作者：
Branislav HrúzLeo MrafkoSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems Ilkovičova 3 812 19 Bratislava Slovak Republic Phone: +421 2 60291698
An analysis of the transportation systems used in the flexible manufacturing systems is introduced in the paper. Based on the analysis a class of the transportation systems is delimited, whose modeling and control is ...
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An analysis of the transportation systems used in the flexible manufacturing systems is introduced in the paper. Based on the analysis a class of the transportation systems is delimited, whose modeling and control is the subject of the paper. Important property of those systems is unidirectional zone movements of the automatic guided vehicles and transport requirements occurring spontaneously during the work of the system. A special group of the colored Petri nets interpreted for control is used for the control specification. The Petri net helps to analyze the function of the transportation system and to write the control program.
Skillful motor control by humans is achieved by the appropriate motor commands generating from the central nervous system. An internal model in the cerebellum may contribute to the realization of accurate motor contro...
Skillful motor control by humans is achieved by the appropriate motor commands generating from the central nervous system. An internal model in the cerebellum may contribute to the realization of accurate motor control. In this work, a model of human motor control of manual tracking to move a visible target was constructed based on experimental data from a visual tracking test with normal healthy adults and with patients with cerebellar ataxia. A compensation method to improve the motor function of patients was also developed by using the model.
Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on ref...
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Disturbance rejection performance is usually the most important aspect in designing controller in the process and the chemical industries. On the other hand, such tuned control loop may exhibit large overshoots on reference tracking. The only way to decrease overshoot is to use two-degrees-of-freedom (2-DOF) controllers. Unfortunately, reducing the overshoot usually results in slower tracking response when using some of the most common 2-DOF controller structures. This paper suggests using additional first-order filter on the set-point of the PI controller in order to improve tracking performance. The calculation of compensator's parameters is straightforward and can be easily performed in practice. Several examples confirmed the efficiency of the proposed approach.
Discrete event systems (DES) describe the behavior of a plant as it evolves over time in accordance with the abrupt and asynchronous occurrence of events. Such systems are encountered in a variety of fields, for examp...
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Discrete event systems (DES) describe the behavior of a plant as it evolves over time in accordance with the abrupt and asynchronous occurrence of events. Such systems are encountered in a variety of fields, for example sensor or actuator faults diagnosis, robotics, computers, communication networks and traffic. The control objectives of the supervisory control of DES are to prevent a set of forbidden states from being reach, to preserve the reachability of some non forbidden states, while at the same time enabling a maximal set of achievable state sequences. The aim of this paper is to introduce several approaches for the supervisors synthesis, a Matlab tool SUPCON and an on line multimedia Petri nets and DES course.
controller design approach is described, which is based on genetic algorithms. The approach uses an optimisation procedure, where the cost function to be minimised consists of the closed-loop system simulation and a p...
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controller design approach is described, which is based on genetic algorithms. The approach uses an optimisation procedure, where the cost function to be minimised consists of the closed-loop system simulation and a performance index evaluation. The designed system may be complex and practically without any limitations on its type, structure and size. The proposed approach is demonstrated on a robust controller design example
An adaptive fuzzy controller is designed using a collection of fuzzy IF-THEN rules. Parameters of membership functions characterizing the linguistic terms in the fuzzy IF-THEN rules are changing according to some adap...
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An adaptive fuzzy controller is designed using a collection of fuzzy IF-THEN rules. Parameters of membership functions characterizing the linguistic terms in the fuzzy IF-THEN rules are changing according to some adaptive laws, to control a plant to track a reference trajectory. In this paper, an indirect adaptive fuzzy control design method is developed for general higher order nonlinear continuous systems. The Takagi-Sugeno type fuzzy logic system has been used to approximate the controller. It has been proved that the closed-loop system under this adaptive fuzzy controller is globally stable in the sense that all signals involved are bounded. Finally, the indirect adaptive fuzzy controll method has been applied to control an unstable system
A new type of knowledge adaptive control based on the closed-loop response recognition is proposed. This approach tries to mimic the behaviour of an expert, who has a lot of experience with the particular controlled s...
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A new type of knowledge adaptive control based on the closed-loop response recognition is proposed. This approach tries to mimic the behaviour of an expert, who has a lot of experience with the particular controlled system. The adaptive system updates the controller parameters according to the changes in system behaviour. The algorithm uses a rule-based system, which evaluates the closed-loop response shape after the decay of the transient mode, and computes the corrections of controller parameters. Because the main problem of such a control structure consists in designing of the rule-base, we focused our interest on the design of an automatic procedure for the rule-base generating.
A prototype of a diagnostic system for quality end-tests of vacuum cleaner motors is presented. The core of the system are four modules for features extraction based on vibration analysis, sound analysis, analysis of ...
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A prototype of a diagnostic system for quality end-tests of vacuum cleaner motors is presented. The core of the system are four modules for features extraction based on vibration analysis, sound analysis, analysis of commutation and check of parity relations respectively. The symptoms resulting there from are processed by a reasoning module relying on the Transferable Belief Model (TBM). The result of such a comprehensive diagnostic procedure is detection of faulty motors and localisation of tentative fault origins along with accompanying belief measures. Attributes of the system performance and an excerpt from results obtained in an experimental study over a series of motors are provided.
A controlsystemsengineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detai...
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A controlsystemsengineering approach, employing a two-level overall system architecture and different but compatible formalisms for system representation on the upper and lower levels, has been investigated in detail. One design alternative is based on employing fuzzy-system approximators and solving for the adaptive tracking of the given, arbitrary, desired system outputs. The other alternative is based on state equations of composite systems and the use of neural-network approximators to deal with uncertainties and control adaptation. In both alternatives similarity property of subsystems has been exploited. Both designs can be implemented within the standard computer process control technology, and are therefore believed to be promising in applied systemsengineering.
The advanced control system for control of nonlinear, slowly time variant and delayed processes is described in the paper. The proposed control system performs automatic tuning of fuzzy gain-scheduling controller para...
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