An approach to iterative learning control system design based on 2D system theory is presented. A 2D model for the iterative learning control system which reveals the connections between learning control systems and 2...
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An approach to iterative learning control system design based on 2D system theory is presented. A 2D model for the iterative learning control system which reveals the connections between learning control systems and 2D system theory is established. A learning control algorithm is proposed, and the convergence of learning using this algorithm is guaranteed by 2D stability. The learning algorithm is applied successfully to the trajectory tracking control problem for a parallel link robot manipulator. The excellent performance of this learning algorithm is demonstrated by computer simulation results.< >
The problem of determining a shaping filter which minimized the output roundoff-noise variance is discussed. It is shown that in the family of shaping filters of an identical McMillan degree having an identical power ...
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The problem of determining a shaping filter which minimized the output roundoff-noise variance is discussed. It is shown that in the family of shaping filters of an identical McMillan degree having an identical power spectrum, the shaping filter of minimum phase attains a minimum output roundoff-noise variance in either the case of optimal word lengths or the case of equal word lengths. It is shown out by examples that this is not valid in the family of shaping filters having an identical power spectrum and different McMillan degrees.
The interpreting and analysis of real time sampled signals is important for improvement of quality of products. This article developed an expert system shell ASESS for interpreting and analyzing the real time signals ...
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In this article, we describe a new framework for developing real-time intelligent control systems. An integrated intelligent system is a large knowledge integration environment that consists of several symbolic reason...
In this paper we attempt to propose a method for preference degree analysis in multiobjective decisionmaking problems(MDMPs), called the multiple factor analysis method based on a hierarchical analysis model. The conc...
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In this paper we attempt to propose a method for preference degree analysis in multiobjective decisionmaking problems(MDMPs), called the multiple factor analysis method based on a hierarchical analysis model. The concept of preference degree(PD) is first discussed. Here a PD is used as a measurement for describing preference information of decision makers (DMs) to some value of an objective. A hierarchical model for analyzing the preference information is then deduced by defining objective domain of discourse (ODD), fuzzy degree domain of discourse (FDDD), factor domain of discourse (FDD) and sensitivity vector. Furthermore, some methods are explored for analyzing DMs* PDs of objective values according to a single factor and multiple factors, respectively. At last, an example is briefly introduced.
The authors present a magnetic heading system consisting of two fluxgate magnetometers and a single-chip microcomputer. The system, when compared to gyro compasses, is smaller in size, lighter in weight, simpler in co...
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The authors present a magnetic heading system consisting of two fluxgate magnetometers and a single-chip microcomputer. The system, when compared to gyro compasses, is smaller in size, lighter in weight, simpler in construction, quicker in reaction time, free from drift, and more reliable. Using a microcomputer in the system, heading error due to compass deviation, sensor offsets. scale factor uncertainty, and sensor tilts can be compensated with the help of an error model. The laboratory test of a typical system showed that the accuracy of the system was improved from more than 8 degrees error without error compensation to less than 0.3 degrees error with compensation.< >
The interpreting and analysis of real time sampled signals is important for improvement of quality of products. This article developed an expert system shell ASESS for interpreting and analyzing the real time signals ...
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The interpreting and analysis of real time sampled signals is important for improvement of quality of products. This article developed an expert system shell ASESS for interpreting and analyzing the real time signals based on the analysis-synthesis (A-S) inference technology which frequently used by human expert in considering complex problems. The A-S technology is introduced. In order to meet the need of speed of real time control, in ASESS two measures are taken: 1. Knowledge classification and meta-rules are applied. 2. The system is developed with the combination of three languages: Assembler, Fortran and Prolog. Considering the vagueness in inference of human experts, the fuzzy inference technology are applied. The knowledge base of ASESS can be separated from inference engine and can be edited easily, so the system ASESS can be used effectively in different cases by adding appropriate knowledge in that field.
This paper illustrates the application of an integrated approach to adaptive control by reference to the case study problem proposed by Mike Masten and Herb Cohen. The underlying philosophy of our approach includes th...
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This paper illustrates the application of an integrated approach to adaptive control by reference to the case study problem proposed by Mike Masten and Herb Cohen. The underlying philosophy of our approach includes the integration of robust and adaptive control and the unification of continuous and discrete systems theory. A feature of the examples presented below is that they have been run in real time using a general purpose adaptive control toolbox.
The authors provide some unification of the results on various types of periodic and multirate sampling controllers by showing that properties of these controllers can be achieved by a single type of controller, i.e. ...
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The authors provide some unification of the results on various types of periodic and multirate sampling controllers by showing that properties of these controllers can be achieved by a single type of controller, i.e. the discrete periodic controller. The wideband and high-gain-like characteristic of this controller is addressed, and ways in which it may deteriorate system performance are described.< >
A method is presented for characterizing the workspace and arranging the layout of a path for a robot manipulator from the viewpoint of movement speed performance. To measure the movement capability of a manipulator, ...
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A method is presented for characterizing the workspace and arranging the layout of a path for a robot manipulator from the viewpoint of movement speed performance. To measure the movement capability of a manipulator, the concept of speed radius is introduced. This index is defined on the basis of the relationship between the forces/torques exerted at joint actuators and the local geometric characteristics of the manipulator. Some properties of this measure are established. It is shown that the magnitude of the speed radius is not only constrained by the dynamics of the manipulator but also determined by the geometry of the path traced by the end-effector of the manipulator. To demonstrate the proposed scheme, a two-link planar manipulator is analyzed and its best posture is obtained by the developed measure for the movement speed capability. Applications of this scheme for path planning and workspace specification are presented. Simulations on several major issues are provided.< >
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