In the paper the nonlinear control strategy based on feedback linearization for nonlinear active magnetic bearing (AMB) system is discussed. In this context, self-sensing AMB dynamics, in affine-form is investigated. ...
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In the paper the nonlinear control strategy based on feedback linearization for nonlinear active magnetic bearing (AMB) system is discussed. In this context, self-sensing AMB dynamics, in affine-form is investigated. The extended relative degree of AMB dynamics model is considered. Since AMB system is strongly nonlinear a modification of the classical geometric control linearization is used. Numerical simulations are carried out to verify the theoretical approach.
Relocalization is one of the necessary modules for mobile robots in long-term autonomous movement in an environment. Currently, visual relocalization algorithms mainly include feature-based methods and CNN-based (Conv...
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Creating school timetables is problematic in many schools due to the complexity of models that need to be solved. If schools do not have enough resources (rooms, teachers), they are forced to work double or several sh...
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ISBN:
(纸本)9781538633373
Creating school timetables is problematic in many schools due to the complexity of models that need to be solved. If schools do not have enough resources (rooms, teachers), they are forced to work double or several shifts. This paper deals with shift types and ways to write them in formats used by computers to generate timetables automatically. Even though many schools work in shifts, the constraint to include shifts in creating timetables is rarely discussed in literature. This paper discusses a way to formulate school shifts using the XHSST format, a way to modify a domain specific language to support shifts, and an example of a way to modify the mathematical model of integer linear programming to support working in several shifts.
In this contemporary world, one of the major mode of transportation for hydrocarbon fluids are pipelines. The pipes should be designed and constructed in order to stay healthy and safe for various environmental condit...
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This paper presents a robust fast-terminal back-stepping control approach applied to a three-omni-wheel robot. For highly maneuverable and flexible robotic systems as three-omni-wheel robots, achieving effective contr...
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In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were eval...
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In this paper a nonholonomic motion planning task was solved using an algorithm proposed by Sussmann and Liu [8] and based on controls in the form of highly oscillatory series (HOS). Outputs of the algorithm were evaluated with respect to energy expenditure on controls and speed of its convergence. Based on characteristic features of the task, two modifications of the algorithm were proposed. Simulations were carried out on the unicycle model and an exemplary nilpotent nonholonomic system. Finally, the relevance of the algorithm to possible applications was discussed.
In this paper, we present a method to improve the navigation of tethered underwater vehicles by computing optimal paths that prevent their tethers from becoming entangled in obstacles. To accomplish this, we define th...
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The OPC (OLE for Process Control) protocol was developed as a solution which fulfils the requirements of open data integration architecture for industrial control. The OPC standard was primarily not intended for feedb...
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The OPC (OLE for Process Control) protocol was developed as a solution which fulfils the requirements of open data integration architecture for industrial control. The OPC standard was primarily not intended for feedback control with real-time requirements. The main complication of this control architecture is the presence of variable time delays. There are several ways to reduce the negative impact of the delays which OPC introduces into the control loop. The Smith predictor turns out to be a simple and effective compensator that rejects the time delays from the control loop.
The paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. These criteria can be applied while a binaural sonar system is used. It is sh...
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The paper presents connections between criteria which make three types of objects possible to recognize, namely: edges, planes and corners. These criteria can be applied while a binaural sonar system is used. It is shown that the criteria are specific forms of a general equation. The form of the equation depends on a single coefficient. In the paper the meaning of this coefficient is discussed. The constructions of the objects arrangements are presented which are bound with other values of the coefficient.
Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. The urge to produce modelling enabling to predict dynamic perturbations is more and...
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Technology improvement makes PKM faster and faster. From this speed it appears uncontrolled vibrations which disrupt PKM functioning. The urge to produce modelling enabling to predict dynamic perturbations is more and more important. To this day, linearized dynamic models are incomplete, ignoring account of speed and acceleration over trajectory. In this paper, a complete dynamic linearization will be presented, and will allow to reveal high speed influence among PKM eigenvalues.
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