The paper addresses the design of decentralized robust controllers with output feedback for a class of interconnected nonlinear systems with uncertainties which have to guarantee a prescribed exponential stability dec...
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The paper addresses the design of decentralized robust controllers with output feedback for a class of interconnected nonlinear systems with uncertainties which have to guarantee a prescribed exponential stability decay rate of the closed-loop. No matching conditions or other similar constraints are to be considered in the complex uncertain system model. The proposed approach has been verified on governor controllers for a three-machine power system.
This paper presents an investigation into the analysis of dynamic behaviour of a flexible robot manipulator using a symbolic manipulation approach. A constrained planar single-link flexible manipulator is considered. ...
This paper presents an investigation into the analysis of dynamic behaviour of a flexible robot manipulator using a symbolic manipulation approach. A constrained planar single-link flexible manipulator is considered. The finite element method is used for dynamic modelling of the system. A symbolic algorithm is developed using Macsyma. A general solution describing the dynamic behaviour of the manipulator is obtained. The effect of physical parameters of the manipulator on the characteristics of the system and the impact of their variation on the minimum-phase features of the system are studied and assessed.
This paper describes B-spline interpolation and compares it with other reconstruction methods, especially in three-dimensional space. We first consider the B-spline bases in the terms of convolution in signal processi...
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This paper describes B-spline interpolation and compares it with other reconstruction methods, especially in three-dimensional space. We first consider the B-spline bases in the terms of convolution in signal processing. The presented analysis requires careful usage of continuous and discrete representation of B-spline. Emphasis is given to the important difference between B-spline interpolation and approximation. The difference is shown through frequency domain analysis, so we derive frequency responses of the B-spline interpolation and approximation. We conclude by demonstrating the use of several reconstruction filters and appropriate gradient estimators in volume rendering. Exact reconstruction in volume visualization is very important in many industrial applications, such as material cavity control.
A new state space approach to robust multimodel control is presented and compared with frequency domain design in a case study. Convex programming can be used to design a state feedback gain for simultaneous pole regi...
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A new state space approach to robust multimodel control is presented and compared with frequency domain design in a case study. Convex programming can be used to design a state feedback gain for simultaneous pole region assignment, and a new multirate output feedback approach allows to realize a robust state feedback design simultaneously for different models. The proposed method is applied to a laboratory aircraft model an compared with H ∞ -loopshaping design. Experimental results are shown for both types of controllers.
The paper deals with the adaptive control design of power turbogenerators operating in a complex power system. The designed control has to provide required steady-state and dynamic system properties under changing ope...
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The paper deals with the adaptive control design of power turbogenerators operating in a complex power system. The designed control has to provide required steady-state and dynamic system properties under changing operating conditions. The proposed control structure is a multiparameter one with self-tuning regulators on the subsystem level of the system. In the design, the standard pole placement method with recmsive parameter identification and heuristic automatic pole shift factor setting has been used which maintains the required oscillation level of the subsystems. The designed controllers have been verified via simulations using a nonlinear turbogenerator model in each subsystem. The power system parameter values have been obtained from the power system of Slovakia.
The jumbo container cranes at the European Container Terminal in Rotterdam are subject of a long term study to automate the international seaport and make container handling more efficient. In the paper appropriate de...
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The jumbo container cranes at the European Container Terminal in Rotterdam are subject of a long term study to automate the international seaport and make container handling more efficient. In the paper appropriate details of the 3D dynamical behavior of the container is modeled. Simulation and visualization are carried out to study the crane behavior under disturbing conditions like unbalanced center of gravity and varying side winds. The software is used to evaluate time-optimal trajectories and control schemes for the dynamics of the electrical drives, and of the swing and skew of the container.
The volume data is generally in the form of the large array of numbers. In order to render the object hidden in the volumetric data, we need to reconstruct or interpolate data values between the samples. The novelty p...
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The volume data is generally in the form of the large array of numbers. In order to render the object hidden in the volumetric data, we need to reconstruct or interpolate data values between the samples. The novelty presented in this paper is B-spline interpolation in the volumetric space. We show that this approach is better than currently used methods. We also present a hybrid approach, analyze this approach in frequency domain and compare it to B-spline interpolation. To enhance the quality during the volume visualization process it is important to enhance the quality of the reconstruction. It is of crucial importance to explore different undesired effects. If better reconstruction is performed the more accurate result of volume visualization process is achieved.
We are concerned with developing assistive control technologies to aid in the rehabilitation of people with spinal cord injury. Optimal control theory has been applied in feedback systems which allow paraplegic patien...
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We are concerned with developing assistive control technologies to aid in the rehabilitation of people with spinal cord injury. Optimal control theory has been applied in feedback systems which allow paraplegic patients to stand without the support of their hands. This is achieved by combining feedback control with functional electrical stimulation of the paralysed muscles. The approach has been used successfully in experimental trials. Previous work is reviewed in the paper and the current technical and practical problems are discussed.
In this paper we deal with the state-feedback tracking control problem for a class of nonholonomic dynamic systems in chained form. By means of the recursive technique proposed in our recent work, we first show that t...
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In this paper we deal with the state-feedback tracking control problem for a class of nonholonomic dynamic systems in chained form. By means of the recursive technique proposed in our recent work, we first show that the semiglobal exponential tracking can be easily obtained for systems in chained form. Then, we show that, whenever the control inputs are subject to saturation constraints, a semiglobal asymptotic tracking controller can be found on the basis of Lyapunov redesign and backstepping techniques.
In this note we consider the problem of H ∞ observer design for a class of uncertain linear discrete-time systems with delayed state and parameter uncertainties. The goal of this problem is to design a linear state o...
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In this note we consider the problem of H ∞ observer design for a class of uncertain linear discrete-time systems with delayed state and parameter uncertainties. The goal of this problem is to design a linear state observer such that, for the positive integer state time-delay and all admissible norm-bounded parameter uncertainties, the observation process remains robustly stable and the transfer function from exogenous disturbances to error state outputs meets the prespecified H ∞ norm upper bound constraint. The observer structure does not depend on the parameter uncertainties. A simple, effective algebraic methodology is developed to derive the conditions for the existence of the desired robust H ∞ observers, and the analytical expression of these observers is then characterized in terms of the matrix Riccati-like equations/inequalities. We provide a numerical example to demonstrate the validity and the applicability of the proposed approach.
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