In this paper, an adaptive controller with improved transient and steady-state performance using parameter mismatch compensation and high-order tuning is presented. As in previous designs, the use of a properly design...
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In this paper, an adaptive controller with improved transient and steady-state performance using parameter mismatch compensation and high-order tuning is presented. As in previous designs, the use of a properly designed signal, compensating for the effects of parameter mismatch on the output error, leads to "arbitrary" performance improvement. However, unlike previous designs based on first-order (classical) tuners, high-order tuning is necessary in order to avoid the effect of terms due to initial conditions on the output error. This constitutes a strong motivation for the use of high-order tuners in adaptive control which so far, were considered as more complicated alternatives to the classical first-order tuners. The proposed controller also provides robustness enhancement in the presence of bounded disturbances and/or a class of unmodeled dynamics or in the event of an adaptation switch-off end, as in classical model reference adaptive control, guarantees the exponential convergence of all errors to zero in the presence of sufficiently exciting reference inputs.
A benchmark study of two self-organizing artificial neural network models, ART2 and DIGNET, is conducted. The architecture differences and learning procedures between these two models are compared. The performance of ...
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A benchmark study of two self-organizing artificial neural network models, ART2 and DIGNET, is conducted. The architecture differences and learning procedures between these two models are compared. The performance of ART2 and DIGNET on data clustering and signal detection problems with noise or interference is investigated by comparative simulations. It is shown that DIGNET generally has faster learning and better clustering performance on the statistical pattern recognition problems. DIGNET has a simpler architecture, and the system parameters can be analytically determined from the self-organizing process. The threshold value used in DIGNET can be specifically determined from a given lower bound on the desirable signal-to-noise ratio (SNR). The networks discussed in this paper are applied and benchmarked against clustering and signal detection problems.
When actuators and sensors on a controlled mechanical structure form naturally passive pairs, which usually requires physical collocation, very robust stabilizing controllers can be constructed. If the number of such ...
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When actuators and sensors on a controlled mechanical structure form naturally passive pairs, which usually requires physical collocation, very robust stabilizing controllers can be constructed. If the number of such naturally passive pairs is small, the closed loop performance may not be satisfactory. This motivates the incorporation of additional sensors in the control design. However, the passivity property no longer holds for these sensors. Some thoughts are presented on extending the passivity based design to incorporate these non-collocated sensors by using some nominal model information to synthesize a fictitious strictly passive output. Simulation and experimental studies are presented to show the merits of this approach.< >
We consider a class of symmetric Hopfield Networks, with nonpositive synapses and zero thresholds and address a variety of design and analysis issues conected with Unidirectional Error Correcting Coding applications o...
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We consider a class of symmetric Hopfield Networks, with nonpositive synapses and zero thresholds and address a variety of design and analysis issues conected with Unidirectional Error Correcting Coding applications of this class. We show that this class is naturally suited to work in a unidirectional error environment We give a necessary and sufficient condition for a set of vectors to be storable in a Nonpositive Network. We propose a simple word storage algorithm, which is amenable to on line implementation, and guarantees storage of all storage compatible words. We show that the storage algorithm creates a maximally fault tolerant network which is free from spurious stationary points, whenever that freedom is possible. We also give a word forgetting algorithm; a tight, deterministic bound on the storage capacity, and give conditions under which the network created by our storage scheme tolerates a given number of arbitrary physical faults.
The main processes involved in the manufacture of integrated circuits are deposition, lithography, etching, and implantation. This paper describes results on identification and real-time control of reactive ion etcher...
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The main processes involved in the manufacture of integrated circuits are deposition, lithography, etching, and implantation. This paper describes results on identification and real-time control of reactive ion etchers. Experimental results show that significant disturbances to the etch rate can be attenuated with real-time feedback control.< >
This paper presents a passivity based approach to the stabilization of a flexible beam and its application to a testbed at the Picatinny Arsenal. The basic control design consists of tuning an inner passive loop for t...
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This paper presents a passivity based approach to the stabilization of a flexible beam and its application to a testbed at the Picatinny Arsenal. The basic control design consists of tuning an inner passive loop for the rigidbody response, synthesizing a passive output based on an observer and all the available outputs, and finally filtering the synthesized passive output by an optimal passive filter before closing the loop. Previous simulation and experimental experience in the C La MS Laboratory at Rensselaer has shown the efficacy of this approach. Preliminary simulation results based on the Picatinny model are encouraging. Experimental validation on the physical testbed is currently planned.
This paper describes the development of real-time control technology for the improvement of manufacturing characteristics of reactive ion etchers. A general control strategy is presented as well as supporting experime...
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This paper describes the development of real-time control technology for the improvement of manufacturing characteristics of reactive ion etchers. A general control strategy is presented as well as supporting experimental results.
Distributed energy management systems (EMS) open up a host of alternative design options. Simulation plays an important role in evaluating performance and in comparing alternative designs. Currently all the proposed d...
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Distributed energy management systems (EMS) open up a host of alternative design options. Simulation plays an important role in evaluating performance and in comparing alternative designs. Currently all the proposed distributed EMSs are local area network (LAN)-based. A LAN simulator, LANSIM, has been developed. To illustrate the application of LANSIM, comparisons are made with different distributed EMS configurations, different LAN technologies (Ethernet and FDDI), and different Ethernet implementations.< >
This paper presents an instability version of an earlier result by Tsypkin and Polyak (1991) on robust stability analysis using a modified Nyquist plot. The result is shown to be useful for presenting robust stability...
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This paper presents an instability version of an earlier result by Tsypkin and Polyak (1991) on robust stability analysis using a modified Nyquist plot. The result is shown to be useful for presenting robust stability and instability margins for feedback systems.
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