The paper presents the control problem for a hyperredundant arm, a tentacle model. The difficulties determined by the complexity of the nonlinear integral differential equations are avoided by using a very basic energ...
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The paper presents the control problem for a hyperredundant arm, a tentacle model. The difficulties determined by the complexity of the nonlinear integral differential equations are avoided by using a very basic energy relationship of the system. A PD control laws are discussed. Numerical simulations for spatial and planar tentacle models are presented.
The existence and stability of periodic solution of competing reaction-diffusion models with grazing rates in population dynamics are discussed in this paper, The sufficient conditions are obtained for existence of a ...
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The existence and stability of periodic solution of competing reaction-diffusion models with grazing rates in population dynamics are discussed in this paper, The sufficient conditions are obtained for existence of a globally asymptotically stable strictly positive spatial homogeneity periodic solution by methods of comparison theory, Brouwer's fixed point theorem and Lyapunov function.
We first summarize in this paper an original nonlinear model of manipulators with elastic parts. Kinematics are presented together with some of its characteristics such as the possible use of curvature as generalised ...
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We first summarize in this paper an original nonlinear model of manipulators with elastic parts. Kinematics are presented together with some of its characteristics such as the possible use of curvature as generalised coordinates and a description with augmented bodies. The equations of the dynamic model from which the identification regressor is extracted. For this model we propose different sets of dynamic parameters that can be estimated according to the architecture of the robot.
The predictions of the Hsu model of soybean hydration are compared with simulation results of the distributed parameter phenomenological model (DPP) that was developed in this study. The models were developed based on...
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The predictions of the Hsu model of soybean hydration are compared with simulation results of the distributed parameter phenomenological model (DPP) that was developed in this study. The models were developed based on the same mass balance with one volume differential element of the Hsu model;however, the Hsu model admits an exponential variation of concentration while the DPP model admits equal diffusion and convection fluxes at the solid-fluid interface. The models are represented by a partial second order differential equation in relation to the radial position and a first order equation in relation to time, which were solved and numerically fitted using MATLAB routines and experimental data obtained from the hydration assays in the temperature range from 10 to 50 degrees C. The Hsu model has a smaller quadratic deviation;however, it employs three fitting parameters while DPP uses only one.
We summarize in this paper an original method to estimate the dynamic parameters in a nonlinear model of manipulator with elastic parts. Kinematics are presented together with some of its characteristics such as the p...
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We summarize in this paper an original method to estimate the dynamic parameters in a nonlinear model of manipulator with elastic parts. Kinematics are presented together with some of its characteristics such as the possible use of curvature as generalised coordinates and a description with augmented bodies. We apply this kinematics to a particular case of bodies that undergo flexions in order to present how time-varying dynamic parameters can be developped in terms of time-invariant functions of the density of the flexible bodies. We also sketch the equations of the dynarriic model from which the identification regressor is extracted. Finally we exhibit the parameters that can be estimated in the case of a two-link robot.
A new approach to dynamic system formulation is presented, based on an anisochronic principle of the system state definition. The anisochronic formulation makes it possible to incorporate any transport delay effect di...
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A new approach to dynamic system formulation is presented, based on an anisochronic principle of the system state definition. The anisochronic formulation makes it possible to incorporate any transport delay effect directly into the' state model structure as it is needed in distributed parameters systems particularly. The usual state vector is replaced by a state sector segment with the time length coverring the lengths of all the existing delays. The influence of all the delays to be considered is expressed by delay distribution functions and by the consequent convolution relations. As a typical example from the MMM problem area an anisochronic model of belt conveyor dynamics is added.
This paper deals with model predictive control of a distributed parameters system which is described by a linear two-dimensional (dependent on two spatial directions) parabolic partial differential equation. This part...
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This paper deals with model predictive control of a distributed parameters system which is described by a linear two-dimensional (dependent on two spatial directions) parabolic partial differential equation. This partial differential equation is transformed to the discrete state space description using the finite difference approximation. A model with a large dimension is obtained and has to be reduced for an advanced control design. The balanced truncation method is used for the model dimension reduction. For this low dimension model, the range control approach is applied.
The systems considered herein and their control laws are defined with point-wise commensurate delays and a class of distributed delays. At first, a description of these operators is provided, then the form of the syst...
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The systems considered herein and their control laws are defined with point-wise commensurate delays and a class of distributed delays. At first, a description of these operators is provided, then the form of the systems and of the control laws is described. A procedure for the stabilization in this framework is recalled, before presenting a test for the realizability of a feedforward compensator by state feedback with internal stability. Eventually, an asymptotic observer for this type of system is introduced, allowing the extension of the previous result to output feedback.
作者：
V. Van AsscheJ.-F. LafayIRCCyN
UMR CNRS 6597 Ecole Centrale de Nantes 1 rue de la Noë B.P. 92101 44321 Nantes Cedex 03 France
In this paper the classical problem of precompensator realisation by feedback is solved for linear systems with a class of distributed delays. First, the algebraic tools used to handle these systems are presented. The...
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In this paper the classical problem of precompensator realisation by feedback is solved for linear systems with a class of distributed delays. First, the algebraic tools used to handle these systems are presented. Then two lemmas allowing to solve the matrix equation A = XB in this context are given. Eventually, the main result is stated, both for state feedback and output feedback.
This paper proposes a distributed parameter-based voltage stability index (DPVSI) for assessment of voltage stability of the power system. Proposed index incorporates the effects of distributed parameters of transmiss...
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This paper proposes a distributed parameter-based voltage stability index (DPVSI) for assessment of voltage stability of the power system. Proposed index incorporates the effects of distributed parameters of transmission line to predict voltage collapse. Critical loading of different lines is determined by raising active/reactive loading of different lines till the index reaches its critical value. Different contingencies are also ranked on the basis of index. Reactive power margin of the system is measured by mapping the index value in terms of reactive power margin of the system. The proposed index is investigated on IEEE 30-bus and 118-bus test systems to prove its potential.
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