A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis ...
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A characterization of the structure of uncertainty called the generalized matching condition is proposed. The uncertainty is further decomposed into two parts that are 'orthogonal' to each other. On the basis of this decomposition a linear feedback control design is proposed for linear uncertain systems. The control always exists if the generalized matching condition is met. The design is illustrated by a practical example.< >
A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decom...
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A dynamic model that represents an exact linearization scheme with a simplified nonlinear feedback is presented. To realize this model for robotic systems, the output functions should be chosen so that a special decomposition of the total inertial matrix is satisfied. The concept of an imaginary robot is utilized to achieve the formulation and to solve the realization problem. Two illustrative examples are given in the paper, one for the Stanford arm and the other for a PUMA type of robot. An optimal robotic physical design and a control system design based on the new model are also discussed.
Variable structure controllers that can be effectively applied to control an electric arc furnace are investigated in this paper. A gereral formulation and solution of the variable structure system design problem is p...
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Variable structure controllers that can be effectively applied to control an electric arc furnace are investigated in this paper. A gereral formulation and solution of the variable structure system design problem is presented together with some guidlines for the choice of a suitable model following. A state space reduction method is applied to reduce the dominant dynamic order and hence simplify the design process. The effects of switching surface, modelling, gain polarity and magnitude are discussed.
A nonlinear transformation for simplifying the robot dynamic formulation and control system modeling is presented. This is a canonical transformation in the Hamiltonian formulation of robot dynamics, and it can be emb...
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A nonlinear transformation for simplifying the robot dynamic formulation and control system modeling is presented. This is a canonical transformation in the Hamiltonian formulation of robot dynamics, and it can be embodied in a special decomposition of the total inertia matrix. In simplification by using this canonical transformation, the dynamic system is not only transformed to a linear model with the Brunovsky canonical form, the input formulation is also reduced to a simple recovery form. By taking advantage of the linearity of the robot dynamic equation with respect to the total inertia matrix, a detailed procedure of the realization is then described. A 3-D robot example illustrates the feasibility and computational efficiency of this procedure. And it also shows that the realization procedure for the canonical transformation can be summed up in two major steps: seek an imaginary robot and solve a reduced equation.
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 ...
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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...
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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...
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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...
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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...
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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.
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...
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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.
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