This paper considers the extension of the standard GPC algorithm to include input rate, magnitude and output constraints using the Quadratic Programing (QP) approach on a derived nonlinear multivariable anaesthesia mo...
详细信息
This paper considers the extension of the standard GPC algorithm to include input rate, magnitude and output constraints using the Quadratic Programing (QP) approach on a derived nonlinear multivariable anaesthesia model comprising simultaneous control of muscle relaxation (paralysis) and unconsciousness (in terms of blood pressure measurements). Simulation results, which are presented, analysed and discussed, demonstrate the superiority of the extended version in the deterministic and stochastic cases even when low output prediction horizons are chosen, and also the great flexibility with respect to choosing the limits on the manipulated as well as the output variables. The study also reveals that when heavy external disturbances occur, the algorithm, which combines input and output constraints, performs better than either the unconstrained one or the one that includes only input constraints. Under extreme conditions, the same algorithm reduces to an algorithm with only input constraints when the phenomenon of constraints incompatibilty occurs.
Neural networks were used to find the inverse kinematics of a two-link planar and three-link manipulator arms. The neural networks utilised were multi-layered perceptions with a back-propagation training algorithm. Be...
详细信息
Neural networks were used to find the inverse kinematics of a two-link planar and three-link manipulator arms. The neural networks utilised were multi-layered perceptions with a back-propagation training algorithm. Because of the redundancy in the manipulators studied, this work used lookup tables for the different configurations of the manipulator arm.
The truncation of Volterra series expansions is studied using the output frequency characteristics of nonlinear systems to develop a new algorithm for determining the terms to include in a Volterra series expansion. T...
详细信息
The truncation of Volterra series expansions is studied using the output frequency characteristics of nonlinear systems to develop a new algorithm for determining the terms to include in a Volterra series expansion. The results show the influence of both the generalized frequency response functions and properties of the input spectra on the significance of individual terms in the series. The effectiveness of the proposed method is demonstrated using simulation studies including the analysis of a single degree of freedom mechanical oscillator. Nonlinear system analyses using Volterra series theory must always be based on a truncated Volterra series description. The present study provides an effective strategy for determining which terms to include in the analysis of practical nonlinear systems based on Volterra series models.
An explicit expression for the output frequency range of nonlinear systems for general inputs is derived. This reveals the relationship between the input and output frequency ranges of a nonlinear system and extends t...
详细信息
An explicit expression for the output frequency range of nonlinear systems for general inputs is derived. This reveals the relationship between the input and output frequency ranges of a nonlinear system and extends the well-known concept in linear systems where the output frequency range is exactly the same as that of the corresponding input. The new results provide an important and basic relationship that can be applied in nonlinear system frequency domain analysis and design.
This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computa...
详细信息
This paper is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and non-linear dynamics of manipulators are computationally complex, which presents a major obstacle in their real-time implementation for industrial applications. A solution to this problem is suggested by utilising a parallel-processing approach. The controller algorithm is implemented for a robot manipulator with six degrees of freedom, utilising a transputer network, for which programming is performed in C. The execution times achieved by the distributed algorithm are well within the limit acceptable for real-time control.
A new set of efficient two-dimensional (2D) moments is introduced, which are normalized with respect to standard deviation. They are invariant under rotation, translation and scale of the image, less sensitive to nois...
详细信息
A new set of efficient two-dimensional (2D) moments is introduced, which are normalized with respect to standard deviation. They are invariant under rotation, translation and scale of the image, less sensitive to noise and appear to have better classification performance over the existing sets of moments. Application of the proposed technique to optical character recognition is given.
Many practical systems involve sensors that provide signals at slow sample rates. Guaranteeing the intersample performance is a fundamental problem in controlling such systems. Two multirate model predictive control s...
详细信息
Many practical systems involve sensors that provide signals at slow sample rates. Guaranteeing the intersample performance is a fundamental problem in controlling such systems. Two multirate model predictive control schemes are presented as solutions to this problem. In the first control scheme, intersample responses are estimated and used as compensation for the missing measurements of the controlled output. This scheme can therefore operate at the desired fast rate. The second scheme updates the control action at the slow rate that the output is sampled, but it is different from conventional techniques. This scheme finds intersample responses using a modified Z transform, and produces the control variable by optimising a performance index that accounts for both sample and intersample behaviour. Numerical simulations demonstrate that the two multirate algorithms exhibit improved time responses compared to the conventional approach.
In this article a video transmission system over industrial communications networks is presented. In particular, the industrial network used is Industrial Ethernet. Industrial Ethernet is the present bet of the contro...
详细信息
In this article a video transmission system over industrial communications networks is presented. In particular, the industrial network used is Industrial Ethernet. Industrial Ethernet is the present bet of the control system makers as a network for integrating its systems and, at the same time, for the real time data transmission through the network. A scaling video transmission system is presented that use the information of lost frames generated from the control data received in the video server. This information can be used by the video coding system in order to reconfigure the compression system, adapting the transmission data to the current possibilities of the network. This enables the maintenance of a video signal in real time, independently of the eventual load introduced by the controlsystems.
A model predictive control strategy for a concentrated solar thermal power plant is proposed. Design of the proposed controller is based on an estimated linear time-invariant state space model around a nominal operati...
详细信息
There are many software tools available for students to implement PID control laws, but these software tools are not all equally flexible, easy to use, accessible and hence effective. This paper gives a brief review o...
详细信息
暂无评论