作者：
B. ŠulcCzech Technical University
Faculty of Mechanical Engineering Department of Automatic Control 166 07 Praha 6 Technická 4 Czech Republic
In technical implementations of control systems, the magnitude of the manipulated variable cannot exceed the values set by an actuator. controller output saturation is often connected with the presence of a reset wind...
详细信息
In technical implementations of control systems, the magnitude of the manipulated variable cannot exceed the values set by an actuator. controller output saturation is often connected with the presence of a reset wind-up which may lead to slower, oscillating responses with a large overshoot, or, in a worse case to a danger of instability. The relevance of the reset wind-up effect depends on controller construction, but reset anti ind-up measures are essential for digital controllers. Also, if plausible results are required from simulation, integrators in the simulation model ought to provide an integration stopping facility instead of the usually applied cropping.
An efficient algorithm “SIMFIL” for simultaneous parameter tracking and state estimation for linear ARMAX systems was presented in (Havlena, 1993a). The underlying problem of the determination of suitable model stru...
详细信息
An efficient algorithm “SIMFIL” for simultaneous parameter tracking and state estimation for linear ARMAX systems was presented in (Havlena, 1993a). The underlying problem of the determination of suitable model structure (model order and/or pure delay) is treated here from bayesian point of view.
作者：
T. HrúzSlovak Technical University
Faculty of Mechanical Engineering Department of Automatic Control and Measurement Ndmestie Slobody 17 812 31 Bratislava Slovak Republic
This paper describes a method which contributes to the solution of robot motion planning problem. Particularly, an approach to trajectory planning problem for manipulator arm with stepper motors is developed. The appr...
详细信息
This paper describes a method which contributes to the solution of robot motion planning problem. Particularly, an approach to trajectory planning problem for manipulator arm with stepper motors is developed. The approach relies on fast incremental quadratic interpolation algorithm which is then used to control the stepper motors along a second order spline approximation of the planned path. To solve an ill-posed inverse kinematic problem we propose to use Tikhonov regularization method.
The problem of classification can be stated as: "Given a set of a attributes and the characterization of n objects by means of a attribute values for each object, find an optimal classification (partition) of the...
详细信息
The problem of classification can be stated as: "Given a set of a attributes and the characterization of n objects by means of a attribute values for each object, find an optimal classification (partition) of the n objects into classes". The first step in supervised classification is to find k, the number of classes into which the objects have to be split in order to obtain the optimum classification. The dynamic kernels algorithm searches for a classification which maximizes B [=/spl Sigma//sub j=1//sup k/n/sub j/d(G/sub j/,G), where d(G/sub j/,G) denotes the distance between the points G/sub j/ and G, G is the center of gravity of the n given points and G/sub j/ are the centers of gravity of the k classes]. Unfortunately, the maximum value of B is not the same for different values of k, so the Huygens theorem can only be used for comparing classifications of the given objects into a fixed number of classes. We propose an evolution program for this problem. It simultaneously searches for both the optimum number of classes and the optimal classification. So far, we have implemented our approach for the case of two attributes with continuous values. Straightforward adaptations are under way for allowing the user to input any reasonable number of (continuous or discrete) attributes.< >
The military services are being moved in the direction of performance-based specifications and standards. They are being steered against dictating ''how to'' produce an item since such action foreclose...
The military services are being moved in the direction of performance-based specifications and standards. They are being steered against dictating ''how to'' produce an item since such action forecloses on the ability to gain access to components or technology that may have a commercial equivalent. Why should the engineering community embrace the new approach? Aside from the obvious weight of it being approved policy, therefore currently mandated, it warrants examination because it is the correct approach at this time when applied to appropriate products. Military specifications and standards are to be displaced then, by acceptable alternative contractor design solutions. Industry bidders will be allowed to propose the particular design details, permitting procurement flexibility by contractually citing only system level or interface requirements, both physical and functional. Hopefully, this can broaden the industrial base and increase competition with reduced costs to follow. Conceptually, the approach appears both performance-sensible and cost-attractive (there are, of course, consequent risks) but how does implementation proceed? Is it possible to pursue the goals envisioned along paths that are not in themselves experimental? Can the American postulate, minimal loss of life and limb to U.S. military people, continue to be honored? Experience and track record elsewhere imply encouraging possibilities in select situations-useful prospects are identified and discussed in practical terms.
Decentralized adaptive control schemes using the principle of dominant subsystems are presented for time-varying nonlinear dynamic large-scale interconnected systems. Sufficient conditions for the existence of local d...
Decentralized adaptive control schemes using the principle of dominant subsystems are presented for time-varying nonlinear dynamic large-scale interconnected systems. Sufficient conditions for the existence of local decentralized adaptive control laws stabilizing a given large-scale system (LSS) are derived in terms of controller parameters for incompletely known composite systems. The approach proposed in this paper is applied to nonlinear stabilizing adaptive decentralized control (ADC) of multimachine power systems. The stability of the multimachine power systems with the ADC is illustrated by the simulation results for a two machine system.
The task of simultaneous tracking of time-varying parameters and estimation of the state is treated for a linear stochastic system described by a time-varying multi-input multi-output ARMAX model with known AR (noise)...
详细信息
The task of simultaneous tracking of time-varying parameters and estimation of the state is treated for a linear stochastic system described by a time-varying multi-input multi-output ARMAX model with known AR (noise) parameters. Bayesian approach hased conceptual solution as well as an algorithmic solution are presented. An approximation of the AR parameters in the case of output error model is discussed.
In this paper, decoupling and closed loop pole placement problem for square generalized systems are studied by regular static state and output feedbacks. The study is based on the previous results on decoupliog via st...
详细信息
In this paper, decoupling and closed loop pole placement problem for square generalized systems are studied by regular static state and output feedbacks. The study is based on the previous results on decoupliog via state feedback in singular systems. The necessary and sufficient conditions on decouplability by output feedback is introduced and a theorem on assignable closed loop structures for simultaneously decoupled generalized systems is presented.
A functional requirements analysis of the services to be provided by a framework reference model for computer-aided engineering is presented. Some indications of the technologies available for the implementation of a ...
详细信息
A functional requirements analysis of the services to be provided by a framework reference model for computer-aided engineering is presented. Some indications of the technologies available for the implementation of a framework for computer-aided controlengineering are given and the issues to be addressed are discussed. It is concluded that a wider discussion of both the framework reference model itself and the functional requirements, particularly from the user's perspective is needed
control methods based on using the relative motion between the manipulator and the workpiece are described for controlling the force of a one-dimensional manipulator, in which it is assumed that there are no collision...
详细信息
control methods based on using the relative motion between the manipulator and the workpiece are described for controlling the force of a one-dimensional manipulator, in which it is assumed that there are no collisions between the manipulator and the workpiece and we use a computed force law which is similar to the computed torque law in the trajectory tracking problem of a manipulator. We consider two cases depending on whether the position and velocity of the workpiece (or end-effector) are available or not to calculate the computed force control. The effectiveness of the proposed control methods is illustrated by some computer simulations.
暂无评论