In this paper the concept of a unified torque/impedance controller is applied to a pneumatically actuated, antagonistic robot joint. The investigated control algorithm consists of a cascaded structure in which the out...
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The problem of identification of a nonstationary autoregressive process with unknown, and possibly time-varying, rate of parameter changes, is considered and solved using the parallel estimation approach. The proposed...
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ISBN:
(纸本)9781538646595
The problem of identification of a nonstationary autoregressive process with unknown, and possibly time-varying, rate of parameter changes, is considered and solved using the parallel estimation approach. The proposed two-stage estimation scheme, which combines the local estimation approach with the basis function one, offers both quantitative and qualitative improvements compared with the currently used single-stage methods.
A comparative evaluation of the different, very popular powder magnetic materials for a voltage source inverter output filter coil core is presented. The basic continuous model of the inverter is simply based on the o...
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The authors created a convenient and easy to use tool for calculating basic Ni-P resistive layer parameters, namely surface resistance and TCR of test resistor, based on chemical metallization parameters. The program ...
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Programming robots for tasks involving force interaction is difficult, since both the knowledge of the task and the dynamics of the robots are necessary. An immersive haptic interface for task demonstration is propose...
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A model reference adaptive controller (MRAC) for the effective control of the calcination temperature on a rotary cement kiln was developed. Using the tools of identification systems was obtained a mathematical model ...
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ISBN:
(纸本)9781538658451
A model reference adaptive controller (MRAC) for the effective control of the calcination temperature on a rotary cement kiln was developed. Using the tools of identification systems was obtained a mathematical model of the process under study, which presents ARMAX structure and fourth order. The simulation results of the control system developed showed their high effectiveness compared to conventional PID control.
control systems behavior can be analyzed taking into account a large number of parameters: Performances, reliability, availability, security. Each control system presents various security vulnerabilities that affect i...
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The indirect approach to continuous-time system identification consists in estimating continuous-time models by first determining an appropriate discrete-time model. For a zero-order hold sampling mechanism, this appr...
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Extremum seeking control (ESC) is a classical adaptive control method for steady-state optimization, purely based on output feedback and without the need for a plant model. It is well known that the extremum seeking c...
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Extremum seeking control (ESC) is a classical adaptive control method for steady-state optimization, purely based on output feedback and without the need for a plant model. It is well known that the extremum seeking control loop, under certain mild conditions on the controller, has a stable stationary periodic solution in the vicinity of an extremum point of the steady-state input-output map of the plant. However, this is a local result only and this paper investigates whether this solution is necessarily unique given that the underlying optimization problem is convex. Wefirst derive a necessary condition that any stationary solution of the ESC loop must satisfy. For plants in which the extremum point is due to a purely static nonlinearity, such as in Hammerstein or Wiener plants, the condition involves the steady-state gradient. However, for more general plants the necessary condition involves the phase lag of the locally linearized plant, indicating the possible existence of solutions without any relationship to optimality. Combining the derived necessary condition with the existence of a local solution close to the optimum, we employ the implicit function theorem and bifurcation theory to trace out branches of stationary solutions for varying loop parameters. The focus is on solutions corresponding to limit cycles of the same period as the forcing. We derive conditions on when these branches bifurcate, resulting in multiple stationary solutions. The results show that cyclic fold bifurcations may exist, resulting in the existence of multiple stationary period one solutions, of which only one is related to the optimality conditions. We illustrate the results through an example in which the conversion in a chemical reactor is optimized using ESC. We show that at least_ve stationary solutions may exist simultaneously for realistic control parameters, and that several of these solutions are stable. One consequence of the non-uniqueness is that one in general needs to
Motivated by the problems of vision-based mobile robot map building and localization, we present a comparative study of statistical methods for matching image features in a wide base line between learning and recognit...
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ISBN:
(纸本)9781538695777;9781538695760
Motivated by the problems of vision-based mobile robot map building and localization, we present a comparative study of statistical methods for matching image features in a wide base line between learning and recognition phases. A general methodology called feature-class method for the problem of fast matching image features in a wide base line is described in the context of mobile robots. The objective of this work is to discuss and to show the performance of such methods in an example of visual SLAM, with experiments done with real data.
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