The identification of polynomial and rational NARMAX models is studied and a unified least squares algorithm is introduced. The identification of two fluid loading systems, a wave flume system in unidirectional and di...
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The identification of polynomial and rational NARMAX models is studied and a unified least squares algorithm is introduced. The identification of two fluid loading systems, a wave flume system in unidirectional and directional sea states are included to illustrate the results.
This particular study concerns the application of the generalised predictive control (GPC) algorithm using the concept of prespecified set-points in clinical anaesthesia. The study reveals that the SISO GPC version be...
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This particular study concerns the application of the generalised predictive control (GPC) algorithm using the concept of prespecified set-points in clinical anaesthesia. The study reveals that the SISO GPC version behaves very well under these circumstances and displays good robustness properties when mismatch conditions between the actual and assumed set-point profiles are considered. Moreover, when the scheme is extended to enhance a multivariable structure involving simultaneous control of muscle relaxation together with unconsciousness using blood pressure measurements, the levels of interaction from one channel to the other one can be considerably reduced without great compromise on other characteristics such as transient response and speed making therefore this whole concept of set-point prespecification an attractive candidate for future clinical trials.< >
In this paper, a growth criterion is derived using statistical inference for model sufficiency. This criterion is developed for recursive estimation or sequential learning with neural networks. A growing Gaussian radi...
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In this paper, a growth criterion is derived using statistical inference for model sufficiency. This criterion is developed for recursive estimation or sequential learning with neural networks. A growing Gaussian radial basis function (GaRBF) network trained by the extended Kalman filter (EKF) algorithm on-line, called incremental network is developed. Incremental network is similar to the resource allocating network (RAN). The criterion for growth is based on the network prediction error and the expected uncertainty in the network output. The criterion is computed within the EKF estimation end hence no additional computations are required. This is in contrast to the need for search in the RAN formulation. The incremental network performance on a function interpolation problem is shown to be superior in convergence speed and approximation accuracy than the RAN networks and a fixed size RBF network.< >
Most manufacturing oriented simulation languages only offer the facility to model the system in one mode: discrete or continuous. However if a real, single mode system is examined more closely, some characteristics of...
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Most manufacturing oriented simulation languages only offer the facility to model the system in one mode: discrete or continuous. However if a real, single mode system is examined more closely, some characteristics of the opposing mode can usually be found. It is to what extent that the opposing mode can be neglected that determines in which mode the system can be successfully modelled. For many systems it is not satisfactory to approximate to a single mode system, and a mixed-mode systems simulation language would be required. A genuine mixed-mode simulation language would be able to model both discrete and continuous systems individually, in addition to combined continuous/discrete systems, and would therefore be a more useful general purpose simulation tool. It has been postulated that all systems should be treated as mixed-mode, with those with only discrete characteristics, or those with only continuous characteristics treated only as exceptions instead of the rule.< >
The authors present an investigation into the utilisation of parallel computing techinques for real-time simulation and control of a flexible beam structure in transverse vibration. The performance demands of modern c...
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The authors present an investigation into the utilisation of parallel computing techinques for real-time simulation and control of a flexible beam structure in transverse vibration. The performance demands of modern controlsystems require the employment of complex algorithms with demanding operations which, in turn, leads to shorter sampling times. Therefore, real-time performance in control applications where the use of advanced control methods is warranted becomes difficult to accomplish. Many demanding complex control processes cannot be satisfactorily realised with conventional uni-processor and multi-processor systems. Previous investigations have demonstrated the limitations of employing only transputers for real-time implementations in control applications. Alternative strategies where multi-processor based systems are employed, utilising digital signal processing (DSP) and parallel processing techniques, could provide suitable methodologies.< >
This article is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and nonlinear dynamics of manipulators are comput...
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This article is concerned with efficient and fast computations of adaptive control algorithms for robot manipulators. Adaptive controllers employing the highly coupled and nonlinear 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 PUMA 560 robot manipulator with six degrees of freedom utilising INMOS T800 transputer network, for which programming is performed in the ANSI C language. The execution times achieved by the distributed algorithm are well within the limit acceptable for real time control.< >
This paper aims to utilise a model of the surrounding field together with measured data therefrom to locate and orientate an observer. A single valued solution is developed to calculate the position of a vehicle in a ...
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This paper aims to utilise a model of the surrounding field together with measured data therefrom to locate and orientate an observer. A single valued solution is developed to calculate the position of a vehicle in a continuous field environment described by a known polynomial, from a minimum number of equispaced field measurements taken at that location and known coefficients of the polynomial. Where insufficient measurements from a single scan of the field are available, a formula for utilising extra data from several scans has been produced. The robustness of these algorithm, when the observation process is corrupted by Gaussian white noise, is also addressed.< >
The paper considers the problem of stabilizing large scale dynamic systems (LSS) via decentralized controllers based on Variable Structure systems (VSS) and using the principle of dominant subsystems. The principle an...
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The paper considers the problem of stabilizing large scale dynamic systems (LSS) via decentralized controllers based on Variable Structure systems (VSS) and using the principle of dominant subsystems. The principle and applications for LSS are described and simulation test results on a two- machines power system with nonlinear model are presented.
The observed polarisation of the horizontal magnetic components of whistler mode signals received at Halley, Antarctica (L≈ 4.3), is in many cases that expected from a simple model of the transionospheric and sub-ion...
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