This paper presents a novel methodology for modeling and control of nonlinear processes using artificial neural network with orthonormal activation functions (e.g. harmonic, Legendre, Laguerre and Chebychev). An algor...
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This paper presents a novel methodology for modeling and control of nonlinear processes using artificial neural network with orthonormal activation functions (e.g. harmonic, Legendre, Laguerre and Chebychev). An algorithm for modeling and self-tuning control of uncertain nonlinear complex processes is proposed. Several types of orthonormal functions for nonlinear process modeling and control are analyzed and compared. Simulation results are provided to illustrate high perfonnance of artificial neural networks with the orthonormal activation functions in practical industrial problems. The obtained results are reviewed and potential shortcomings of the analyzed methods are discussed.
Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic mod...
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Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods incorporating structural damping. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig in the time and frequency domains.
The comparison of the performance of two artificial neural network or ANN paradigms trained to learn data obtained from the kinematics model of a UMI RTX robotic arm are presented. Trained ANN simulators were implemen...
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The comparison of the performance of two artificial neural network or ANN paradigms trained to learn data obtained from the kinematics model of a UMI RTX robotic arm are presented. Trained ANN simulators were implemented to position the robotic manipulator demonstrating the feasibility of using ANN technology in actual implementation.
The problems of nonlinear complex system control design are still in the centre of attention and there exists no universal solution by now. The aim of this paper is to propose the control algorithm for nonlinear syste...
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The problems of nonlinear complex system control design are still in the centre of attention and there exists no universal solution by now. The aim of this paper is to propose the control algorithm for nonlinear systems consisting of several subsystems. The subsystem nonlinearities are assumed to be known and the state variables are accessible only locally. The interactions between subsystems can be unknown, but bounded. The proposed control algorithm for such class of complex systems is based on the feedback linearization technique with automatic adjusting of the subsystem decay rate. The control performances are illustrated by an example of nonlinear system consisting of two interconnected subsystems.
This paper deals with the supervisory control of the discrete event dynamic systems (DEDS). It contains descriptions of the different approaches to the supervisory control synthesis, their comparison and analysis. Fur...
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This paper deals with the supervisory control of the discrete event dynamic systems (DEDS). It contains descriptions of the different approaches to the supervisory control synthesis, their comparison and analysis. Further and implementation of the method based on the place invariants of a Petri net is described. It also outlines possibilities for further enhancements of the considered methods.
作者：
Branislav HrúzSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems llkovièova 3 812 19 Bratislava Republic Phone: +421 7 60291698
The scheduling problem is stated and formally specified in the paper. The system where the problem is to be solved is represented by a timed Petri net pertaining to a new class suitable for it. Then a method based on ...
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The scheduling problem is stated and formally specified in the paper. The system where the problem is to be solved is represented by a timed Petri net pertaining to a new class suitable for it. Then a method based on the defined Petri net class for the scheduling problem solution is presented. The method is illustrated on an example.
作者：
V. VeselýI. SekajDepartment of Automatic Control Systems
Faculty of Electrical Engineering and Information Technology Slovak University of Technology Ilkovičova 3 812 19 Bratislava Slovak Republic Tel : 0421 7 602 91 667
The robust output feedback stabilization is tackled using a genetic algorithm optimisation procedure for uncertain linear parametric systems in the time domain. The necessary and sufficient conditions for static outpu...
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The robust output feedback stabilization is tackled using a genetic algorithm optimisation procedure for uncertain linear parametric systems in the time domain. The necessary and sufficient conditions for static output feedback stabilizability of linear systems are the basics of the proposed robust controller design procedure. The nature of genetic algorithms predetermines them for optimising also objectives that involve computation of feedback control.
The SKF engineering & Research Centre is active in the field of the development of a brake-by-wire system. The spindle converting the rotational motion of the electrical machine into a linear movement, is seen as ...
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The SKF engineering & Research Centre is active in the field of the development of a brake-by-wire system. The spindle converting the rotational motion of the electrical machine into a linear movement, is seen as the central part of the system. Models and control algorithms are developed focusing on the use of SKF bearing encoders to be used as feedback sensor for the actual brake force and brake-pad wear. This paper presents a detailed model of a brake-by-wire system focusing on modeling the various types of friction and non-linearities of the individual components. An investigation of an inverse model-based friction-compensating control strategy designed to improve the positioning-tracking performance of the brake-pad is made and experimental results are shown.
A software tool for modeling and simulation of Flexible Manufacturing systems is proposed in this paper. Variety of robots, conveyers and working machines can be used in building of the FMS. control program for the wh...
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A software tool for modeling and simulation of Flexible Manufacturing systems is proposed in this paper. Variety of robots, conveyers and working machines can be used in building of the FMS. control program for the whole system is written through Petri net model. Transformation from Petri net into control program is automated. Programming language is derived from real language for robot control. Simulation is done in 3D environment with full real-time animation. Used technique of 3D animations allows using different views to system with full zooming and change of angle and position.
This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulato...
This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulator is considered. A simulation algorithm of the system is developed using a symbolic language which enables system characterisation with varying parameters. Analyses and investigations in terms of system transfer function, stability, response and endpoint vibration to an input command are presented. An assessment of the performance of the approach is presented and discussed through numerical simulations.
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