This paper presents the design of fuzzy-logic-based command to line-of-sight (CLOS) guidance law. In this presented design, the fuzzy inference rules are constructed in terms of polar coordinate parameters and their f...
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This paper presents the design of fuzzy-logic-based command to line-of-sight (CLOS) guidance law. In this presented design, the fuzzy inference rules are constructed in terms of polar coordinate parameters and their fuzzy associated memories (FAM) are trained by adaptive-network-based fuzzy inference system (ANFIS). An on-line tuning algorithm is also proposed to adjust the FAM based on the missile attitude to eradicate the coupling effect. Simulation results demonstrate that the proposed fuzzy-logic-based CLOS guidance law can achieve satisfactory performance with small miss-distance.
This paper treats with a survey on recent development in the field of analyzing method of ship's motions and its control at sea. The following items on: (1) Some models representing ship's motions, its identif...
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This paper treats with a survey on recent development in the field of analyzing method of ship's motions and its control at sea. The following items on: (1) Some models representing ship's motions, its identification and filtering method using actual data at sea, (2) control methods and their results in actual on-board experiments are emphasized.
This paper reports an innovative synthesis procedure to design nonlinear tracking control algorithms for robotic manipulators. The nonlinear mathematical model is used. It is shown that the offered controller ensures ...
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This paper reports an innovative synthesis procedure to design nonlinear tracking control algorithms for robotic manipulators. The nonlinear mathematical model is used. It is shown that the offered controller ensures robust tracking and stability. Analytical and numerical studies are performed to design a nonlinear controller and to analyze the manipulator dynamics. An example is given to illustrate the method reported. In particular, the transient dynamics and tracking performance are studied for a two-link robot.
The robust D-stability problem for generalized state-space systems with uncertainties in the form of one-parameter family of matrices is investigated in this paper. The maximal bounds of perturbations for simultaneous...
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The robust D-stability problem for generalized state-space systems with uncertainties in the form of one-parameter family of matrices is investigated in this paper. The maximal bounds of perturbations for simultaneously preserving the regularity, impulse-immunity, and D-stability are analytically derived.
A novel control scheme for nonlinear multi-input multi-output (MIMO) systems which have unstable zero dynamics is presented. The proposed approach consists of a state-feedback controller which simultaneously achieves ...
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A novel control scheme for nonlinear multi-input multi-output (MIMO) systems which have unstable zero dynamics is presented. The proposed approach consists of a state-feedback controller which simultaneously achieves the input-output linearization of the nonlinear system and stabilizes the internal dynamics using a Lyapunov-based scheme. The approach is used to design a nonlinear MIMO voltage and speed regulator for a single machine infinite bus power system.
In this paper, the robust controller design for a 3 MW boiler feed pump is presented. The dynamics of this pump are discussed, and a systematic way for transforming the robustness and performance requirements to the ...
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In this paper, the robust controller design for a 3 MW boiler feed pump is presented. The dynamics of this pump are discussed, and a systematic way for transforming the robustness and performance requirements to the μ-Synthesis setting is described. As the core of the paper, a new theorem for determining suitable uncertainty weighting functions for MIMO-problems is presented and applied to the AMB pump. The controller designed on this basis proves to meet the specifications.
A dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The techniq...
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A dynamic inversion compensation scheme is presented for backlash. The compensator uses the backstepping technique with neural networks (NN) for inverting the backlash nonlinearity in the feedforward path. The technique provides a general procedure for using NN to determine the dynamic preinverse of an invertible dynamical system. A tuning algorithm is presented for the NN backlash compensator which yields a stable closed-loop system.
A number of researchers have been investigating the use of Stewart platforms (or hexapods) for precision applications. This paper presents a new dynamic model suitable for control of flexure jointed hexapods. Novel co...
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A number of researchers have been investigating the use of Stewart platforms (or hexapods) for precision applications. This paper presents a new dynamic model suitable for control of flexure jointed hexapods. Novel contributions include: (1) Base acceleration inputs are included;(2) The dynamic model is experimentally verified;(3) The model is developed so that, it is suitable for control, and (4) a decoupled force control is derived.
In the paper, a new controldesign method based on the inverse LMI control algorithm is proposed and applied to a position keeping system of a floating vehicle. The LMI control algorithm is developed to cope with the ...
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In the paper, a new controldesign method based on the inverse LMI control algorithm is proposed and applied to a position keeping system of a floating vehicle. The LMI control algorithm is developed to cope with the step response command of controller firstly in the world. And also, the inverse LMI control algorithm is newly created for the user (designer) friendly style. The inverse LMI controldesign method is applied to the dynamic positioning systemdesign of an offshore platform. LPV (Linear Parameter Varying) model for the offshore platform is derived by its nonlinear model, and the inverse LMI controldesign is successfully conducted. Effectiveness of the controldesign method is confirmed by numerical simulation. The method can cope with the nonlinear and robust control problems, and get the control output determined by the control constraint command easily.
In this paper, we consider the LPV systems. The LPV with varying parameters are proposed. This controller has less conservetivity against H∞ controller. We reveal the condition to be able to design the LPV controller...
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In this paper, we consider the LPV systems. The LPV with varying parameters are proposed. This controller has less conservetivity against H∞ controller. We reveal the condition to be able to design the LPV controller. Next we apply the LPV controller to the ALFLEX longitudial motion control in running on ground. By simulation we confirm the utility of the proposed method to stabilization. Also we check the property the disturbance rejection.
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