The search for optimal control is possible using numerical iterative algorithms based on the Pontryagin maximum principle. This approach involves repeated calculation of the gradient of the functional. This task becom...
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ISBN:
(数字)9798331517564
ISBN:
(纸本)9798331517571
The search for optimal control is possible using numerical iterative algorithms based on the Pontryagin maximum principle. This approach involves repeated calculation of the gradient of the functional. This task becomes difficult when working with nonlinear systems. This article proposes to use artificial neural networks, trained to accurately repeat the dynamics of the control object, to find the gradient of the optimized functional. This approach simplifies the process by avoiding an analytical solution. An example of the application of the proposed technique for a nonlinear control object with a limiter such as a rigid mechanical stop is given.
This paper presents a small number of MATLAB APPs and livescript files designed to help students both understand and implement frequency response tools into feedback design. The paper presents the thinking behind the ...
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This paper presents a small number of MATLAB APPs and livescript files designed to help students both understand and implement frequency response tools into feedback design. The paper presents the thinking behind the use of MATLAB and the topic itself before then describing the proposed resources in detail.
In this paper, we present and analyze a class of discrete-time and sampled-data controllers named first-order projection elements (FOPEs). FOPEs form a class of hybrid controllers that have an underlying linear base d...
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In this paper, we present and analyze a class of discrete-time and sampled-data controllers named first-order projection elements (FOPEs). FOPEs form a class of hybrid controllers that have an underlying linear base dynamics, which are combined with a projection operator that ensures that the input-output (I/O) pair is contained in a well-designed sector. The I/O sector-constraint enables performance benefits in various application domains including motion control of high-precision machines. After the introduction of FOPEs, we focus on incremental stability analysis of these hybrid controllers. We show that the properties of the projection operator ensure incremental stability of the open-loop FOPE dynamics in case of an underlying linear dynamics that is exponentially stable. In this case, we compute tight bounds on the incremental gain. Under an appropriate small-gain condition, we show incremental input-to-state stability of the sampled-data interconnection of a FOPE with a continuous-time linear time-invariant plant. For the case of projected integrator dynamics, we provide a counterexample showing that incremental stability can be compromised. We provide additional, necessary and sufficient conditions under which FOPEs with integrator dynamics are incrementally asymptotically stable. Numerical simulations provide a practical example of the established incremental properties for the trajectories of a dynamical system coming from an industrial motion control application.
Multi-agent system has significant potential for applications ranging from agriculture and environmental monitoring to logistics due to its decentralised and scalable properties. Various multi-agent system control met...
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ISBN:
(数字)9798350389234
ISBN:
(纸本)9798350353051
Multi-agent system has significant potential for applications ranging from agriculture and environmental monitoring to logistics due to its decentralised and scalable properties. Various multi-agent system control methods are currently known, such as virtual leader, vector and potential field methods, and behavioural algorithms. This paper introduces a novel approach to control the interaction of airplane-type agents utilizing the thermal motion equivalent method. Through numerical simulations employing a simplified model of airplane dynamics in the horizontal plane, the proposed controller’s efficacy is evaluated, focusing on collision avoidance among agents and boundary avoidance within the designated area. The study observes alterations in agent velocities pre and post interaction, with the root mean square velocity conserved, indicating a transfer of kinetic energy equivalent among agents. This paper presents results of numerical simulations of the interaction of a single agent with the area boundary, as well as the interaction of 5 agents. The results highlight the stability of the multiagent system and the successful emulation of agents’ behavioral resemblance to atoms’ thermal motion. This research contributes to advancing understanding and implementation of multi-agent system control strategies, particularly in scenarios mimicking natural phenomena.
The computer system for forming compositions and modeling the secondary polymer materials properties is described in the article. The polymer compositions are formed using a customizable dataware, which includes a pol...
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In recent years, the hyperspectral image (HSI) classification has attracted great attention in the field of earth observation. With the expansion of application scenarios and the continuous improvement of application ...
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The work presents a comparison of the object recognition methods based on three algorithms (Eigenface, Fisherfaces, LBPH - Local Binary Patterns Histograms), which were extended to include thermal imaging. The aim of ...
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ISBN:
(数字)9798350391183
ISBN:
(纸本)9798350391190
The work presents a comparison of the object recognition methods based on three algorithms (Eigenface, Fisherfaces, LBPH - Local Binary Patterns Histograms), which were extended to include thermal imaging. The aim of the work is to select the most effective analytical method in changing environmental conditions and implement it in the form of software for a technological project called OctoView. The system placed on a drone, combined with efficient processing units and Jetson NANO microcomputers in cooperation with a multi-vision system, will provide comprehensive analysis and image assessment of “threats” located in the observed area, recording field events, tactical risk analysis and reports, monitoring areas border areas, status and position and type of own resources in border (or other) sections. This project is dedicated to military, border, customs, fire brigade and police applications. The purpose of implementing the software is to increase security in border areas through continuous image observation and analysis [1]–[3], as well as monitoring threats and their dynamics.
We present an online learning analysis of minimax adaptive control for the case where the uncertainty includes a finite set of linear dynamical systems. Precisely, for each system inside the uncertainty set, we define...
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This paper presents the temperature control system designed for a heat source system in the form of an electric flow heater ensuring high performance of output temperature stabilization in the presence of significant ...
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ISBN:
(数字)9798350362343
ISBN:
(纸本)9798350362350
This paper presents the temperature control system designed for a heat source system in the form of an electric flow heater ensuring high performance of output temperature stabilization in the presence of significant flow rate variations. For this purpose, the PI controller was supplemented with a gain scheduling technique and a feedforward compensator based on a simple dynamic model. Two approaches for designing the feedforward compensator are verified. Simulation studies and practical verification show that control performance can be increased by introducing additional transportation delay time synchronization in the feedforward compensator.
Soft sensors experience an increasing interest in recent years, as they can replace expensive hardware meters and the required embedded computing hardware has become cheap and powerful. We report results for the imple...
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Soft sensors experience an increasing interest in recent years, as they can replace expensive hardware meters and the required embedded computing hardware has become cheap and powerful. We report results for the implementation of a soft sensor for the flow rate estimation in centrifugal pumps that achieves root mean square errors of about 5%. The proposed soft sensor is based on generic models for the drive and hydraulic part of the pump to ensure widespread applicability. We show the soft sensor and the models it is based on can be parametrized with simple measurements. All theoretical considerations are corroborated with measurements on a real industrial pump in a laboratory setup. The results show that the proposed soft sensor is capable of providing reliable flow rate estimates in spite of plant model mismatch and uncertain hardware components.
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