This work shows an extension of dual-modifier adaptation methodology for RTO to reduce the infeasibilities. The main idea is to add a PI controller that is activated only when the measurements shows a violation in the...
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This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an ...
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Independent smart cars are one of the applications of generic technology sets used to improve vehicle independence driving features, partially or completely. Often, real solutions refer to some mobile robot technologi...
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This paper considers the extension of the standard GPC algorithm to include input rate, magnitude and output constraints using the Quadratic Programing (QP) approach on a derived nonlinear multivariable anaesthesia mo...
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This paper considers the extension of the standard GPC algorithm to include input rate, magnitude and output constraints using the Quadratic Programing (QP) approach on a derived nonlinear multivariable anaesthesia model comprising simultaneous control of muscle relaxation (paralysis) and unconsciousness (in terms of blood pressure measurements). Simulation results, which are presented, analysed and discussed, demonstrate the superiority of the extended version in the deterministic and stochastic cases even when low output prediction horizons are chosen, and also the great flexibility with respect to choosing the limits on the manipulated as well as the output variables. The study also reveals that when heavy external disturbances occur, the algorithm, which combines input and output constraints, performs better than either the unconstrained one or the one that includes only input constraints. Under extreme conditions, the same algorithm reduces to an algorithm with only input constraints when the phenomenon of constraints incompatibilty occurs.
An explicit expression for the output frequency range of nonlinear systems for general inputs is derived. This reveals the relationship between the input and output frequency ranges of a nonlinear system and extends t...
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An explicit expression for the output frequency range of nonlinear systems for general inputs is derived. This reveals the relationship between the input and output frequency ranges of a nonlinear system and extends the well-known concept in linear systems where the output frequency range is exactly the same as that of the corresponding input. The new results provide an important and basic relationship that can be applied in nonlinear system frequency domain analysis and design.
Neural networks were used to find the inverse kinematics of a two-link planar and three-link manipulator arms. The neural networks utilised were multi-layered perceptions with a back-propagation training algorithm. Be...
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Neural networks were used to find the inverse kinematics of a two-link planar and three-link manipulator arms. The neural networks utilised were multi-layered perceptions with a back-propagation training algorithm. Because of the redundancy in the manipulators studied, this work used lookup tables for the different configurations of the manipulator arm.
Dear editor,How to deal with uncertainties and/or disturbances is a central issue pushing the development of both control science and control technology. Among various approaches, the active disturbance rejection cont...
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Dear editor,How to deal with uncertainties and/or disturbances is a central issue pushing the development of both control science and control technology. Among various approaches, the active disturbance rejection control (ADRC) has been successfully implemented in various industrial practices because of its uniqueness in concepts, simplicity
The truncation of Volterra series expansions is studied using the output frequency characteristics of nonlinear systems to develop a new algorithm for determining the terms to include in a Volterra series expansion. T...
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The truncation of Volterra series expansions is studied using the output frequency characteristics of nonlinear systems to develop a new algorithm for determining the terms to include in a Volterra series expansion. The results show the influence of both the generalized frequency response functions and properties of the input spectra on the significance of individual terms in the series. The effectiveness of the proposed method is demonstrated using simulation studies including the analysis of a single degree of freedom mechanical oscillator. Nonlinear system analyses using Volterra series theory must always be based on a truncated Volterra series description. The present study provides an effective strategy for determining which terms to include in the analysis of practical nonlinear systems based on Volterra series models.
Electric vehicle (EV) emissions should be predicted and mitigated, which requires lowering EV emissions in line with global sustainability goals. Such accurate forecasting supports policymakers and other industry stak...
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作者：
Bonitz, RGHsia, TCSystems
Controland Robotics LaboratoryDepartment of Electrical and Computer Engineering University of California Davis CA USA
An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a r...
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An internal force-based impedance control scheme for cooperating manipulators is introduced which controls the motion of the objects being manipulated and the internal force on the objects. The controller enforces a relationship between the velocity of each manipulator and the internal force on the manipulated objects. Each manipulator is directly given the properties of an impedance by the controller;thus, eliminating the gain limitation inherent in the structure of previously proposed schemes. The controller uses the forces sensed at the robot end effecters to compensate for the effects of the objects' dynamics and to compute the internal force using only kinematic relationships. Thus, knowledge of the objects' dynamics is not required. Stability of the system is proven using Lyapunov theory and simulation results are presented validating the proposed concepts. The effect of computational delays in digital control implementations is analyzed vis-a-vis stability and a lower bound derived on the size of the desired manipulator inertia relative to the actual manipulator endpoint inertia. The bound is independent of the sample time.
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