In this paper, the performance of a free chattering sliding mode controller has been modified by neural network in order to decrease the consumption of energy. In other word, the final goal is to decrease the switchin...
详细信息
In this paper, the performance of a free chattering sliding mode controller has been modified by neural network in order to decrease the consumption of energy. In other word, the final goal is to decrease the switching part of the control signal to the lowest level such that under this condition the system states converge to the sliding surface. The designed controller is applied to a flexible-link to control the endpoint position. The flexible-link has one degree of freedom and rotates in horizontal plane. The dynamic model was obtained from an experimental setup. Simulation results reveal the effectiveness of the proposed approach.
The paper presents results achieved during realization of the international project DAMADICS ( Development and Application of Methods for Actuator Diagnosis in Industrial control Systems ). The proposed fault detectio...
详细信息
The paper presents results achieved during realization of the international project DAMADICS ( Development and Application of Methods for Actuator Diagnosis in Industrial control Systems ). The proposed fault detection and isolation system is designed using a bank of dynamic neural networks. Each network is trained using a stochastic approximation method, which can be viewed as a fast alternative to back-propagation based algorithm. Simulation results are carried out using the real process data recorded at the Lublin Sugar Factory, Poland.
Two prototypes of reconfigurable antenna structure applicable to 3G communication systems are presented in this paper. The first one was designed to operate at 2.45 GHz and to steer the radiation beam from 60/spl deg/...
详细信息
Two prototypes of reconfigurable antenna structure applicable to 3G communication systems are presented in this paper. The first one was designed to operate at 2.45 GHz and to steer the radiation beam from 60/spl deg/ to 120/spl deg/ with a step of 5/spl deg/, by reconfiguring the feed elements. The second antenna is a V-antenna array with resonance frequency at 1.9 GHz and was constructed to full characterize the radiation pattern of this type of antenna.
The authors present a study of the finite word length (FWL) implementation for digital controller structures with sparseness consideration. A closed-loop stability related measure is derived, taking into account the n...
详细信息
The authors present a study of the finite word length (FWL) implementation for digital controller structures with sparseness consideration. A closed-loop stability related measure is derived, taking into account the number of trivial elements in a controller realisation. A practical design procedure is presented, which first obtains a controller realisation that maximises a lower bound of the proposed measure, and then uses a stepwise algorithm to make the realisation sparse. Simulation results show that the proposed design procedure yields computationally efficient controller realisations with an enhanced FWL closed-loop stability performance.
Magnetic measurement is a typical inverse problem in Biomedical field. In this kind of problem we always need to locate the positions and moments of one or more magnetic dipoles. Although using the traditional methods...
详细信息
Magnetic measurement is a typical inverse problem in Biomedical field. In this kind of problem we always need to locate the positions and moments of one or more magnetic dipoles. Although using the traditional methods to solve this kind of inverse problem has all kinds of shortcomings, BPNN (Back Propagation Neural Networks) method can be used to solve this typical inverse problem fast enough for real time measurement. In the traditional BPNN method, gradient descent search method is performed for error propagation. In this paper the authors propose a new algorithm that Newton method is performed for error propagation. For the cost function is highly nonconvex in the magnetic measurement problem, the new kind of BPNN can get convergent results quickly and precisely. A simulation result for this method is also presented.
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 (...
详细信息
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 (...
详细信息
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 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...
详细信息
A paper deals with application of stochastic methods for dynamic neural network training. The considered network is composed of dynamic neurons, which contain inner feedbacks. This network can be used as a part of a f...
详细信息
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...
详细信息
暂无评论