This paper deals with the parity based fault estimation for nonlinear systems modelled by Takagi-Sugeno (TS) fuzzy models. In this paper, the parity space approach for linear systems is generalized to TS fuzzy systems...
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This paper deals with the parity based fault estimation for nonlinear systems modelled by Takagi-Sugeno (TS) fuzzy models. In this paper, the parity space approach for linear systems is generalized to TS fuzzy systems, and power spectra of the faults are incorporated into the design procedure. The design procedure is given in terms of a family of linear matrix inequalities (LMIs). Finally, a numerical example is given to illustrate the effectiveness of the proposed design techniques
This paper is devoted to robust adaptive sliding mode control for time-delay systems with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of m...
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This paper is devoted to robust adaptive sliding mode control for time-delay systems with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of matrix inequalities, by which the corresponding adaptive reaching motion controller is also designed
This paper deals with the problem of robust fault estimation for uncertain time delay Takagi-Sugeno (TS) fuzzy models. The aim of this study is to design a delay dependent fault estimator ensuring a prescribed H infin...
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This paper deals with the problem of robust fault estimation for uncertain time delay Takagi-Sugeno (TS) fuzzy models. The aim of this study is to design a delay dependent fault estimator ensuring a prescribed H infin performance level for the fault estimation error, irrespective of the uncertainties and the time delays. Sufficient conditions for the existence of a robust fault estimator are given in terms of linear matrix inequalities. Membership functions'(MFs) characteristics are incorporated into the fault estimator design to reduce the conservativeness of neglecting these characteristics
In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which ...
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In this paper, the results from a joint industry-academia project in industrial robotic force control are presented. The extension and implementation of an external sensor system for an industrial robot system, which can be used for high-bandwidth force control, are described. Results from two industrial applications using the system are presented, a stub grinding application using a new compliant grinding end-effector integrated with the robot control system, and a deburring application with a stiff tool requiring high-bandwidth force control in six degrees of freedom. Using the system an easily reconfigurable control structure was achieved, which was able to control contact forces with a sampling bandwidth of an order of magnitude higher than for conventional robot controllers
Repetitive processes propagate information in two independent directions and are of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either st...
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Repetitive processes propagate information in two independent directions and are of both systems theoretic and applications interest. They cannot be controlled by direct extension of existing techniques from either standard (termed ID here) or 2D systems theory. Here we give new results on the design of physically based feedforward/feedback control laws to achieve desired performance and disturbance decoupling in the sense defined in the body of the paper. The new results are for the case when only output (as opposed to state) information is used to activate the control law
Markets globalization makes industrial companies to change radically, becoming more flexible, customer oriented and ague in manufacturing. Consequently, the enterprise software applications are becoming more and more ...
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This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an ...
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Today's circuit design process is become a complex task. Sequential logic synthesis is an important part of the circuit design flow. The logic synthesis phase is a bottleneck during the overall design process sinc...
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This paper describes the implementation of a real-time, non contact, static hand sign recognition system using simple techniques and cost effective equipment. The system has two operation modes: Recognition mode and L...
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This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an ...
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This paper presents a conversational interface that uses the speech recognition and synthesis and animation abilities of two Microsoft software agents in order to assure a more natural and efficient interface with an autonomous robot. The interface is used in the robotics educational process. The basic commands to be given by voice (back, right, etc.) and the control of the agents are implemented in Visual Basic. More complex control programs can be implemented and tested in Matlab and after that executed with a simple voice command. This program is used as a part of an integrated educational strategy in autonomous robotics and was evaluated by a group of students. First experimental results related to the use of this conversational interface compared to traditional robot simulation environments and control of real robots are presented in this paper with related discussions.
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