Necessary and sufficient conditions for a discrete-time system to be stabilizable via output feedback are established. The obtained conditions include a Riccati equation. An iterative algorithm for the computation of ...
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Necessary and sufficient conditions for a discrete-time system to be stabilizable via output feedback are established. The obtained conditions include a Riccati equation. An iterative algorithm for the computation of output stabilizing feedback gains is proposed in two alternatives. The results provide the discrete-time counterpart to the results by Kučera and deSouza, 1995.
The problems of nonlinear complex systemcontrol design are still in the centre of attention and there exists no universal solution by now. The aim of this paper is to propose the control algorithm for nonlinear syste...
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The problems of nonlinear complex systemcontrol design are still in the centre of attention and there exists no universal solution by now. The aim of this paper is to propose the control algorithm for nonlinear systems consisting of several subsystems. The subsystem nonlinearities are assumed to be known and the state variables are accessible only locally. The interactions between subsystems can be unknown, but bounded. The proposed control algorithm for such class of complex systems is based on the feedback linearization technique with automatic adjusting of the subsystem decay rate. The control performances are illustrated by an example of nonlinear system consisting of two interconnected subsystems.
Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic mod...
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Presents theoretical and experimental investigations into the dynamic modelling and characterisation of a flexible manipulator system. A constrained planar single-link flexible manipulator is considered. A dynamic model of the system is developed based on finite element methods incorporating structural damping. Performance of the algorithm in describing the dynamic behaviour of the system is assessed in comparison to an experimental test-rig in the time and frequency domains.
作者：
Branislav HrúzSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems llkovièova 3 812 19 Bratislava Republic Phone: +421 7 60291698
The scheduling problem is stated and formally specified in the paper. The system where the problem is to be solved is represented by a timed Petri net pertaining to a new class suitable for it. Then a method based on ...
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The scheduling problem is stated and formally specified in the paper. The system where the problem is to be solved is represented by a timed Petri net pertaining to a new class suitable for it. Then a method based on the defined Petri net class for the scheduling problem solution is presented. The method is illustrated on an example.
This paper proposes a multivariable hybrid adaptive finite receding horizon predictive controller for constrained continuous-time linear systems. The controller is based on spline approximation of input/output signals...
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This paper proposes a multivariable hybrid adaptive finite receding horizon predictive controller for constrained continuous-time linear systems. The controller is based on spline approximation of input/output signals and makes use of a new continuous-time convolution technique of system modelling. The presented approach is general in that it allows to construct controllers in hybrid sense with some discretetime adaptation mechanisms and continuous-time control input signals. The signals are designed to belong to certain class of polynomial spline functions with given order and defect. Various constraints on signals and/or state variables can be easily set. Constrained optimization of a given cost function is performed using quadratic programming. Illustrative simulations are given.
A software tool for modeling and simulation of Flexible Manufacturing systems is proposed in this paper. Variety of robots, conveyers and working machines can be used in building of the FMS. control program for the wh...
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A software tool for modeling and simulation of Flexible Manufacturing systems is proposed in this paper. Variety of robots, conveyers and working machines can be used in building of the FMS. control program for the whole system is written through Petri net model. Transformation from Petri net into control program is automated. Programming language is derived from real language for robot control. Simulation is done in 3D environment with full real-time animation. Used technique of 3D animations allows using different views to system with full zooming and change of angle and position.
In this paper, the potential applications of Fraser-Hipel-Kilgur methodology for conflict modelling and resolution, based on the theory of non-cooperative games theory, to the modelling analysis of Balkan conflicts is...
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In this paper, the potential applications of Fraser-Hipel-Kilgur methodology for conflict modelling and resolution, based on the theory of non-cooperative games theory, to the modelling analysis of Balkan conflicts is exploerd through the case study on the conflicting interests over R. Macedonia by the end of the twentieth century. Particular attention was devoted to the use of its advanced variant based on theory of digraphs and adjacent reachability matrices. The graph form takes game outcomes rather than individual decisions as the basic units for modelling conflicts, described in sufficient detail. A number of solution concepts can be formulated and employed for both two-player and multi-player games, the latter being of primary interst in here. The taxonomy of graph based solution concepts of the original methodology has been employed to account for certain anticipation horizon by each of the players. This methodology makes essential use of the fundamental axioms of game theory defined by posulates of the individual rationality, the players inertia, the limited-move stability, and the minimum effect for the opponents.
This paper is a fIfst approach to study the relation between flexibility and dynamic complexity. A new measure of dynamic complexity of the manufacturing system is proposed, by the use of Lyapunov fractal dimension. T...
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This paper is a fIfst approach to study the relation between flexibility and dynamic complexity. A new measure of dynamic complexity of the manufacturing system is proposed, by the use of Lyapunov fractal dimension. This variable has been related to a measure of the routing flexibility of the system. The simulation system is composed of two machines, two parts with two and three operations. By extensive simulations of that system a non linear relationship has been found.
The Adaptive Model control methodology is based on obtaining the model of a plant adaptively by using a FIR (Finite Impulse Response) filter, and inverting this model algebraically for use as the controller. This will...
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This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulato...
This paper presents the development of a symbolic approach in characterising the dynamic behaviour of flexible robot manipulators using finite element (FE) methods. A constrained planar single link flexible manipulator is considered. A simulation algorithm of the system is developed using a symbolic language which enables system characterisation with varying parameters. Analyses and investigations in terms of system transfer function, stability, response and endpoint vibration to an input command are presented. An assessment of the performance of the approach is presented and discussed through numerical simulations.
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