This paper focuses on improving PDF (Pseudo Derivative Feedback) controller and employing it in higher order follow-up system. By designing a circle-compensation, a novel PDF controller is proposed based on PDF contro...
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This paper focuses on improving PDF (Pseudo Derivative Feedback) controller and employing it in higher order follow-up system. By designing a circle-compensation, a novel PDF controller is proposed based on PDF control theory. Moreover, the improved PDF is compared to PID and traditional PDF through simulation using an approximated dynamic system model of a higher order hydraulic system, which consists of PLC, frequency converter, asynchronous motor, pump and pipe. The results show that the improved PDF controller provides satisfactory control performance in contrast with PID control strategy and traditional PDF controller in hydraulic system.
Many sensor-motor competences in mobile robotics applications exhibit complex, non-linear characteristics. Previous research has shown that polynomial NARMAX models can learn such complex tasks. However as the complex...
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Many sensor-motor competences in mobile robotics applications exhibit complex, non-linear characteristics. Previous research has shown that polynomial NARMAX models can learn such complex tasks. However as the complexity of the task under investigation increases, representing the whole relationship in one single model using only raw sensory inputs would lead to large models. Training such models is extremely difficult, and, furthermore, obtained models often exhibit poor performances. This paper presents a bootsrapping method of generating complex robot training tasks using simple NARMAX models. We model the desired task by combining predefined low level sensor motor controllers. The viability of the proposed method is demonstrated by teaching a Scitos GS autonomous robot to achieve complex route learning tasks in the real world robotics experiments.
In this paper a possible application of a novel adaptive control approach is reported that fits to the 'traditional line of thinking' according to which in the most practical cases neither very precise, nor ev...
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This paper presents the solution of the global robust output regulation problem for a class of nonlinear systems with relative degree one without knowing the control direction. The result is also applied to an asympto...
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ISBN:
(纸本)9781424454402
This paper presents the solution of the global robust output regulation problem for a class of nonlinear systems with relative degree one without knowing the control direction. The result is also applied to an asymptotic tracking problem associated with the well known Lorenz system.
The paper presents the possibility of using a sliding window for image feature extraction in order to identify image regions of interest. The study includes the comparison of feature extraction methods both in the spa...
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ISBN:
(纸本)9781617388767
The paper presents the possibility of using a sliding window for image feature extraction in order to identify image regions of interest. The study includes the comparison of feature extraction methods both in the space and frequency domains using the discrete Fourier transform and the discrete wavelet transform to achieve reliable classification results for a given application. The compactness of feature clusters is evaluated exploiting a proposed numerical criterion. In case of real image data, the clusters compactness can often be improved by employing a chosen smoothing method on the raw data. In this paper, the procedure of smoothing, feature extraction and classification is applied to microscopic images of aluminum alloys in order to isolate regions of similar properties and to study their relationship. To achieve this goal the sliding window classification results are combined and isolated misclassified subregions repaired. The proportion ofmisclassified regions is then used for the evaluation of the efficiency of the proposed method along with the proposed measure of cluster compactness.
In this paper a prototype emergency services system is presented, equipped with a multimedia database registering and storing relevant emergency situations in a semi automatic way. In this paper we assume that this da...
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In this paper a prototype emergency services system is presented, equipped with a multimedia database registering and storing relevant emergency situations in a semi automatic way. In this paper we assume that this database is created exclusively with sound and linguistic material won from emergency telephone calls. The presented system enables conducting speaker recognition experiments. Sources of data, metadata generation, architecture description, searching for results, and database implementation are comprised.
In numerous practical applications precise control of a subsystem passively connected to a precisely controllable subsystem by elastic connection is needed. As typical example is a crane carrying its payload swinging ...
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In numerous practical applications precise control of a subsystem passively connected to a precisely controllable subsystem by elastic connection is needed. As typical example is a crane carrying its payload swinging on an elastic string can be mentioned. From the point of view of control technology this task is interesting since the connected degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed for simultaneously tackle the problems originating from the imprecisions of the available dynamic model of the system to be controlled and the swinging phenomenon. In the simulation investigations presented a simple model consisting of two connected masspoints is considered: one of them can directly by controlled by control forces, the other one (in the role of the payload) is dragged by the controlled point via an elastic spring. The control considers the 4th time-derivative of the trajectory of the dragged system.
In this paper we study the global robust output regulation problem for a class of nonlinear systems by output feedback control. The class of systems possesses nonlinear zero-dynamics and, is thus considerably larger t...
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ISBN:
(纸本)9781424445233
In this paper we study the global robust output regulation problem for a class of nonlinear systems by output feedback control. The class of systems possesses nonlinear zero-dynamics and, is thus considerably larger than systems studied in the existing literature. As an illustration of our approach, we have applied our approach to the global robust asymptotic tracking problem of the hyperchaotic Lorenz system.
The market economic system is a large complex system. In this paper, we define Four-Element Connection Numbers control which combines Set Pair Analysis, Extension Methods, etc, applies to economic control, which is ef...
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The market economic system is a large complex system. In this paper, we define Four-Element Connection Numbers control which combines Set Pair Analysis, Extension Methods, etc, applies to economic control, which is efficient and accurate response to the state and trend of the economic system, could control the economic potential develop to the direction of our expectations. At last, we provide the method of prediction system and automatic control based on FECNC, and applies it to the system prediction of export economy.
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