In machine design, a planar linkage is often synthesized to achieve a specific trajectory of motion. However, since the dynamics of planar linkage is highly nonlinear, the tracking of the prescribed trajectory would b...
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In machine design, a planar linkage is often synthesized to achieve a specific trajectory of motion. However, since the dynamics of planar linkage is highly nonlinear, the tracking of the prescribed trajectory would be difficult to be achieved perfectly. In this paper, a model reference adaptive control (MRAC) for linkage system was proposed. The switching algorithm was applied to the derivation of adaptation rule to obtain a satisfactory transient behavior; meanwhile, modifications were proposed to alleviate the chattering due to the switching adaptive mechanism. Experiments studies were performed in a four-bar linkage to demonstrate the effectiveness of the proposed method.
In this paper we present an adaptive stabilization control for systems with unknown constant parameters and stochastic disturbanes, which may be neither open-loop stable nor minimum-phaae. The ideaS come from the prev...
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In this paper we present an adaptive stabilization control for systems with unknown constant parameters and stochastic disturbanes, which may be neither open-loop stable nor minimum-phaae. The ideaS come from the previous works (Zhang and Chen [1991]) and (Chen (1992)), but here we not only simplify the construction procedure of an adaptive control, but also reduce the computional load significantly, so that the adaptive control in this paper is more practical. Furthermore, parameter estimation is carried out in only a finite time period and unlike in previus works, the parameter estimates are generated by ordinary differntial equation rather than stochastic differntial equations.
The phase windings of a doubly salient switched reluctance motor are fed with unipolar pulses of current from a suitable power convertor to control the speed and torque of the motor. A new range of power convertor cir...
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The phase windings of a doubly salient switched reluctance motor are fed with unipolar pulses of current from a suitable power convertor to control the speed and torque of the motor. A new range of power convertor circuits for the switched reluctance motor is proposed in this paper. The circuits allow the full supply voltage to be used to control the current in the phase windings and each switch is rated at close to the supply voltage. These power convertor circuits have fewer than two switches per phase winding. A new switching algorithm to control the switches connected to more than one phase winding is described. Equations predicting the ideal rotor angles for the commutation of the phase currents are derived for this new algorithm. Test results are given that clearly show the benefits of this new range of power convertor circuits over existing designs.
In this paper, a new variable-metric method based on a rational, rather than a quadratic, model is proposed. A switching algorithm is also introduced which selects either the standard quadratic model or the new ration...
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In this paper, a new variable-metric method based on a rational, rather than a quadratic, model is proposed. A switching algorithm is also introduced which selects either the standard quadratic model or the new rational model, depending on which has the smallest condition number. Several functions are used to test the new method, and it is concluded that it is as efficient as the standard model in general and is superior for problems of high dimensionality. Considerable improvement is also obtained for high-dimensional problems when the switching algorithm is used.
SUMMARY: An easily programmed algorithm is described for generating samples from the beta distribution for any allowable values of the parameters. The performance of the method is comparable with that of the best know...
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