Computer-aided design (cad) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through cad pac...
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Computer-aided design (cad) has found a hew home in the control systems theory. Many control system's related problems such as analysis, design, estimation, filtering and simulation are now handled through cad packages and languages. Through these software tools, even a novice computer programmer can take advantage of powerful computational and numerical algorithms for control systems problems. In this paper a cad language for control and Kalman filtering will be presented. The language, called CONTROL. lab is written in FORTRAN/77 and can run under UNIX or VMS on a DEC 11/780 VAX computer system.
The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. systems having distinct or repeated fixed modes are considered and decentralized controllers requiring ...
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The paper proposes a frequency-domain approach to the problem of fixed mode elimination in decentralized systems. systems having distinct or repeated fixed modes are considered and decentralized controllers requiring minimum number of interconnection gains for the elimination of fixed modes are characterized.
In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable&q...
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In this survey, we discuss current approaches to the robust control of the motion of robots and summarize the available literature on the subject. The three major designs discussed are the "Linear-Multivariable" Approach, the "Passivity" approach and the "Variable-Structure" approach. The survey is limited to rigid robots and nonadaptive controllers.
This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the ro...
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This paper describes the implementation of hierarchical control on a robotic manipulator using fuzzy logic. A decentralized control approach is implemented, i.e., individual controllers control the two links of the robot. The kinematic aspect of the control is treated as the supervisory mode at a higher level and the joint control is treated as the lower level. Fuzzy logic based rules determine the inverse kinematic mapping which maps the Cartesian coordinates to the individual joint angles. This scheme is implemented using Togai Infra Logic software and the entire simulation software is implemented using C language. The results of the simulation are discussed. This experiment is a proof of principle to show that the fuzzy controller can be used to map the nonlinear mapping which can be implemented to the more complex problem of inverse kinematics of higher degree of freedom robots. A fuzzy PD controller is implemented on a Rhino robot and the performance is compared with a traditional PD controller.< >
The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on t...
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The synthesis of a fuzzy logic controller that provides a small mobile robot with the capability to exhibit a wall-following behavior is described. A general account of the procedure is given with emphasis placed on the embedded realization of the fuzzy controller and its feasibility using commercially available tools.< >
Modern control theory-based algorithms are applied to different models of the reactor core and primary heat transport loop subsystem of a liquid metal cooled nuclear reactor (LMR) module. A nonlinear and a linear mode...
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Modern control theory-based algorithms are applied to different models of the reactor core and primary heat transport loop subsystem of a liquid metal cooled nuclear reactor (LMR) module. A nonlinear and a linear model of the module subsystem are briefly presented. The concepts and control approaches corresponding to the theory of linear quadratic optimal control, model reference adaptive control, and input- output linearizing control are introduced and applied to the reactor under study. Operating and simulation conditions, as well as interpretation of results, are given for every case.
Local state feedback is used to design a decentralized controller for large-scale linear time-invariant systems. The controller is based on model reduction of the system to the order of the subsystems. A computational...
Local state feedback is used to design a decentralized controller for large-scale linear time-invariant systems. The controller is based on model reduction of the system to the order of the subsystems. A computationally efficient algorithm is presented. A 3-subsystem numerical example is used to illustrate the proposed decentralized controller.
This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of...
This paper proposes a near-optimum control algorithm for a highly nonlinear robot manipulator model via a parameter sensitivity method. The method uses Pontrvagin's maximum principle and the Riccati formulation of the linear state regulator problem. The effectiveness of the proposed method is verified by simulation results for a two-link planar robot.
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