This paper deals with manipulation of a floating object by two space robots with manipulators. It is shown in this paper that a total system consisting of two robots and a floating object could be treated as a distrib...
详细信息
This paper deals with manipulation of a floating object by two space robots with manipulators. It is shown in this paper that a total system consisting of two robots and a floating object could be treated as a distributed system, and then a new generalized Jacobian matrix (GJM) is defined. Moreover, it is confirmed that this type of GJM is effective for using adaptive control for decreasing the amount of calculation for the control algorithm.
The current-feedback magnetic multivibrator (Wilson-Moore circuit) is highly efficient and the number of components is extremely small. However, this circuit has no ability of overload protection and the frequency of ...
详细信息
The current-feedback magnetic multivibrator (Wilson-Moore circuit) is highly efficient and the number of components is extremely small. However, this circuit has no ability of overload protection and the frequency of oscillation depends much on the load current. So, we proposed an improved current-feedback magnetic multivibrator with overload protection and frequency compensation. In this paper, steady-state characteristics of this circuit are investigated in detail.
An entirely new type of AC voltage regulator is proposed by the use of our original variable capacitance device. This circuit theoretically makes no distortion of output voltage waveform, because only linear reactance...
详细信息
An entirely new type of AC voltage regulator is proposed by the use of our original variable capacitance device. This circuit theoretically makes no distortion of output voltage waveform, because only linear reactance devices are utilized in the power stage. Here, the variable capacitance device was employed as a linear capacitor to control output voltage. A boost-type DC-to-DC converter was used for a high-speed driver of this device.
Current-feedback magnetic multivibrators are widely used as power sources for electronic equipment, because they are highly efficient and reliable. However, these circuits have no ability to protect themselves from ov...
详细信息
Current-feedback magnetic multivibrators are widely used as power sources for electronic equipment, because they are highly efficient and reliable. However, these circuits have no ability to protect themselves from overloading, and the oscillation frequency changes according to the load current. In this paper, we propose a new current-feedback multivibrator with overload protection and frequency compensation. In addition, the condition for cessation of oscillation and that for fixed frequency of oscillation are derived by analysis. These conditions can be determined independently of each other.
This paper is concerned with an application of a digital adaptive control system to a servo mechanism. Mechanical systems in general include nonlinearities and additional uncertainties and which result from inertia an...
详细信息
This paper is concerned with an application of a digital adaptive control system to a servo mechanism. Mechanical systems in general include nonlinearities and additional uncertainties and which result from inertia and friction. So it is difficult to ensure robust performance and high accuracy for motion control. The digital adaptive control system presented here is considered to overcome the above stated problem. Experimental results from a feed drive system demonstrate the effectiveness of the proposed control scheme.
It is well-known that the angle dependent disturbances in a servo motor caused by nonuniformity of field windings, armature cogging, rotor imbalance, nonuniform load etc., may influence the speed control performance g...
详细信息
It is well-known that the angle dependent disturbances in a servo motor caused by nonuniformity of field windings, armature cogging, rotor imbalance, nonuniform load etc., may influence the speed control performance greatly. This often leads to large speed fluctuations which are undesired in practical situations. Therefore speed fluctuation reduction techniques in the presence of angle dependent disturbances are strongly required and have been being challenged by a lot of researchers. In this paper, the authors propose a new approach to this problem via adaptive control with the aid of a radial basis function (RBF) network composed of gaussian basis functions. The angle dependent disturbances which are viewed as a periodic nonlinear function with a period of 2π[rad] in the angle-domain, is approximated by a RBF network in the domain of [0, 2π)[rad]. Then an adaptive linearization control system employing the RBF network which compensates the disturbances is proposed. The RBF network has the advantage that it is linear-in-parameter and hence the parameter adaption is very fast and easy to implement. It is proved through theoretical analysis that the stability of the adaptive control is guaranteed by the Lyapunov stability theory. Finally, simulational and experimental results are included in the paper to show the excellent performance of the proposed method.
Usually, the subspace-based state-space system identification algorithms are focused on discrete-time models, which may cause some numerical problems when the sampling interval is small. This paper proposes an algorit...
详细信息
Usually, the subspace-based state-space system identification algorithms are focused on discrete-time models, which may cause some numerical problems when the sampling interval is small. This paper proposes an algorithm of subspace-based state-space system identification for continuous-time systems from sampled input-output data. The ω — operator ω = ( p - α)/( p + α) where p denotes a differential operator and α > 0, is introduced to avoid direct numerical differentiations. And the ω — operator state-space model identified by the 4SID method can be transformed back to the common continuous-time state-space model. The numerical superiority of the ω — operator approach compared to some other methods is verified through simulation study.
This paper presents a model-based approach to fault detection of dynamic systems, which is robust to unmodeled dynamics. A “Quasi-ARMAX model᾿ is first proposed for describing nonlinear systems by incorporating a gro...
详细信息
This paper presents a model-based approach to fault detection of dynamic systems, which is robust to unmodeled dynamics. A “Quasi-ARMAX model᾿ is first proposed for describing nonlinear systems by incorporating a group of certain nonlinear structures into a linear ARMAX structure. The model can be used for a best linear approximation of the system, as well as for the estimation of resulting unmodeled dynamics, by a hierarchical implementation of recursive identification. Then robust fault detection is performed based on thresholding approach using Kullback discrimination information as fault detection index, in which the estimated unmodeled dynamics is incorporated.
This paper proposes an aproach to designing animal-like behavior of autonomous robots with use of a five-layered hierarchical model of the relation between consciousness and behavior. The hierarchy of behavior include...
This research is concerned with fault detection of nonlinear systems using Kullback discrimination information (KDI) as an index. A hybrid quasi-ARMAX model is proposed, which combines a linear ARMAX model and a multi...
详细信息
This research is concerned with fault detection of nonlinear systems using Kullback discrimination information (KDI) as an index. A hybrid quasi-ARMAX model is proposed, which combines a linear ARMAX model and a multi-ARX-model based on interpolation. In the case where the faults occur on the ARMAX model part, a KDI-based "robust" fault detection is performed, in which multi-ARX-model part is treated as error due to nonlinear undermodeling. In other cases, the model is transformed into several local ARMAX models and fault detection is performed by using the KDI to discriminate each identified local model. In this paper, we mainly concentrate our discussion on the latter cases.
暂无评论