This paper presents an approach to the implementation of sensory feedback in a robotic telemanipulation system. The system considered here consists of kinematically similar master-slave robotic manipulators. We propos...
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This paper presents an approach to the implementation of sensory feedback in a robotic telemanipulation system. The system considered here consists of kinematically similar master-slave robotic manipulators. We propose a control scheme whereby the slave tracks the motion commanded by the human operator through the master mechanism. The scheme also accommodates, in a unified manner, different sources of sensory feedback. These include combined effects of the interaction with unknown environments and changes in structural properties of the slave manipulator due to additional unknown loads. The control algorithm is based on continuously sliding variable structure control, which is a nonlinear and highly robust control scheme. Due to the robustness of the scheme, the need Sor a priori information about the environment and the load is minimal. This information can be passed on to the system in the form of upper bounds of the interaction forces and additional lends. Experimental studies with a Pneumatic Haptic Interface (PHI) system were conducted to evaluate the performance of the proposed scheme. We used a virtual slave with percent 25 uncertainty to verify the robustness of the controller. We have shown that the proposed scheme can accurately estimate the environmental interaction torques and can robustly track the trajectories commanded by the human operator.
Robust and performant numerical software for control systems analysis and design, such as the SLICOT and RASP libraries, is an essential ingredient in modern computer aided control systems design. To avoid duplicating...
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Robust and performant numerical software for control systems analysis and design, such as the SLICOT and RASP libraries, is an essential ingredient in modern computer aided control systems design. To avoid duplicating the implementation efforts and ensure a wider dissemination, the originators of the SLICOT and RASP libraries have agreed to combine their libraries and make the joint library freely available. To extend the scope of cooperation, a thematic network for numerics in control NICONET is set up. This paper motivates the need for such a network and describes the objectives, benefits and main network activities.
A description of the Universal Mechanism software is given. The human arm manipulator control problem is considered. Two kinematical models of the manipulator are discussed. Arm manipulator control algorithms for the ...
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A description of the Universal Mechanism software is given. The human arm manipulator control problem is considered. Two kinematical models of the manipulator are discussed. Arm manipulator control algorithms for the models are developed. A hierarchical sequence of manipulator operations combining simplicity and flexibility of programming is created. The problem of obtaining the optimal in the sense of minimal length path in the manipulator configuration space is solved.
The aggregation method in nonlinear control synthesis for the standard nonlinear dynamic subsystems is considered. The proposed approach is relatively simple and effective but nevertheless it does not demand a deep kn...
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The aggregation method in nonlinear control synthesis for the standard nonlinear dynamic subsystems is considered. The proposed approach is relatively simple and effective but nevertheless it does not demand a deep knowledge of the optimal control theory. The merit of the described nonlinear control synthesis is the design of nonadaptive, adaptive or combined controls which ensure feedback linearization of closed-loop control systems. An application is shown in an example.
A concept of using a discrete-time Wiener model within the nonlinear Model-Based Predictive control (MBPC) background is presented. The Wiener model is represented by a state-space linear block and a polynomial static...
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A concept of using a discrete-time Wiener model within the nonlinear Model-Based Predictive control (MBPC) background is presented. The Wiener model is represented by a state-space linear block and a polynomial static nonlinearity at the output. A quadratic programming based optimisation algorithm for obtaining the solution of the nonlinear control law is discussed. Several disturbance rejection methods are proposed. A comparison is made to another MBPC concept employing the Wiener model, where a linear model based control law is used, and simulation examples are given.
In this work, a methodology to study the control of a class of discrete-event systems, more precisely of closed manufacturing lines is proposed. Our contribution is based on the variable speeds and the controlled maxi...
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In this work, a methodology to study the control of a class of discrete-event systems, more precisely of closed manufacturing lines is proposed. Our contribution is based on the variable speeds and the controlled maximal speeds continuous Petri net model. The computation of the control is made using standard linear programming methods. Through illustrative examples, the simplicity as well as the efficiency of this method will be put in a prominent. Dans ce travail, on propose une méthodologie pour I'étude de la commande d'une Glasse de systémes á événements discrets, plus précisément des lignes de fabrication fermécs. Notre contribution est basée sur le modèle réseau de Petri continu á vitesses variabes et á vitesses maximales contrôlées. Le calcul de la commande se fait par le biais de méthodes standards de programmation linéaire. A travers des exemples illustratifs, la simplcité aussi bien que I'efficacité de cette méthode seront mis en évidence
The paper reports on the on-going development of an interactive computer package for assisrmg in the introduction and in the reinforcement of concepts of discrete time adaptive/self-tuning control to undergraduates in...
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The paper reports on the on-going development of an interactive computer package for assisrmg in the introduction and in the reinforcement of concepts of discrete time adaptive/self-tuning control to undergraduates in the area of electronics, computer systems and control engineering. The project is being carried out jointly by staff of the control Theory and Applications Centre, Coventry University, UK, and the Institute of control and Systems Engineering, Technical University of Wroclaw, Poland.
Predictive control algorithms are promising also in the case of nonlinear systems. Two versions of extended horizon predictive control algorithms are given here for the nonlinear simple Hammerstein model. A quadratic ...
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Predictive control algorithms are promising also in the case of nonlinear systems. Two versions of extended horizon predictive control algorithms are given here for the nonlinear simple Hammerstein model. A quadratic cost function is minimized, which considers the quadratic deviation of the reference signal and the output signal predicted in a future point and also the squares of the control increments. The system model is transformed to a predictive incremental form. Two versions of suboptimal extended horizon control algorithms are given with different assumptions for the control signal during the control horizon. Robustness properties of these algorithms are considered in case of plant-model mismatch through some simulation examples.
Traffic signal control algorithms of a traffic network are presented using a hierarchical control concept. The traffic congestion mechanism is described quantitatively based on the traffic volume balance at each signa...
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Traffic signal control algorithms of a traffic network are presented using a hierarchical control concept. The traffic congestion mechanism is described quantitatively based on the traffic volume balance at each signalized intersection. The traffic signal control system of the traffic congestion length is described by a linear time-varying discrete dynamic system in the traffic network. The hierarchical traffic signal control algorithm using the priority control algorithm is presented and simulated at twelve signalized intersections of the traffic network.
This paper presents the use of pulsed air injection to control rotating stall in a low-speed, axial flow compressor. In the first part of the paper the injection of air is modeled as an unsteady shift of the compresso...
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This paper presents the use of pulsed air injection to control rotating stall in a low-speed, axial flow compressor. In the first part of the paper the injection of air is modeled as an unsteady shift of the compressor characteristic, and incorporated into a low dimensional model of the compressor. By observing the change in the bifurcation behavior of this model subject to nonlinear feedback, the viability of various air injection orientations is established. An orientation consistent with this analysis is then used for feedback control. By measuring the unsteady pressures near the rotor face, a control algorithm determines the magnitude and phase of the first mode of rotating stall and controls the injection of air in the front of the rotor face. Experimental results show that this technique eliminates the hysteresis loop normally associated with rotating stall. A parametric study is used to determine the optimal control parameters for suppression of stall. The resulting control strategy is also shown to suppress surge when a plenum is present. Using a high-fidelity model, the main features of the experimental results are duplicated via simulations.
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