Computer-aided design of 'well-balanced' dynamic systems is an iterative search process which requires multi-models/multi-criteria experimenting by means of appropriate computational chains and loops. Visual p...
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Computer-aided design of 'well-balanced' dynamic systems is an iterative search process which requires multi-models/multi-criteria experimenting by means of appropriate computational chains and loops. Visual programming is the way to set up or to modify such an experimentation environment from reusable computational modules, and to monitor its functioning. As realized in the control-engineering software environment ANDECS (Analysis and Design of Controlled systems), visual programming relies on data abstraction in form of control data objects, and on tool abstraction to compose a software system from separate function modules which do not communicate among each other directly but via a suited database system only. In particular, this kind of visual programming yields a direct view on those parts of a modular computational set-up which can be automatically parallelized by the PVM (parallel virtual machine) software.< >
We present a new approach for the synthesis of robust fault detection filters for the model based diagnosis of actuator faults. The underlying synthesis model is a linear pa- rameter varying (LPV) description obtained...
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Robust unilateral decoupling of car steering makes the yaw rate unobservable from the lateral acceleration at the front axle and thereby attenuates the effect of yaw disturbance torques on steering. The control system...
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Robust unilateral decoupling of car steering makes the yaw rate unobservable from the lateral acceleration at the front axle and thereby attenuates the effect of yaw disturbance torques on steering. The control system showed remarkable safety benefits in an experimental car. During the experiments, however, there occurred undesirable limit cycles caused by steering actuator rate limitations. In this paper limit cycles are analyzed by a describing function approach in combination with the representation of limit-cycle-free regions in a parameter plane of velocity and road-tire friction coefficient. The results are formulated in terms of required actuator bandwidth that achieves robustness in the entire operating range. It turns out that the use of a fading integrator reduces the required actuator bandwidth.
In this paper, we propose a new solution to the stereo correspondence problem by including features an intensity based matching. The features we use are intensity gradients in both the x and y directions of the left a...
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In this paper, we propose a new solution to the stereo correspondence problem by including features an intensity based matching. The features we use are intensity gradients in both the x and y directions of the left and the deformed right images. Although a uniform smoothness constraint is still used, it is nevertheless applied only to non-feature regions. To avoid local minima in function minimization, we propose to parameterize the disparity function by hierarchical Gaussians. A simple stochastic gradient method is used to estimate the Gaussian weights. Experiments with various real stereo images show robust performances.
ANDECS belongs to the new generation of open CAE systems for computational experimenting in controlled dynamic systems simulation, analysis, and multi-objective optimization. Strict databased function modularization w...
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ANDECS belongs to the new generation of open CAE systems for computational experimenting in controlled dynamic systems simulation, analysis, and multi-objective optimization. Strict databased function modularization with neutral object-oriented data- and model interfaces allows a flexible configuration of application programs. This modularity also guarantees side-effect free functional extensions by an application programmer. Module operation can be switched any time from interactive line commands to an X-Window graphical user interface. Via macro scripts stored on database, module sequences can be operated in batch mode with automatic parameter incrementation. Function modules are available for basic mathematical methods, control methods, simulation, parameter- and trajectory optimization, and interactive visualization for result- and algorithm animation.
Many plants have large variations in operating conditions. To ensure smooth running it is essential to find a simple fixed gain controller that guarantees rapidly decaying and well-damped transients for all admissible...
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ISBN:
(数字)9781447133650
Many plants have large variations in operating conditions. To ensure smooth running it is essential to find a simple fixed gain controller that guarantees rapidly decaying and well-damped transients for all admissible operating conditions.;presents design tools, developed by the authors, for the solution of this design problem. Examples of simple and complex cases such as a crane, a flight control problem and the automatic and active four-wheel steering of a car illustrate the use of these tools. This book is intended for anyone who has taken an undergraduate course in feedback control systems and who seeks an advanced treatment of robust control with applications. Drawing on the resources and authoritative research of a leading aerospace institute, it will mainly be of interest to mechanical and electrical engineers in universities, institutes and industrial research centres.
The paper discusses the features of advanced telerobotic systems. ROTEX-the first remotely controlled spacerobot-serves as kind of a baseline. Future telerobotic systems need powerful man-machine interfaces which allo...
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The paper discusses the features of advanced telerobotic systems. ROTEX-the first remotely controlled spacerobot-serves as kind of a baseline. Future telerobotic systems need powerful man-machine interfaces which allow skill-transfer from human operator to robot and thus may be the foundations for new ways in industrial robot programming. VRML and JAVA open up wide potentials for telerobotic control via the Internet, including teleservicing and telepresence in medicine.
An adaptive architecture for feedforward control of industrial robots with standard positional controller is presented. This approach explicitly considers robots with elastic joints. It assumes that the real position ...
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An adaptive architecture for feedforward control of industrial robots with standard positional controller is presented. This approach explicitly considers robots with elastic joints. It assumes that the real position of the tool centre point (TCP) can be recorded for offline evaluation. Compensation of elasticity is trained in a feedforward controller. Adaptation takes place without any knowledge of the physical system model. The performance of the method is demonstrated in experiments with a 6-axis industrial robot KUKA KR6/1 for which real path errors during full speed motion are reduced by 70%. Reductions of 50% can be expected for untrained paths or other robots of the same type.
Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling co...
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Up to now the parameter space approach was either utilized for robustness analysis or for design of fixed gain controllers. This paper presents an extension of this method which allows the design of gain scheduling controllers which simultaneously stabilize a finite number of representatives of an uncertain plant. The approach is applied to an automotive control example.
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