Two major approaches for solving MDO design problems include single level methods and collaborative optimisation. Establishing benchmark standards is aided by the use of a concise set of synthetic MDO test problems. A...
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A recent paper [17] proposed a new interpolation method for predictive control which formulated a control law that systematically combines two existing approaches. The key benefit is an algorithm that requires only a ...
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This paper presents current work on fuzzy adaptation of chemotactic step size of bacterial foraging algorithm and its application to optimisation of parameters of a neural network, i.e. weights, biases and slope param...
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This paper presents investigations into the design of an adaptive command-shaping technique using genetic algorithms (GAs) for vibration control of a single-link flexible manipulator. Designing a command shaper requir...
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ISBN:
(纸本)9781627481496
This paper presents investigations into the design of an adaptive command-shaping technique using genetic algorithms (GAs) for vibration control of a single-link flexible manipulator. Designing a command shaper requires a priori knowledge about the damping ratio and natural frequency of the system. A single-link flexible manipulator experimental setup is considered in this work. This is a high order, nonlinear and single-input multi-output system with infinite number of modes each with different damping ratios. For such a complex system, it is very difficult to design an effective command shaper. An adaptive command shaper based on GAs can provide a good solution. The open loop response due to bang-bang signal shows that the main flexible modes of the system lie within 100 Hz with significant peaks at about 13, 35 and 65Hz causing much of the vibration. GA is used to determine the optimum amplitudes and corresponding time-locations of impulses in the proposed multi-mode three impulse and four impulse input shapers. For flexible manipulators, rise time and end point vibration are in conflict since the faster the motion, the larger the level of vibration. Multi-objective GAs with fitness technique is used to find optimal set of solutions which trade-off between these conflicting objectives. The effectiveness of the proposed technique is assessed in terms of vibration suppression and response time. Moreover, a comparative assessment of the performance of the technique with the standard input shaper and to the system response with unshaped bang-bang input is presented.
The measurement of perceptually relevant information about textures has been approached through profilometry, vibrometry, and tribometry. Manfredi et al. [1] used a laser Doppler vibrometer to measure skin surface vib...
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This article addresses the consensus control problem for a specific class of discrete-time stochastic multiagent systems (MASs). When transmitting the local measurement output to the local controller and neighboring a...
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This paper lays down the foundations of developing a reconfigurable control system within the Robot Operating System (ROS) for autonomous robots. The essential components of robots are programmed under a ROS system. A...
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An essential step towards the solution of many scientific problems is to accomplish modeling and identification of the system under investigation. This paper endeavors to establish an empirical relationship between in...
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ISBN:
(纸本)9814291269
An essential step towards the solution of many scientific problems is to accomplish modeling and identification of the system under investigation. This paper endeavors to establish an empirical relationship between input and observed output data for the identification of I DOF hovering motion model of a twin rotor multi input-multi output system (TRMS). A TRMS is a scaled and simplified version of practical helicopter used as a laboratory platfonn for control experiments. Although the dynamics of the TRMS are simpler than those of a real helicopter, they retain the most important helicopter features such as couplings and strong nonlinearities as well as it can be perceived as an unconventional and complex 'air vehicle'. Recursive least squares (RLS) with variable forgetting is used to obtain a parametric model of the system. The results obtained are justified, presented and described in both time and frequency domains.
This paper deploys the core methodologies of soft computing for the identification of 1 DOF hovering motion model of a twin rotor multi input-multi output system (TRMS). A TRMS is a scaled and simplified version of pr...
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ISBN:
(纸本)9812835768
This paper deploys the core methodologies of soft computing for the identification of 1 DOF hovering motion model of a twin rotor multi input-multi output system (TRMS). A TRMS is a scaled and simplified version of practical helicopter often used as a laboratory platform for control experiments. Although the dynamics of the TRMS are simpler than those of a real helicopter, they retain the most important helicopter features such as couplings and strong nonlinearities as well as it can be perceived as an unconventional and complex 'air vehicle'. The fusion of artificial neural network and fuzzy logic through a adaptive neuro-fuzzy inference system (ANFIS) technique has embarked to a remarkable result in identification of the TRMS model. However, evolutionary computing using genetic algorithm with its inherent adaptation capabilities brings powerful optimization mechanisms for dynamic system modeling. The results and evidence from these meta-heuristics evolutionary algorithms are justified, presented and described.
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