作者:
Sun, WeiChen, Yang QuanDept. of Automatic Control
Beijing Institute of Technology Beijing 100081 China
Dept. of Electrical and Computer Engineering Utah State University Logan UT 84322 United States
Scale-free network and consensus among multiple agents have both drawn quite much attention. To investigate the consensus speed over scale-free networks is the main topic in this paper. Given a set of different values...
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This paper presents a Web-based control laboratory of a non-linear and unstable system: the ball and beam plant. Different control strategies, apart from the traditional PID, as Robust, Fuzzy and PD-Reset control have...
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ISBN:
(纸本)9783902661562
This paper presents a Web-based control laboratory of a non-linear and unstable system: the ball and beam plant. Different control strategies, apart from the traditional PID, as Robust, Fuzzy and PD-Reset control have been taken to give students a wider vision of control approaches. The client-side of the virtual laboratory has been developed using EJS (Easy Java Simulations), an open-source tool that allows creating Java applications easily. Meanwhile, the application that locally interacts with the system is written in LabVIEW. Different experiences are presented showing the advantages of advanced control strategies over PD control.
Flexible manufacturing puts high demands on industrial automation in terms of affordable and competitive solutions and is of key importance for short-lot production typically found in small and medium sized enterprise...
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ISBN:
(纸本)9783902661432
Flexible manufacturing puts high demands on industrial automation in terms of affordable and competitive solutions and is of key importance for short-lot production typically found in small and medium sized enterprises, situations where today manual labour is extensively used despite e.g., environmental issues and harsh working conditions. Key factors in the successful introduction of new robot automation concepts are that they provide both the desired performance and quality (technical capability), but also that they enable fast deployment and extend available task repertoire. The Gantry-Tau manipulator is a new robot concept which in contrast to other high-performance parallel kinematic manipulators (PKM), has a large, open working range. Its high stiffness makes it ideal for a wide range of tasks such as grinding, deburring, and cutting. An additional aspect of such a PKM is the modularity, which in this work has been studied in terms of possibilities for assembly and mechanical reconfiguration at the end-user site, integration of such a kinematically different robot with a standard industrial controller, and new needs for methods/tools to support simple (re)configuration. A range of software tools and methods were found to be useful and necessary for efficient engineering and integration of the concept in typical SME manufacturing scenarios. For experimental evaluation, two full-scale prototype robots were designed and built, the kinematic software was developed and integrated into a couple of different robot control systems, robot CAD software was adapted to the configuration needs, and both simulations and physical experiments were carried out. Our findings make us believe that enhanced software tools should be integrated on a higher symbolic (or meta-) level to better support transformation of data and code generation, but also that the Gantry-Tau type of robot (with adequate software support) will bring a new dimension of flexibility into SME manufacturing.
This paper discusses adjustment strategies for MPLS networks, taking into account users demands. Recent developments in MPLS technology are used to propose a new method for analyzing network adjustments, on four dimen...
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This paper discusses adjustment strategies for MPLS networks, taking into account users demands. Recent developments in MPLS technology are used to propose a new method for analyzing network adjustments, on four dimensions: security, error recovery, Quality of Service and network integration - with a special focus on Grid systems. Two options are evaluated for each dimension: internal differentiation and inter-dimension compensation.
The paper analyzes optimization strategies for Multiprotocol Label Switching (MPLS) Traffic Engineering in three different areas: Quality of Service awareness, network awareness and the design of routing algorithms. R...
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The paper analyzes optimization strategies for Multiprotocol Label Switching (MPLS) Traffic Engineering in three different areas: Quality of Service awareness, network awareness and the design of routing algorithms. Recent developments in MPLS technology are discussed while identifying the main balancing possibilities within and between the three areas.
This work presents a strategy to track and describe the boundary of an environmental surface using a sequence of incomplete boundary images coming from an UAV with a camera onboard. The algorithm uses all captured ima...
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This work presents a strategy to track and describe the boundary of an environmental surface using a sequence of incomplete boundary images coming from an UAV with a camera onboard. The algorithm uses all captured images to feed the trajectory, which drives the UAV towards the next point to take the next shot, until the identification is completed. The multiple patterns of the input image make the problem difficult. Our approach orders the points of the image to identify the existent edges, and computes the trajectory as a minimization problem using a multi-objective function that gathers information about the boundary and the polynomial that fit in these edges.
This paper proposes an asymmetrical pulse width modulation (APWM) with frequency tracking control of full bridge series resonant inverter for induction heating application. In this method, APWM is used as power regula...
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ISBN:
(纸本)9789948427155
This paper proposes an asymmetrical pulse width modulation (APWM) with frequency tracking control of full bridge series resonant inverter for induction heating application. In this method, APWM is used as power regulation, and phased locked loop (PLL) is used to attain zero-voltage-switching (ZVS) over a wide load range. The complete closed loop control model is obtained using small signal analysis. The validity of the proposed control is verified by simulation results.
A hierarchical Nonlinear Model Predictive control (NMPC) scheme with guaranteed Input-to-State-practical-Stability (ISpS) is proposed. The controller is formed by an Integral Sliding Mode (ISM) controller and a NMPC o...
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Flexible manufacturing puts high demands on industrial automation in terms of affordable and competitive solutions and is of key importance for short-lot production typically found in small and medium sized enterprise...
详细信息
Flexible manufacturing puts high demands on industrial automation in terms of affordable and competitive solutions and is of key importance for short-lot production typically found in small and medium sized enterprises, situations where today manual labour is extensively used despite e.g. , environmental issues and harsh working conditions. Key factors in the successful introduction of new robot automation concepts are that they provide both the desired performance and quality (technical capability), but also that they enable fast deployment and extend available task repertoire. The Gantry-Tau manipulator is a new robot concept which in contrast to other high-performance parallel kinematic manipulators (PKM), has a large, open working range. Its high stiffness makes it ideal for a wide range of tasks such as grinding, deburring, and cutting. An additional aspect of such a PKM is the modularity, which in this work has been studied in terms of possibilities for assembly and mechanical reconfiguration at the end-user site, integration of such a kinematically different robot with a standard industrial controller, and new needs for methods/tools to support simple (re)configuration. A range of software tools and methods were found to be useful and necessary for efficient engineering and integration of the concept in typical SME manufacturing scenarios. For experimental evaluation, two full-scale prototype robots were designed and built, the kinematic software was developed and integrated into a couple of different robot control systems, robot CAD software was adapted to the configuration needs, and both simulations and physical experiments were carried out. Our findings make us believe that enhanced software tools should be integrated on a higher symbolic (or meta-) level to better support transformation of data and code generation, but also that the Gantry-Tau type of robot (with adequate software support) will bring a new dimension of flexibility into SME manufacturing.
control design for marine autonomous vehicles is a subject of great interest in the control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make difficult the control design...
control design for marine autonomous vehicles is a subject of great interest in the control systems. These vehicles are strongly non linear and show complex hydrodynamics effects that make difficult the control design. Besides, the use of underactuated vehicles is very important for different reasons like simplicity, cost, efficiency, etc, so these vehicles and their use for collaborative tasks are main topics of investigation. A non linear control for path following for USVs is presented in this work with an infrastructure capable of performing multiple AUV and ROV in collaborative tasks. So this control law and this infrastructure will be used in future projects for formation control of USVs.
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