Model reference variable structure controllers are applied to switched-mode circuits, and their performance robustness is investigated. A generalized formulation together with its solution is presented for a class of ...
详细信息
Model reference variable structure controllers are applied to switched-mode circuits, and their performance robustness is investigated. A generalized formulation together with its solution is presented for a class of problems, in variable structure control, involving state-space analysis of inherently time-varying regulators. The effects of the design averaging model and its description on tracking error dynamics and convergence rates are also discussed.
The sensitivity of a class of N th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variat...
详细信息
The sensitivity of a class of N th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variations in system parameters and design variables. The derivation of sensitivity matrices can be readily obtained by considering the Lagrangian of the performance index. It is shown that while faster system response performance can be obtained by designing with higher order time-multiplying factor in the performance index, the design also increases the optimum cost of control and absolute cost sensitivity, as can be expected.
A computer vision-based technique for surface curvature gaging is reported in this paper. This non-contact technique utilizes the projection of a grating upon the surface to be gaged. A general purpose digital image p...
详细信息
A computer vision-based technique for surface curvature gaging is reported in this paper. This non-contact technique utilizes the projection of a grating upon the surface to be gaged. A general purpose digital image processor is used to implement the proposed technique. Both simulation and experimental results are presented.
The modeling, analysis and design of a ball-balancing control system is considered. The control system is constructed and an optimal hybrid controller capable of absorbing external disturbance is fabricated. The contr...
详细信息
The modeling, analysis and design of a ball-balancing control system is considered. The control system is constructed and an optimal hybrid controller capable of absorbing external disturbance is fabricated. The controller design is based on the theory of disturbance-accommodating control, optimal control and digital delayed-data observer. Experimental results presented are useful for demonstrating the practicalilty aspects of the above theory.
Recently, many attractive optimal control schemes have been developed for real-time robotic applications. Due to the inherent complex physical structures, robotic control systems embody a number of hard features, such...
详细信息
Recently, many attractive optimal control schemes have been developed for real-time robotic applications. Due to the inherent complex physical structures, robotic control systems embody a number of hard features, such as multi-input and multi-output characteristics, nonlinearity, time-varying parameters, and highly coupled system dynamics. Furthermore, they require consideration of such issues as robustness to external disturbances, parameter uncertainty, sensor noise, payload changes and computational errors. Thus the development of a real-time optimal control scheme with high reliability, high robustness, high accuracy and acceptable computational burden becomes an urgent and important problem for research and development. This paper presents an optimal control scheme which involves a nice combination of self-adaptive control strategy, exact linearization with output decoupling, and the computational procedure for solving the robotic dynamic equations based on a compact Lagrangian formulation. It is found from the simulation studies on the PUMA 560 robot that the actual trajectories of the robot arm converge quickly to the desired trajectories under large initial errors and robotic parameter deviations.
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 eq...
详细信息
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 Euler-Lagrange formulation. These equations are compared to those describing a rigid link mechanism.
The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a specia...
详细信息
The application of a new model-following, adaptive control to an electromechanical servo system with low natural resonance frequency is discussed. The design of the adaptation mechanism is based on the use of a special Liapunov function describing the stability domain. Results are presented which show consistent improvement in the dynamic response for a fifth-order, long-shaft, servo system.
A class of optimal state and output feedback control laws for discrete-time time-invariant linear systems which minimizes a class of discrete-time time-multiplied performance indexes is presented. A necessary conditio...
详细信息
A class of optimal state and output feedback control laws for discrete-time time-invariant linear systems which minimizes a class of discrete-time time-multiplied performance indexes is presented. A necessary condition, an existence condition, and a sufficient condition for the control laws are derived. A simple example is given to illustrate the effectiveness of the proposed control laws.
An integrated multi-robot system (IMRS) consists of two or more robots, machinery and sensors, and is capable of executing almost all industrial processes with efficiency, flexibility and reliability. In order to supp...
详细信息
The sensitivity of a class of N-th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variat...
详细信息
The sensitivity of a class of N-th order time-multiplied performance costs for discrete-time optimal output feedback systems is investigated. Sensitivity matrices for optimal costs are evaluated with respect to variations in system parameters and design variables. The derivation of sensitivity matrices can be readily obtained by considering the Lagrangian of the performance index. It is shown that while faster system response performance can be obtained by designing with higher order time-multiplying factor in the performance index, the design also increases the optimum cost of control and absolute cost sensitivity, as can be expected.
暂无评论