In this paper a combined algorithm for the control of non-triangular nonlinear systems with unmatched uncertainties will be presented. It relies on a combination of Dynamical Adaptive Backstepping (DAB) and Sliding Mo...
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This study is a comparison of three routing protocols proposed for wireless mobile ad-hoc networks. The protocols are: Destination Sequenced Distance Vector (DSDV), Ad-hoc On demand Distance Vector (AODV) and Dynamic ...
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A technique for robust PI controller tuning, is applied for controlling the temperature in greenhouses, represented by first order plus dead time models and for which, their parameters vary with the ventilation as wel...
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A technique for robust PI controller tuning, is applied for controlling the temperature in greenhouses, represented by first order plus dead time models and for which, their parameters vary with the ventilation as well as the velocity of the inside air. The effectiveness of the proposed technique is demonstrated by several simulation results, which show that, the PI controller designed in the context of H ∞ , can effectively face large changes in model parameters, and retains a satisfactory performance in cases of load disturbances as well as set point changes.
The process paradigm, the object-oriented paradigm and the subject paradigm offer three different approaches to programming. In this paper, each model is evaluated by employing a 10-point criterion. Subject-oriented p...
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This work presents a sample of what evolved neural net circuit modules using the socalled "CoDi-1 Bit" neural net model can do. This work is part of an 8 year research project at ATR which aims to build an a...
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Farm working usually involves a harsh environment such as limited work space and soft, unstable or uneven surfaces. High mobility even in such an environment is essential for automating agricultural tasks. Bipedal loc...
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The use of multirate generalized sampled-data hold functions for model reference adaptive control of linear multiple-input, multiple-output (MIMO) systems with unknown parameters, is investigated in this paper, for th...
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The use of multirate generalized sampled-data hold functions for model reference adaptive control of linear multiple-input, multiple-output (MIMO) systems with unknown parameters, is investigated in this paper, for the first time. Such a control scheme contains a multirate sampling mechanism with different sampling period to each system input and relies on two periodically varying modulating matrix functions. The proposed control strategy allows us to assign an arbitrary discrete-time transfer function matrix for the sampled closed-loop system and does not make assumptions on the plant other than controllability and observability of the continuous and the sampled system, and the knowledge of a set of structural indices, namely the locally minimum controllability indices of the continuous-time plant. The indirect adaptive control scheme presented here, estimates the unknown plant parameters (and hence the parameters of the desired modulating matrix functions) on line, from sequential data of the inputs and the outputs of the plant, which are recursively updated within the time limit imposed by a fundamental sampling period T0. The controller determination is reduced to the simple problem of solving a linear algebraic system of equations, whereas known indirect model reference adaptive control techniques require the solution of matrix polynomial Diophantine equations, whose solutions may become unstable. Moreover, persistency of excitation and, therefore, parameter convergence, of the continuous-time plant is provided without making assumptions either on the existence of specific convex sets in which the estimated parameters belong or on the coprimeness of the polynomials describing the ARMA model, or finally on the richness of the reference signals, as compared to known indirect model reference adaptive control schemes.
A fully automatic adjustment system for mass production of the optical head for magnetooptical disk drives is described. The optical head is composed of millimeter scale optical components, such as laser diode, the co...
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A fully automatic adjustment system for mass production of the optical head for magnetooptical disk drives is described. The optical head is composed of millimeter scale optical components, such as laser diode, the collimator lens, the object lens, various prisms and various detectors. A series of algorithms composed of measurement, recognition, calculation of manipulation, execution of manipulation, verification and fixation ensures proper adjustment of the head. The key is to process the measured value, recognize the shape of the beam and the waveform, and determine the manipulation. With this system, the adjustment process is reduced to 6 minutes, as compared to 9 hours it takes an experience worker.
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