The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. We design a robust adaptive control algori...
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The tracking problem is considered for robot manipulators with unknown parameters and dynamic friction, in the presence of bounded disturbances and/or modeling uncertainties. We design a robust adaptive control algorithm which guarantees arbitrary disturbance attenuation. If the disturbances belong to L2, asymptotic tracking is also achieved.
This paper shows, by a numerical example, that there is a certain separation property in the design of mechanical controlsystems. In particular, we point out that the control bandwidth of a servo-tracking system, ach...
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This paper shows, by a numerical example, that there is a certain separation property in the design of mechanical controlsystems. In particular, we point out that the control bandwidth of a servo-tracking system, achievable by a dynamic output feedback controller with reasonable amount of control effort, is closely related to the frequency range where the open-loop transfer function exhibits positive-realness. A finite frequency positive-real property is characterized in terms of linear matrix inequalities. Finally, a systematic procedure for designing a mechanical system having such property is proposed, utilizing powerful convex programming techniques.
While variable speed operation of wind turbines has several advantages, it poses difficult challenges to the design of controlsystem. The purpose of this work is to present a nonlinear variable speed control method f...
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While variable speed operation of wind turbines has several advantages, it poses difficult challenges to the design of controlsystem. The purpose of this work is to present a nonlinear variable speed control method for wind turbines. This method is based on the regulation of excitation winding voltage of the generator. Based on both mechanical and electrical dynamics, a nonlinear control algorithm is derived which is able to achieve smooth and asymptotic rotor speed tracking. The effectiveness of the method is verified via computer simulation with varying operating conditions.
This paper is dealing with the development of friction compensation scheme for positional set-point regulation at DC motor servomechanism via smooth adaptive dynamic surface controldesign. The control scheme is built...
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This paper is dealing with the development of friction compensation scheme for positional set-point regulation at DC motor servomechanism via smooth adaptive dynamic surface controldesign. The control scheme is built through backstepping procedure in which the change of coordinate is interpreted as sliding surface design. No exact knowledge of the friction model is required for the design of the controller. The global asymptotic stability for positional set-point regulation is achieved using Lyapunov's direct method. computer simulation and position servo experiment will be presented to confirm the capability of the proposed design.
This paper describes design of a flight controlsystem for propulsion controlled aircraft (PCA), which are controlled using thrust only. Particularly, approach and landing phase is considered because it is the most cr...
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This paper describes design of a flight controlsystem for propulsion controlled aircraft (PCA), which are controlled using thrust only. Particularly, approach and landing phase is considered because it is the most critical one in flight control. The ILS-coupled automatic approach and landing flight controlsystem is designed for a large transport aircraft, B-747 via H∞ state-feedback control. In the design, the guidance and control loops are designed at a time, which makes it easy to optimize the whole system performance unlike one-by-one loop closure in classical control. The effectiveness of the controlsystem is shown through computer simulation using a linear model of the B-747 aircraft in approach configuration.
In this paper, we present a systemdesign criterion which improves the performance of the general multivariable linear system with unmeasured external disturbances. We use the Lyapunov function to find the upper bound...
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In this paper, we present a systemdesign criterion which improves the performance of the general multivariable linear system with unmeasured external disturbances. We use the Lyapunov function to find the upper bound of the Integral Square Error (ISE) which serves as a measurement of system performance in process control. We point out the relationship between the upper bound of ISE and the related convergence rate. The design criterion shows how the system matrix plays an important role in reducing overall ISE. The results presented can be used as a general systemdesign criterion for a multivariable linear system with better disturbance rejection.
This paper describes a novel approach to control the cooperative manipulators in the grasping motion. In this method, first, the grasping force and accelerating force are calculated at the end-effectors. Then the impe...
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This paper describes a novel approach to control the cooperative manipulators in the grasping motion. In this method, first, the grasping force and accelerating force are calculated at the end-effectors. Then the impedance controller is adopted to calculate the force. Second, the force is resolved from tip to base link so that the rotational force is changed into the torque and the others are given to the next joint. This means that the force is transmitted among joints step by step and the desired tasks are realized asymptotically. Final, the work space observer is adopted so that the error is corrected in the tip motion response. Using this method, it is possible to realize decentralized control of plural and cooperative manipulators and the control structure is simplified. The proposed method is confirmed by several simulations and experiments.
The practical challenges encountered in vehicle stability systems are addressed. The five areas discussed include: steering wheel sensors;steering wheel angle estimate;control development philosophy;vehicle side slip ...
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The practical challenges encountered in vehicle stability systems are addressed. The five areas discussed include: steering wheel sensors;steering wheel angle estimate;control development philosophy;vehicle side slip angle estimation;and road bank disturbances.
In this paper, a new type damper is proposed. It is based on the Tendon control and is constructed using parallel supporting mechanism, by which this damper has some effective features. One of them is the effect of dy...
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In this paper, a new type damper is proposed. It is based on the Tendon control and is constructed using parallel supporting mechanism, by which this damper has some effective features. One of them is the effect of dynamic absorber. And some controlsystem is designed for the structure with this proposed damper. It aims at the improvement of vibration property, the guarantee of robust stability and the low sensitivity property for disturbance. Some simulation results show the good performance of it.
The building automation and control network (BACnet) standard defines all the elements of communication between devices, from the abstract language of the objects and services right down to the physical local area net...
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The building automation and control network (BACnet) standard defines all the elements of communication between devices, from the abstract language of the objects and services right down to the physical local area networks (LAN). With its adoption as an ANSI standard and the interest shown worldwide, BACnet points the way to the future of communication within building automation controls.
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