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检索条件"主题词=Computer Algorithms"

共 996 条记录，以下是171-180 订阅

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Complex Trajectory Tracking Using MPC with Prediction Adjustment

Complex Trajectory Tracking Using MPC with Prediction Adjust...

引用

IEEE International Conference on Robotics and Biomimetics (ROBIO)

作者： Charest, Meaghan Dubay, Rickey Everett, Scott Univ New Brunswick Dept Mech Engn Fredericton NB E3B 5A3 Canada

A prediction adjustment parameter. for model predictive control algorithms to enhance complex trajectory tracking is introduced. The. methodology is tested in simulation and on an experimental setup using DMC and GPC ... 详细信息

ISBN: (纸本)9781479927456

关键词： Maximum Allowable Concentration trajectory tracking computer algorithms simulating Model predictive control algorithms

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A Review of Intelligent Control algorithms Applied to Robot Motion Control 8

A Review of Intelligent Control Algorithms Applied to Robot ...

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8th IEEE Annual International Conference on Cyber Technology in Automation, Control, and Intelligent Systems (IEEE-CYBER)

作者： Zhang, Qian Sun, Xiaoying Tong, Fei Chen, Hua Hohai Univ Sch Internet Things Changzhou Campus Changzhou 213022 Peoples R China Hohai Univ Coll Mech & Elect Engn Changzhou Campus Changzhou 213022 Peoples R China Hohai Univ Math & Phys Dept Changzhou Campus Changzhou 213022 Peoples R China

ISBN: (纸本)9781538670576

Intelligent control algorithm has been widely applied to robot control. Many single control strategies, such as iterative learning control, fuzzy control, neural network and adaptive control have been used to overcome obstacles in motion control and path tracing of robot. Some examples have been taken to explain different strategies one by one in this paper. What is more, hybrid control methods which combine single control strategy with others also have an essential role to play in robot control. This paper will illustrate various application of hybrid methods in robot control. In general, this study highlights intelligent control algorithms review of robot control.

关键词： intelligent control mobile robots motion control Intelligent control Motor Control Robot control Mobile robots control strategy computer algorithms Robot kinematics

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Displacement-based Formation Tracking Control of Multi-agent with Size Scaling 5

Displacement-based Formation Tracking Control of Multi-agent...

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5th Australian Control Conference (AUCC)

作者： Wu, Z. Sun, J. Wang, X. Nanjing Univ Sci & Technol Sch Automat Nanjing Jiangsu Peoples R China

ISBN: (纸本)9781467395526

In this paper, we propose a formation control algorithm for multi-agent systems to achieve prospected formation shape and track reference trajectory. We assume the description of formation and reference velocity is known to all agents. For second-order dynamics, we present a strategy that allows all agents to maneuver to desired scaled formation during tacking leader's movements. Finally, simulation results show that the proposed displacement-based formation tracking strategies are effective.

关键词： computer algorithms reference velocity tracking control Agents Multi-agent systems Scale formation tack Simulation results

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A New Coordinated Path-Following Control for Second-Order Multi-Agent Systems 53

A New Coordinated Path-Following Control for Second-Order Mu...

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53rd IEEE Annual Conference on Decision and Control (CDC)

作者： Zuo, Zongyu Beihang Univ Res Div 7 Sci & Technol Aircraft Control Lab Beijing Univ Aeronaut & Astronaut Beijing 100191 Peoples R China

ISBN: (纸本)9781467360906

This paper addresses the problem of coordinately steering a group of agents under directed information flow along three-dimensional (3-D) reference paths with spatial but without temporal constraints. Based on a novel 3-D algebraic implicit path-following control methodology, a new coordinated path-following control algorithm accounting for large initial positions disagreement is proposed such that all the agents in the group reach the spatial path with negotiated speed profiles and ultimately realize the position coordination on the path. To validate the correctness of the proposed concept, simulation result is included in the end.

关键词： Agents Control Methods information flow Standing Orders accuracy class Byways Simulation results computer algorithms

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The Design of Fuzzy Controller of Super-thin Ball Mill

The Design of Fuzzy Controller of Super-thin Ball Mill

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World Congress on Software Engineering

作者： Gu Jingtao Ji Xiu Chang Chun Inst Technol Dept Elect & Commun Engn Changchun 130012 Ji Lin Province Peoples R China

ISBN: (纸本)9780769535708

The superfine grinding process is an integral new technology of the modern industry and scientific research. With the development of engineering technology, many basic industries have raised more strictly requirement to the features, such as granularity, the distribution of granularity and image. The characteristics of the controlled object include the nonlinear feature, multivariate strong coupling, uncertainty, retard and the difficulties of getting accurate mathematical model. Aims at those above characteristics, this paper proposes the fuzzy control algorithm as well as the design of fuzzy controller according to the requirement of the automatic control by multi-dimensional swing-out nanometer ball mill. By the effective modulation of fuzzy controller, the machining time can be largely shortened while the efficiency of this equipment can also be greatly increased.

关键词： FUZZY CONTROLLER Ball milling Fuzzy controlled object Controllers computer algorithms Machine time mill automatic control Ball Device Component scientific research Ultrafine grinding basic industry

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Cascade Finite Control Set Predictive Control of Neutral Point Clamped Power Converter

Cascade Finite Control Set Predictive Control of Neutral Poi...

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2nd Australian Control Conference (AUCC)

作者： Ng, Ki Chun Wang, Liuping RMIT Univ Sch Elect & Comp Engn Melbourne Vic Australia

ISBN: (纸本)9781922107633

In this paper, a finite control set predictive control in cascade with PI controller is presented for a three-phase neural point clamped boost rectifier. The control algorithm consists of a finite control set predictive control for inner current loop in synchronous reference frame and a PI voltage control for the outer-loop system. There are two reference signals for this cascade controller, one being the de link voltage reference and the other q-axis current reference, which are used to regulate the de link voltage and achieve an unity power factor. A physical model is used for the design of finite control set predictive controller in the inner-loop and an empirical model is used for the design of PI controller for the outer-loop. Simulation results show the satisfactory closed-loop control performance for the de-link and the q-axis current regulation.

关键词： PI control Predictive controllers Current rings computer algorithms control performance control set Reference signals cascade controller unity power factor synchronous reference frame cascades Predictive control internal recycling DC link voltage DC link

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Modelling and Control Design for Biped Robot Standing on Nonstationary Plane 20

Modelling and Control Design for Biped Robot Standing on Non...

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20th International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Bazylev, Dmitry Zimenko, Konstantin Margun, Alexey Ibraev, Denis Kremlev, Artem ITMO Univ Kronverkskiy Pr 49 St Petersburg 197101 Russia

ISBN: (纸本)9781479987016

Motion control of biped robots includes a variety of tasks, such as controlling a robot walking on a horizontal plane, climbing stairs, moving on uneven surfaces, etc. This article describes modeling and designed control system for a biped robot standing on nonstationary plane. The problem of stabilization of the balancing robot, assembled on the basis of a robotic kit Bioloid, is considered for the case, when trajectories of movable plane are assumed to be bounded and unknown in advance. In contrast to previous works [4], [8] the mathematical model of the system is completed with dynamical equations and an estimator of nonstationary plane angle and angular velocity is designed. Performance of the proposed control algorithm is confirmed by numerical simulation.

关键词： biped robot design control Modeling computer algorithms control systems plane Platanus hybrida Planing Motor Control ANGULAR VELOCITY trajectory advance numerical simulation Religious Missions Robot

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Analysis of rate-based congestion control algorithms for ATM networks .1. Steady state analysis

Analysis of rate-based congestion control algorithms for ATM...

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IEEE Global Telecommunications Conference

作者： Ohsaki, H Murata, M Suzuki, H Ikeda, C Miyahara, H OSAKA UNIV FAC ENGN SCIDEPT INFORMAT & COMP SCITOYONAKAOSAKA 560JAPAN

ISBN: (纸本)0780325109

Rate-based congestion control is effective and still simple for traffic management in ATM networks. One of its practical realization schemes is the enhanced proportional rate control algorithm (EPRCA) which has been proposed and adopted as a standard for traffic management scheme in the ATM Forum. An analysis for the EPRCA is provided for a network with homogeneous source traffic and a single bottleneck ATM link to investigate the dynamic behavior of the EPRCA. In addition to three types of switches suggested in the EPRCA, a prioritized switch is newly proposed. We exploit the dynamical behavior of the EPRCA and obtain the maximum queue length at the switch and the throughput by using the first-order fluid approximation method. Equations for parameter tuning for the EPRCA are also provided.

关键词： computer algorithms Switches Traffic management steady-state analysis queueing length Throughput

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AVSER-Active Variable Stiffness Exoskeleton Robot System: Design and Application for Safe Active-Passive Elbow Rehabilitation

AVSER-Active Variable Stiffness Exoskeleton Robot System: De...

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IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

作者： Wang, Ren-Jeng Huang, Han-Pang Natl Taiwan Univ Dept Mech Engn Taipei 10617 Taiwan

ISBN: (纸本)9781467325769

The paper introduces an active variable stiffness exoskeleton robotic system (AVSER) with the active variable stiffness elastic actuator (AVSEA), which improves the safety for human-robot interaction and produces unique adjustable stiffness capacity to meet the demand for safe active-passive elbow rehabilitation. The AVSEA consists of two DC-motors. One is used to control the position of the joint, and the other is used to adjust the stiffness of the system. The stiffness is generated by a leaf spring. By shortening the effective length of the leaf spring, the AVSEA is able to reduce the stiffness automatically, which makes the AVSER from active (assistive) motion to passive (resistance) rehabilitation during the process of therapy. In the paper, the mechanical design, modeling, and control algorithms are described in details. The capacity of the proposed AVSER with electromyogram (EMG) signal feedback is verified by rehabilitation exercise experiments for the subject to demonstrate the efficacy of the developed system.

关键词： Variable stiffness spring loaded vane Elbow Robot System computer algorithms Electromyogram

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Closed-loop torque control of an absorbing dynamometer for a motor test-bed

Closed-loop torque control of an absorbing dynamometer for a...

引用

IEEE International Symposium on Industrial Electronics

作者： Campos-Delgado, D. U. Espinoza-Trejo, D. R. Palacios, E. UASLP Fac Ciencias San Luis Potosi SLP Mexico UASLP CIEP Fac Ingn San Luis Potosi SLP Mexico

ISBN: (纸本)9781424407545

In order to test control algorithms for DC and AC motors, under a variable speed configuration, is necessary to provide a regulated load torque. Moreover, it is desirable to adjust on-line this quantity in order to simulate practical scenarios and nonlinear loads. Thus, with this objective in mind, the design and closed-loop torque control strategies for an absorbing dynamometer are detailed in this paper. This device is constructed using a permanent-magnet DC motor and a two-quadrant DC-DC chopper, and it is designed to operate independently of the motor velocity orientation. Two nonlinear control schemes are presented to regulate accurately the torque provided by the dynamometer. Finally, simulation and experimental results are illustrated for a 2HP DC motor test-bed.

关键词： Dynamometer AC motors Torque control loading moments DC chopper Absorption (physics) computer algorithms order Motor

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