We propose an algorithm for optimal input design in nonlinear stochastic dynamic systems. The approach relies on minimizing a function of the covariance of the parameter estimates of the system with respect to the inp...
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A discrete-time sliding-mode control for the trajectory tracking problem of four driving-steering wheels (4DW/SW) autonomous vehicle SEEKUR is presented in this paper. SEEKUR is a holonomic, all-weather, outdoor robot...
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This paper presents the results obtained by visual predictive control laws in real-time visual servoing architectures. A key role when designing a stable image based control law is played by the visual features, and t...
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This paper presents the results obtained by visual predictive control laws in real-time visual servoing architectures. A key role when designing a stable image based control law is played by the visual features, and thus both points and image moments were considered and their performance revealed. A 6 d.o.f manipulator robot with an eye-in-configuration is used to design a visual servoing architecture and realtime implementation using Matlab is described. The results of different experiments for planar static objects are presented and discussed. For establishing the performance of visual predictive control laws a comparison with classical image based control laws is conducted.
This article presents the active vibration control with bio-inspired algorithms model based system utilising genetic algorithm (GA), particle swarm intelligence (PSO) and artificial immune system (AIS). The parameter ...
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This article presents the active vibration control with bio-inspired algorithms model based system utilising genetic algorithm (GA), particle swarm intelligence (PSO) and artificial immune system (AIS). The parameter of the model is estimated and the transfer function of the active vibration controller is characterized implementing GA with real coded execution, PSO with spreading factor and AIS implemented AiNet type of algorithms. The comparisons of AVC based bio inspired algorithms are validated using time and frequency domain response, mean squares of error and correlation tests. The performances of the algorithm are assessed through determination of dominant vibration modes using spectral density of the response.
Achieving high performance optimization algorithms for embedded applications can be very challenging, particularly when several requirements such as high accuracy computations, short elapsed time, area cost, low power...
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Abstract This paper describes the development of an active vibration control system for a light and flexible stress ribbon footbridge. The 13 m span Carbon Fiber Reinforced Plastics (CFRP) stress ribbon bridge was bui...
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Abstract This paper describes the development of an active vibration control system for a light and flexible stress ribbon footbridge. The 13 m span Carbon Fiber Reinforced Plastics (CFRP) stress ribbon bridge was built in the laboratory of the department of Civil and Structural engineering, Berlin Institute of Technology. Its lightness and flexibility result in high vibration sensitivity. To reduce pedestrian-induced vibrations, very light pneumatic muscle actuators are placed at handrail level introducing control forces. First, a reduced discretized analytical model is derived for the stress ribbon bridge. To verify the analytical prediction, experiments without feedback control are conducted. Based on this model, a velocity feedback control strategy is designed to actively control first mode vibrations. To handle the nonlinearities of the muscle actuator a subsidiary nonlinear force controller is implemented based on exact linearisation methods. The stability of the entire closed-loop system with actuator saturation is investigated by the Popov Criterion. control performance is verified by experiments. It is demonstrated that handrail introduced forces can efficiently control the first mode response.
A simple tuning method for second-order active disturbance rejection control (ADRC) that achieves high performance and good robustness for a wide range of processes is presented. ADRC is a novel control strategy whose...
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Abstract In this paper, we introduce a bijective mapping ü ″ n which maps an n-dimensional unit space ¶ n to a subset of the one-dimensional interval ¶, by using a symbolic, 2-adic representation of ea...
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Abstract In this paper, we introduce a bijective mapping ü ″ n which maps an n-dimensional unit space ¶ n to a subset of the one-dimensional interval ¶, by using a symbolic, 2-adic representation of each point of the space. We also demonstrate an application of this method to obtaining sliding manifolds of certain classes of sliding mode controlsystems.
The solution to the problem of finding the reaction kinetic realization of a given system obeying the mass action law containing the minimal/maximal number of reactions and complexes is shown in this paper. The propos...
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ISBN:
(纸本)9783642149405
The solution to the problem of finding the reaction kinetic realization of a given system obeying the mass action law containing the minimal/maximal number of reactions and complexes is shown in this paper. The proposed methods are based on Mixed Integer Linear Programming where the mass action kinetics is encoded into the linear constraints. Although the problems are NP-hard in the current setting, the developed algorithms give a usable answer to some of the questions first raised in [1].
In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known t...
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In today's highly complex multi-AGV systems key research objective is finding a scheduling and routing policy that avoids deadlock while assuring that vehicle utilization is as high as possible. It is well known that finding such an optimal policy is a NP-hard task in general case. Therefore, big part of the research is oriented towards finding various suboptimal policies that can be applied to real world plants. In this paper we propose modified Banker's algorithm for scheduling in multi-AGV systems. A predetermined mission's path is executed in a way that some non-safe states are allowed in order to achieve better utilization of vehicles. A graph-based method of polynomial complexity for verification of these states is given. Algorithm is tested on a layout of a real plant for packing and warehousing palettes. Results shown at the end of the paper demonstrate advantages of the proposed method compared with other methods based on Banker's algorithm.
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