This paper presents the kinematic and dynamic analysis of an n-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equ...
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This paper presents the kinematic and dynamic analysis of an n-link manipulator with flexible members. The deformation of a link from its rigid body position is modeled by a homogeneous transformation. The dynamic equations are obtained using an Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.
This paper presents a unified treatment to the problem of optimal feedback control of discrete-time linear constant parameter systems using state feedback, output feedback, dynamical output feedback and observer-contr...
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This paper presents a unified treatment to the problem of optimal feedback control of discrete-time linear constant parameter systems using state feedback, output feedback, dynamical output feedback and observer-controller feedback. A class of generalized optimal feedback controllers is proposed as a basis for obtaining existing results as well as for deriving new results such as the interesting min-max feedback controllers. The essence of the generalized results lies in the minimization of a class of generalized performance measures subject to a flexible controller configuration. The stability aspect of the generalized optimal feedback controlled system is addressed.
A noncausal ARMA model is employed to accurately account for the two-dimensional structure of imagery data. An equation error approach is taken to develop an observer-identifier for the identification of the image mod...
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A noncausal ARMA model is employed to accurately account for the two-dimensional structure of imagery data. An equation error approach is taken to develop an observer-identifier for the identification of the image model parameters. The identified model is recast into a state equation form which serves as the basis for applying Kalman filtering equations. The resulting strip filter is applied to an image restoration problem. Simulated results are included to illustrate image model verification and the convergence of the model parameter observer-identifier. Also included are images demonstrating the effectiveness of the resulting image restoration filter.
The problem of designing reduced-order observers for linear discrete-time systems with unknown parameter variations is considered. A scheme is developed to detect and track such variation thereby tuning the observer m...
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The problem of designing reduced-order observers for linear discrete-time systems with unknown parameter variations is considered. A scheme is developed to detect and track such variation thereby tuning the observer m...
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The problem of designing reduced-order observers for linear discrete-time systems with unknown parameter variations is considered. A scheme is developed to detect and track such variation thereby tuning the observer matrices. The results are motivated by microprocessor estimation and control of experimental laboratory systems.
The design and implementation of microprocessor-based optimal controllers for the XM-97 helicopter turret control system is considered. Nonfiring and firing test results are presented. Significant performance improvem...
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A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured ...
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A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured ...
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A class of general structured discrete-time deterministic observers is developed. The one-step predicting or Luenberger observers and the current-update observers may be obtained from this class of general structured observers. Interesting relationships and important properties among various full-order observers are established. Optimal discrete-time observer gains are then derived, and it is shown that the optimal observers can be structually and numerically equivalent to various forms of Kalman filters.
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is ...
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ISBN:
(数字)9783642039836
ISBN:
(纸本)9783642039829
th This volume is an edition of the papers selected from the 12 FIRA RoboWorld C- gress, held in Incheon, Korea, August 16–18, 2009. The Federation of International Robosoccer Association (FIRA – www. fira. net) is a non-profit organization, which organizes robotic competitions and meetings around the globe annually. The RoboSoccer competitions started in 1996 and FIRA was - tablished on June 5, 1997. The Robot Soccer competitions are aimed at promoting the spirit of science and technology to the younger generation. The congress is a forum in which to share ideas and future directions of technologies, and to enlarge the human networks in robotics area. The objectives of the FIRA Cup and Congress are to explore the technical dev- opment and achievement in the field of robotics, and provide participants with a robot festival including technical presentations, robot soccer competitions and exhibits - der the theme “Where Theory and Practice Meet. ” th Under the umbrella of the 12 FIRA RoboWorld Congress Incheon 2009, six int- national conferences were held for greater impact and scientific exchange: th • 6 International Conference on Computational Intelligence, robotics and Autonomous Systems (CIRAS) th • 5 International Symposium on Autonomous Minirobots for Research and Edutainment (AMiRE) • International Conference on Social robotics (ICSR) • International Conference on advanced Humanoid robotics Research (ICAHRR) • International Conference on Entertainment robotics (ICER) • International robotics Education Forum (IREF) This volume consists of selected quality papers from the six conferences.
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