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 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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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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It is possible to prestabilise the predictions used within Predictive Functional control in order to increase the likelihood of a stabilising control design. However, the minimal order approach to prestabilisation is ...
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Different approaches to the solution of the AGV transportation system control are presented in the paper. The first one is based upon the standard Petri nets extended for control. A way of the process control level mo...
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Different approaches to the solution of the AGV transportation system control are presented in the paper. The first one is based upon the standard Petri nets extended for control. A way of the process control level modeling is shown. It is a basis for the control of the AGV system at the coordination level. An outline of the transportation co-ordination algorithm is described. Another approach is via supervisory control combined with a routing optimization algorithm. Then an approach using colored Petri nets is presented. All approaches are compared.
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.
In this paper, an active fault tolerant control (FTC) strategy is presented for linear dynamic systems. The robust observer-based fault detection and isolation (FDI) systems are applied to guide the reconfiguration of...
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Recent years has seen much progress in the theory and application of iterative learning control schemes for both linear and (classes of) nonlinear dynamics. In the case of the former, many algorithms based on minimizi...
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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.
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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