In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations ...
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In this paper, the problems of isomorphic decomposition and controllability of a class of nonlinear systems possessing symmetries, on the basis of quotient systems, is studied. The isomorphic decomposition formations of these systems are derived. Finally, it is shown that controllability of the original systems can be determined by that of the subsystems, which are obtained through isomorphic decomposition. The corresponding sufficient and necessary conditions are given. Two new theoretical results have been proved.
In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structur...
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In this paper, the problem of system decomposition of complex linear dynamical systems, by exploiting the similarity property, is studied. System decompositions were sought in terms of similarity hierarchical structures. Three new theoretical results were proved. A method for constructing the transformation has been derived. The conditions for such decomposition of complex linear systems are given.
This paper employs analysis of electromagnetic force harmonics to determine a stator/rotor slot combination for a reduction of electromagnetic noise in induction motors. Three kinds of slot combinations are investigat...
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This paper employs analysis of electromagnetic force harmonics to determine a stator/rotor slot combination for a reduction of electromagnetic noise in induction motors. Three kinds of slot combinations are investigated to improve existing designs of induction motors. The effect of the proposed slot combination technique used for redesigning motors is verified by evaluating the calculated electromagnetic noise and comparing with the measured overall acoustic noise of the motors. The measured acoustic noise is also compared with that of the original designs.
In the present paper, we described the system architecture of the autonomous mobile robot B21 from RWI focussing on the double control loop implementing the kinematic control together with the underlying drive control...
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The new method for PD controller setting is presented. It is based on approximation of the plant step responses by I1T1 and I1Td models and it combines positive features of the method by Ziegler and Nichols and of the...
The new method for PD controller setting is presented. It is based on approximation of the plant step responses by I1T1 and I1Td models and it combines positive features of the method by Ziegler and Nichols and of the minimum time pole assignment controllers.
A low cost navigation system is developed which fuses inertial sensor information provided by gyroscopes and odometry information. Both Kalman filters and a rule set based fusion strategy are used to correct the odome...
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ISBN:
(纸本)0780366468
A low cost navigation system is developed which fuses inertial sensor information provided by gyroscopes and odometry information. Both Kalman filters and a rule set based fusion strategy are used to correct the odometry errors in orientation for mobile robots. The fusion system even improves orientation estimation using a gyroscope with an extremely high drift rate. This navigation system is implemented on the autonomous mobile robot B21. The performance of this fusion method is tested on different surfaces and orientation errors do not increase as the robot travels along. Experimental results demonstrate that even in harsh environments with obstacles the performance of the designed navigation system reduces odometry tracking errors. The effects of nonsystematic odometry errors caused by unpredictable large bumps or objects encountered on the floor are reduced.
The paper deals with the design of decentralized robust controllers with output feedback for a class of interconnected linear continuous time systems with parametric uncertainties. The uncertainties, in general nonlin...
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The paper deals with the design of decentralized robust controllers with output feedback for a class of interconnected linear continuous time systems with parametric uncertainties. The uncertainties, in general nonlinear, can appear both in the subsystems as well as in their interconnections. No matching conditions or other similar constraints are to be considered in the complex uncertain system model. The proposed two approaches have been verified on a design of decentralized robust PI controllers using non-iterative LMI based algorithm.
Computation of an ARMA covariance function is a common ingredient in analysis and synthesis of various problems in stochastic control, estimation and signal processing. In this paper, we present an algorithm based on ...
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