The motion of a multi-body autonomous robot as well as of a train-like multi-articulated transportation vehicle is characterized by the deviation of the path of each intermediate vehicle from that of the leading one (...
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The motion of a multi-body autonomous robot as well as of a train-like multi-articulated transportation vehicle is characterized by the deviation of the path of each intermediate vehicle from that of the leading one (off-tracking). In this paper, we make use of an innovative junction technique, which allows the kingpin to slide along the axis of the leading vehicle, something that proved to be very effective in reducing off-tracking. We propose two controllers for the elimination of the off-tracking phenomenon, in both robotic and transportation multi-articulated vehicles; the one is heuristically derived while the other one is based on steady-state off-tracking when an n-trailer vehicle moves on a circular trajectory. Simulation results for various cases, without and with the sliding kingpin system, showed that significant off-tracking reduction or even elimination can be achieved.
This paper addresses the problem of implementing predictive controllers for supervisory level control systems. In this configuration the manipulated variables calculated by the Predictive controller are used as comman...
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In this paper, fault detection problems for linear uncertain systems are studied. Instead of designing fault detection systems from the viewpoint of increasing the system robustness against unknown inputs and the sens...
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In this paper new necessary and sufficient conditions for static output feedback robust controller design for linear discrete time-invariant systems have been used. The output feedback robust controller design may be ...
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In this paper new necessary and sufficient conditions for static output feedback robust controller design for linear discrete time-invariant systems have been used. The output feedback robust controller design may be reduced to the problem of finding a feasible point under Biaffine Matrix Inequality constraint. In this paper the BMI problem of the output feedback robust controller design has been reduced to LMIs problem. The proposed LMI based algorithms are computationally simple and tightly connected with the Lyapunov function, quadratic stability, guaranteed cost and LQ optimal state feedback design. The structure of the output gain matrix can be prescribed by the designer.
The paper addresses the problem robust output feedback controller design with guaranteed cost and affine quadratic stability for linear continuous time affine systems. The proposed design method leads to a non-iterati...
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The paper addresses the problem robust output feedback controller design with guaranteed cost and affine quadratic stability for linear continuous time affine systems. The proposed design method leads to a non-iterative LMI based algorithm. A numerical example is given to illustrate the design procedure.
In order to show the handling ability of 16-bit microcontrollers of the Siemens C166-family. The controller for electric bicycle of Rare Earth Permanent Magnet Brushless DC Motor (BLDCM) based on Siemens C164-class is...
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ISBN:
(纸本)7560317685
In order to show the handling ability of 16-bit microcontrollers of the Siemens C166-family. The controller for electric bicycle of Rare Earth Permanent Magnet Brushless DC Motor (BLDCM) based on Siemens C164-class is developed. The control method used in the speed adjustment of DC Motor is the armature voltage control law that changes armature terminal voltage. This system is implemented with pulse wide modulation (PWM) and the principle of microcontroller control. The microcontroller C164CI is used to control the system. The reliability of the system is enhanced by using the microcontroller, and high efficiency and energy saving are achieved.
A simple and effective fuzzy clustering approach is presented for fuzzy modeling from industrial data. In this approach, fuzzy clustering is implemented in two phases: data compression by a self-organizing network, an...
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A simple and effective fuzzy clustering approach is presented for fuzzy modeling from industrial data. In this approach, fuzzy clustering is implemented in two phases: data compression by a self-organizing network, and fuzzy partitioning via fuzzy c-means clustering associated with a proposed cluster validity measure. The approach is used to extract fuzzy models from data and find out the optimal number of fuzzy rules. The simulation results show that the proposed approach has good clustering performance with noise-contaminated data and high-dimensional industrial data.
This paper examines two classes of algorithms that estimate a continuous time ARX type of models from discrete data: one is based on infinite impulse response (IIR) filters while the other is based on finite impulse r...
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The paper discusses the usefulness of Gröbner bases methods in a variety of control problems for a class of polynomial systems. Polynomial systems are described by difference or differential equations in which th...
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In this paper, a robust filter for an in-flight alignment (IFA) is presented to effectively eliminate system errors in the case where a strapdown inertial navigation system (SDINS) has large initial attitude errors. F...
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In this paper, a robust filter for an in-flight alignment (IFA) is presented to effectively eliminate system errors in the case where a strapdown inertial navigation system (SDINS) has large initial attitude errors. First, an extended robust H ∞ filter is proposed for a general nonlinear uncertain system. We also analyze the characteristics of the proposed filter, such as an H ∞ performance criterion, using the Lyapunov function method. Analysis results show that the proposed filter has robustness against disturbances, such as process and measurement noises, and against parameter uncertainties. Then the IFA for the SDINS is designed using the presented filter. Simulation results demonstrate that the proposed filter effectively improve the performance.
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