The aim of the work is to present the state-of-the-art in this filed of adaptive control. Some development trends based especially on the general stability theory are analyzed. The characteristics of basic model refer...
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The aim of the work is to present the state-of-the-art in this filed of adaptive control. Some development trends based especially on the general stability theory are analyzed. The characteristics of basic model reference adaptive control (MRAC) structures and algorithms are given in order to provide an insight into the development of the theory and to indicate the possibilities of their practical application. As the paper makes only a survey of the subject area, the stability proofs of the presented algorithms are omitted. The plant to be controlled is assumed to be described by a linear model.
In this paper an application of the H ∞ -optimal position control of a hydraulic drive is presented. The treatment of model uncertainties in the field of robust control is demonstrated and an analysis for the two mos...
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In this paper an application of the H ∞ -optimal position control of a hydraulic drive is presented. The treatment of model uncertainties in the field of robust control is demonstrated and an analysis for the two most important kinds of uncertainties is presented. Main goal is to portray the relation between the weighting functions and the performance and robustness of the controlled system. On the basis of this detailed analysis, a set of simple tuning rules for the appropriate selection of the weighting functions is derived. A software package for the analysis of the plant and the selection of the weighting functions has been developed and successfully applied to a hydraulic drive.
Many kinds of omnidirectional vehicles driven by DC motors have been proposed and developed for application in robotics systems, but they have various problems like stability or operability in practical use, and have ...
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Many kinds of omnidirectional vehicles driven by DC motors have been proposed and developed for application in robotics systems, but they have various problems like stability or operability in practical use, and have to be controlled by feedback system. This paper describes the improved moving properties of an omnidirectional vehicle driven by a stepping motor. An omnidirectional vehicle, which can move in all directions without changing the body direction of the vehicle, has been developed. This omnidirectional vehicle is used as the base of a calligraphy robot which is able to write Chinese characters using a brush. The movement and the control of this vehicle are evaluated, and the fields where this vehicle can be used are examined. Experimental results show that the proposed device is useful in achieving the desired performance.
Model reference adaptive control (MRAC) has been developed in many modifications. The stability proofs have been given under the assumption that the plant model is linear. However, MRAC approaches give often convergen...
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Model reference adaptive control (MRAC) has been developed in many modifications. The stability proofs have been given under the assumption that the plant model is linear. However, MRAC approaches give often convergent solutions even for nonlinear systems. The aim of this paper is to show that for nonlinear systems with the model in canonical form, the standard MRAC with state feedback structure can be used to obtain the perfect model matching. The stability proof is derived using the general Laypunov stability theory. At the end of paper, an example of adaptive control of third order nonlinear system is presented, where a considerable improvement of control system dynamical behavior has been obtained.
The paper addresses the problem of design of robust decentralized controllers with output feedback for interconnected linear systems with uncertainties. A new class of robust continuous-time and discrete-time controll...
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The paper addresses the problem of design of robust decentralized controllers with output feedback for interconnected linear systems with uncertainties. A new class of robust continuous-time and discrete-time controllers is proposed to guarantee exponential stability of uncertain linear systems without matching conditions. The uncertainties possibly nonlinear can appear both in the subsystems and in the interconnections between them. The proposed algorithm is applied to 6th order system model comprising two subsystems with decentralized controller.
作者：
B. HrúzSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems Ilkovičova 3 812 19 Bratislava Slovak Republic Phone: +42 7 791698
A certain class of Petri nets interpreted for control, shortly CTRL - Petri nets, are introduced and defined in the paper. Three basic elementary CTRL - Petri net structures are described reflecting three main control...
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A certain class of Petri nets interpreted for control, shortly CTRL - Petri nets, are introduced and defined in the paper. Three basic elementary CTRL - Petri net structures are described reflecting three main control situations with respect to conflict decision problem in the flexible manufacturing systems (FMS). Two main sources of the conflicts in the FMS are analyzed and specified. Then a method for removal of the conflicts in the FMS modelling CTRL - Petri net is presented. The method is illustrated on a practical example.
An educational approach to the modelling and control of the discrete event dynamic systems (DEDS) is treated in the paper. After summarizing importance of the field an outline of the lecture course is presented. The r...
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An educational approach to the modelling and control of the discrete event dynamic systems (DEDS) is treated in the paper. After summarizing importance of the field an outline of the lecture course is presented. The role of the Petri nets for the DEDS as well as for education is emphasized. Three laboratory works supporting the subject education are further described. They are simulated robotic cell controlled by means of the program based on the Petri nets and written in the real-time programming language PEARL, manufacturing line model controlled by the PEARL program based also on the Petri nets and the same model controlled by the ladder logic program.
This paper describes methods based on Petri nets analysis techniques for constructing a supervisory controller of discrete event dynamic systems. Two methods (method based on reachability tree analysis and on-line met...
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This paper describes methods based on Petri nets analysis techniques for constructing a supervisory controller of discrete event dynamic systems. Two methods (method based on reachability tree analysis and on-line method based on matrix equations) have been designed. Programs in C++ have been written to solve supervisory control problem and real time control of a discrete event dynamic system.
The generation of rule-bases in conventional fuzzy logic controllers can be a difficult and time consuming problem for implementation by process operators thus affecting their wider applicability. A Self-Learning Fuzz...
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The generation of rule-bases in conventional fuzzy logic controllers can be a difficult and time consuming problem for implementation by process operators thus affecting their wider applicability. A Self-Learning Fuzzy Logic control (SLFLC) offers a possible solution. A performance study is therefore presented to evaluate the performance of a proposed SLFLC by analysing its transient performance for a variety of on-line tests and examining its ability to generate a consistent set of rules, based on a predetermined criteria. The results presented show that even with a limited knowledge of the process, the self-learning procedure is able to develop a suitable set of rules and produce a satisfactory process performance with some degree of robustness and repeatability when applied to a non-linear single-input single-output (SISO) or multi-input multi-output (MIMO) laboratory liquid-level processes.
Rational sampling rate conversion factors L/M are usually obtained by cascading an L-fold upconverter followed by an M-fold downconverter. Because the traditional SC circuits employed in such cases give rise to undesi...
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Rational sampling rate conversion factors L/M are usually obtained by cascading an L-fold upconverter followed by an M-fold downconverter. Because the traditional SC circuits employed in such cases give rise to undesired distortion effects due to the intermediary sampled-and-held signals, this paper proposes alternative solutions based on impulse sampled Intermittent Polyphase SC Structures that operate with either sampled-and-held or arbitrary input signal formats. Two alternative architectures are studied and their comparative advantages will be discussed from the viewpoints of component count and speed of the amplifiers. Behavioural level simulations illustrate well their discrete-time operation and the resulting input-output frequency responses.
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