for examination of nonlinear control, emphasizing in on-line learning from uncertain data.
An unmanned Aerial Vehicle (UAV) is a highly non-linear unstable system. In this work using fractional order calculus, a novel fractional order dynamics of UAV is proposed. The concept of fractional order depicts the ...
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ISBN:
(纸本)9789897585227
An unmanned Aerial Vehicle (UAV) is a highly non-linear unstable system. In this work using fractional order calculus, a novel fractional order dynamics of UAV is proposed. The concept of fractional order depicts the more realistic behavior of UAVs. For proposed fractional order model, a fractional order sliding mode controller (SMC) is designed such that the desired path can be achieved by the UAV in finite-time. In addition to this model uncertainty and disturbance is considered in the system which is handled by the proposed robust SMC. Stability analysis is given for the fractional order SMC using fractional Lyapunov method. Simulations have been done for position and attitude tracking of UAV to demonstrate the efficacy of the proposed method.
This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to th...
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ISBN:
(纸本)9728865600
This paper presents a trajectory controller for an omni-directional mobile robot. The controller presents important features, as the possibility of defining different translation velocities and angular positions to the robot during the trajectory following. The parameters of the controller are optimizated based on trajectory following simulations, with the mobile robot model. Simulation and real results of trajectory following are presented.
作者:
Belda, KvetoslavCzech Acad Sci
Inst Informat Theory & Automat Dept Adapt Syst Pod Vodarenskou Vezi 4 Prague 18208 8 Czech Republic
The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezi...
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ISBN:
(纸本)9789897583803
The paper deals with path smoothing and time parametrization procedures intended for motion control of industrial machine tools and robots. Path smoothing, considered in this paper, is based on the application of Bezier curves. A possible straightforward solution ensuring compliance with given admissible positional tolerances is introduced. Consequent time parametrization considered here employs arc length and specific construction of acceleration polynomials. It describes the motion along the obtained smoothed curve geometry. It is given by timing the arc length, thus the construction of the feed rate profile. The key parts of the time parametrization comprise: computation of path length;time parametrization with respect to arc length;and decomposition to the individual Cartesian components describing individual curve coordinates. The theoretical results are presented by representative examples in 2D and 3D spaces.
Heaps models are powerful models for concurrent timed discrete event systems. They admit linear description using dioid algebras. Inspired by supervisory control of logical discrete event systems we introduce parallel...
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ISBN:
(纸本)9789728865825
Heaps models are powerful models for concurrent timed discrete event systems. They admit linear description using dioid algebras. Inspired by supervisory control of logical discrete event systems we introduce parallel composition of heap models, called synchronous product, to formally describe the action of supervisor (represented by another heap model) on the system. This additional explicit concurrency for naturally concurrent heap models is useful for studying supervisory control in the algebraic framework of dioid algebras. Timing aspects of supervisory control, i.e. optimal timing of the controller, is studied based on residuation theory.
Recent years have seen an increased interest in the use of open-architecture, PC-based controllers for robotic and mechatronic systems. Although such systems give increased flexibility and performance at low unit cost...
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ISBN:
(纸本)9789728865849
Recent years have seen an increased interest in the use of open-architecture, PC-based controllers for robotic and mechatronic systems. Although such systems give increased flexibility and performance at low unit cost, the use of commercial processors and memory devices can be problematic from a safety perspective as they lack many of the built-in integrity testing features that are typical of more specialised equipment. Previous research has shown that the rate of undetected corruptions in industrial PC memory devices is large enough to be of concern in systems where the correct functioning of equipment is vital. In this paper the mechanisms that may lead to such corruptions and the level of risk is examined. A simple, portable and highly effective software library is also presented in this paper that can reduce the impact of such memory errors. The effectiveness of the library is verified in a small example.
The paper considers a suboptimal solution to the dual control problem for discrete-time stochastic systems in the case of amplitude constraint imposed on the control signal. The objective of the control is to minimize...
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ISBN:
(纸本)9789728865849
The paper considers a suboptimal solution to the dual control problem for discrete-time stochastic systems in the case of amplitude constraint imposed on the control signal. The objective of the control is to minimize the variance of the output around the given reference sequence. The presented approaches are based on: an MIDC (Modified Innovation Dual controller) derived from an IDC (Innovation Dual controller), a TSDSC (Two-stage Dual Suboptimal control, and a PP (Pole Placement) controller. Finally, the certainty equivalence (CE) control method is included for comparative analysis. In all algorithms, the standard Kalman filter equations are applied for estimation of the unknown system parameters. Example of second order system is simulated in order to compare the performance of control methods. Conclusions yielded from simulation study are given.
This paper concerns to the application of adaptive control to a large scale water canal experimental plant. Water canals are complex spatially distributed systems which aim at distributing water either for irrigating,...
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ISBN:
(纸本)9789728865849
This paper concerns to the application of adaptive control to a large scale water canal experimental plant. Water canals are complex spatially distributed systems which aim at distributing water either for irrigating, or domestic, or industrial purposes. In this paper a predictive adaptive control algorithm (MUSMAR) is applied to a large scale experimental water canal prototype. The experimental facilities with a fully instrumented canal, a PLC network and a SCADA system, are briefly described. This paper describes the developed software module and the MUSMAR control algorithm. Finaly, Some experimental results obtained in the experimental water canal, are presented.
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