The paper addresses the design of decentralized robust controllers with output feedback for a class of interconnected nonlinear systems with uncertainties which have to guarantee a prescribed exponential stability dec...
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The paper addresses the design of decentralized robust controllers with output feedback for a class of interconnected nonlinear systems with uncertainties which have to guarantee a prescribed exponential stability decay rate of the closed-loop. No matching conditions or other similar constraints are to be considered in the complex uncertain system model. The proposed approach has been verified on governor controllers for a three-machine power system.
Banyan networks are commonly used as interconnection structures in ATM switches. This paper is concerned with the replication technique which was applied to the standard banyan networks. We apply this technique to the...
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Banyan networks are commonly used as interconnection structures in ATM switches. This paper is concerned with the replication technique which was applied to the standard banyan networks. We apply this technique to the plane interconnected parallel network (PIPN) which is a switch introduced previously as a better banyan-based interconnection structure. The normalized throughput of unbuffered and buffered replicated PIPN is analyzed analytically under uniform traffic model. We apply the simulation technique to verify the analytical results under the uniform traffic model and to study the performance of different heterogeneous traffic models. The performance is shown to increase significantly when the replicated PIPN is used which supports the idea of using this switch as a new high-performance ATM switch.
We propose a systematic procedure for the control of non-minimum phase plants of higher order based on the introduction of an additional low-pass filter. The procedure proposed in this paper enables control of non-min...
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We propose a systematic procedure for the control of non-minimum phase plants of higher order based on the introduction of an additional low-pass filter. The procedure proposed in this paper enables control of non-minimum phase systems where the exact model is unknown and the system is subject to unknown and bounded disturbances. The simulation results show the performance of the proposed fuzzy sliding mode control.
The paper deals with the adaptive control design of power turbogenerators operating in a complex power system. The designed control has to provide required steady-state and dynamic system properties under changing ope...
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The paper deals with the adaptive control design of power turbogenerators operating in a complex power system. The designed control has to provide required steady-state and dynamic system properties under changing operating conditions. The proposed control structure is a multiparameter one with self-tuning regulators on the subsystem level of the system. In the design, the standard pole placement method with recmsive parameter identification and heuristic automatic pole shift factor setting has been used which maintains the required oscillation level of the subsystems. The designed controllers have been verified via simulations using a nonlinear turbogenerator model in each subsystem. The power system parameter values have been obtained from the power system of Slovakia.
This paper presents an investigation into the analysis of dynamic behaviour of a flexible robot manipulator using a symbolic manipulation approach. A constrained planar single-link flexible manipulator is considered. ...
This paper presents an investigation into the analysis of dynamic behaviour of a flexible robot manipulator using a symbolic manipulation approach. A constrained planar single-link flexible manipulator is considered. The finite element method is used for dynamic modelling of the system. A symbolic algorithm is developed using Macsyma. A general solution describing the dynamic behaviour of the manipulator is obtained. The effect of physical parameters of the manipulator on the characteristics of the system and the impact of their variation on the minimum-phase features of the system are studied and assessed.
An adaptive control of multiple compliant manipulation in dynamical environment is synthesized. The controlsystem is designed for: 1) when there is no good understanding of all physical effects incorporated in the mu...
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An adaptive control of multiple compliant manipulation in dynamical environment is synthesized. The controlsystem is designed for: 1) when there is no good understanding of all physical effects incorporated in the multiple robots/object/environment system; 2) when the parameters of the system are not precisely known; and 3) when the system parameters do vary in a known regions about their nominal values. The proposed adaptive control law has the inverse dynamics controller structure and is composed of both an identification part and a control part. The simulation results verify the proposed approach to coordinated adaptive control of multiple robot manipulators in constrained motion tasks.
In this paper, an adaptive decentralized controller is presented to attenuate the transversal vibration of a flexible cablestayed bridge induced by seismic excitation, in which only local sensor information has been u...
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This paper presents a new approach to fault diagnosis for nonlinear systems with different operating points. The model parameters of a class of nonlinear dynamic systems treated as functions of measured operating poin...
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This paper presents a new approach to fault diagnosis for nonlinear systems with different operating points. The model parameters of a class of nonlinear dynamic systems treated as functions of measured operating point and faults are estimated by radial basis function (RBF) neural networks. The effects caused by occurrence of fault can be differed from the ones caused by variance of operating points precisely with the help of the new concept “reference operating point”. Consequently, the diagnostic result is obtained by means of fuzzy logic. Finally this method is verified in a nonlinear position servo controlsystem.
Static task scheduling in distributed computing systems is a very complex problem and known to be NP-hard. This problem is even harder when the module execution times become probabilistic. In this paper we study the e...
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Static task scheduling in distributed computing systems is a very complex problem and known to be NP-hard. This problem is even harder when the module execution times become probabilistic. In this paper we study the effect of probabilistic module execution times on the performance of task-scheduling algorithms. We show that in static task scheduling, for probabilistic module execution times, and in the existence of some factors there is no need to use an expensive task-scheduling algorithm. Given any two static task-scheduling algorithms that use deterministic module execution times in assigning task modules to the distributed system, the performance of these two algorithms will not remain the same when these module execution times become probabilistic rather than deterministic. We also study the effects of some factors an our results.
The stabilisation control for a class of composite plants based on the concept of output feedback is investigated. A decentralised control is constructed to stabilise this class of large-scale systems with delay and t...
The stabilisation control for a class of composite plants based on the concept of output feedback is investigated. A decentralised control is constructed to stabilise this class of large-scale systems with delay and time varying uncertainties in the interconnections. The control action is based on the output feedback. Interconnections satisfy the so-called matching conditions. A sufficient condition is presented, which ensures uniform ultimate boundedness for both the subsystems and the overall system.
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