An effective way to extend to the multi-input case the variable structure control philosophy is the method based on a set of m +1 control vectors forming a simplex in ℛ m , and on the corresponding switching of the co...
详细信息
This paper deals with the hybrid position/force control problem for constrained manipulators subjected to uncertainties and disturbance of various nature. A solution for the uncertain case has been carried out basing ...
详细信息
ISBN:
(纸本)9783952426906
This paper deals with the hybrid position/force control problem for constrained manipulators subjected to uncertainties and disturbance of various nature. A solution for the uncertain case has been carried out basing on the sliding mode control theory which revealed to be highly effective in counteracting uncertainties and disturbances for some class of uncertain, nonlinear systems. Specific problems connected to this technique are the chattering elimination and the algebraic coupling between constraint forces and possibly discontinuous control signals. This paper presents a solution to these problems in the particular case of a manipulator with n degrees of freedom and n - 1 holonomic constraints, via a new second order sliding mode control algorithm which does not require the availability of the acceleration vector.
The objective of this study was to identify a biologically inspired intelligent control process that can solved the robot dynamic hybrid control problem. This control problem was investigated as “blind-tracking” tas...
The objective of this study was to identify a biologically inspired intelligent control process that can solved the robot dynamic hybrid control problem. This control problem was investigated as “blind-tracking” tasks for a human operator considering as equivalent problem of force and position control for a robotic hand. To perform the blind-tracking task, three levels of coordination was required, namely; learning level, skill level and adaptation level. These levels are representing the human cognitive agents. From this light, a control model was presented for a robotic hand to perform hybrid (force/position) control. The proposed control process was justified through the different type of human operator’s performance. Naturally the human operators can be indexed from their past experiences, skills, and, guesses through their age and work habit. Thus the elements of the intelligent control model can be established.
This paper deals with the hybrid position/force control of constrained manipulators subject to uncertainties and disturbances of various nature. A solution is proposed based on the sliding mode control theory, which r...
详细信息
This paper deals with the hybrid position/force control of constrained manipulators subject to uncertainties and disturbances of various nature. A solution is proposed based on the sliding mode control theory, which revealed to be highly effective in counteracting uncertainties and disturbances for some class of uncertain nonlinear systems. Specific problems connected to this technique are the chattering elimination and the algebraic coupling between constraint forces and possibly discontinuous control signals. The solution proposed in this paper overcomes these problems by applying a new second order sliding mode control algorithm.
This paper presents a new combined adaptive/variable structure control approach for a class of nonlinear uncertain systems. In contrast to the classical backstepping procedure, it allows the presence of nonparametric ...
详细信息
This paper presents a new combined adaptive/variable structure control approach for a class of nonlinear uncertain systems. In contrast to the classical backstepping procedure, it allows the presence of nonparametric uncertainties in the last two equations of the system. The advantages of the combined approach are mainly due to the enhancement of robustness and the reduction of the computational load. The stability and convergence features of the original adaptive scheme are retained.
The problem of scheduling two classes of vehicles on a single route in order to optimize the quality of the offered service with acceptable management costs is dealt with. It has been assumed that the two classes diff...
详细信息
The problem of scheduling two classes of vehicles on a single route in order to optimize the quality of the offered service with acceptable management costs is dealt with. It has been assumed that the two classes differ for the operational mode adopted, that is, the first class provides a periodic service whereas the second a supplementary one. Several solution approaches are discussed and some computational examples are given.
Since the layout compaction problem is dual to the minimum cost flow problem, flow algorithms can be applicable to the layout compaction. In this paper, an existing flow algorithm is investigated in terms of the layou...
详细信息
Since the layout compaction problem is dual to the minimum cost flow problem, flow algorithms can be applicable to the layout compaction. In this paper, an existing flow algorithm is investigated in terms of the layout compaction, and a fast flow algorithm is devised on the basis of the primal-dual method. Experimental results show that the proposed algorithm is the fastest dedicatedly for the compaction problem.
Usually, the subspace-based state-space system identification algorithms are focused on discrete-time models, which may cause some numerical problems when the sampling interval is small. This paper proposes an algorit...
详细信息
Usually, the subspace-based state-space system identification algorithms are focused on discrete-time models, which may cause some numerical problems when the sampling interval is small. This paper proposes an algorithm of subspace-based state-space system identification for continuous-time systems from sampled input-output data. The ω — operator ω = ( p - α)/( p + α) where p denotes a differential operator and α > 0, is introduced to avoid direct numerical differentiations. And the ω — operator state-space model identified by the 4SID method can be transformed back to the common continuous-time state-space model. The numerical superiority of the ω — operator approach compared to some other methods is verified through simulation study.
For the estimation of average bit error rate (BER) of complex digital communicationsystems, Monte-Carlo (MC) simulation technique has been widely used because of its simplicity. However, it requires excessively long ...
详细信息
ISBN:
(纸本)0780339258
For the estimation of average bit error rate (BER) of complex digital communicationsystems, Monte-Carlo (MC) simulation technique has been widely used because of its simplicity. However, it requires excessively long execution time to estimate lower BER. Although this time can substantially be reduced by using importance sampling (IS), IS has not been quite successful in the simulation of practical nonlinear satellite communicationsystems that typically consist of memory components and forward error correction (FEC) scheme. In this paper, we propose a new algorithm for the simulation of Viterbi decoder using sequentially implemented IS. We then combine it with the efficient importance sampling (EIS) technique to resolve the problems associated with memory. Results from this integration exhibit dramatic reduction of simulation time. Principles of the new simulation method of Viterbi decoding are presented. Details on the integration with EIS are followed with some numerical examples.
暂无评论