检索结果-内蒙古大学图书馆

Parameter Estimation of Nonlinearly Parameterized Regressions: Application to System Identification and Adaptive control

引用

IFAC-PapersOnLine 2020年第2期53卷 1206-1212页

作者： Romeo Ortega Vladislav Gromov Emmanuel Nuño Anton Pyrkin Jose Guadalupe Romero Laboratoire des Signaux et Systémes Supélec CNRS-SUPELEC Gif-sur-Yvette France Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Department of Computer Science CUCEI University of Guadalajara Guadalajara Mexico Department of Digital Systems ITAM Mexico City Mexico

We propose a solution to the problem of parameter estimation of nonlinearly parameterized regressions—continuous or discrete time—and apply it for system identification and adaptive control. We restrict our attention to parameterizations that can be factorized as the product of two functions, a measurable one and a nonlinear function of the parameters to be estimated. Another feature of the proposed estimator is that parameter convergence is ensured without a persistency of excitation assumption. It is assumed that, after a coordinate change, some of the elements of the transformed function satisfy a monotonicity condition. The proposed estimators are applied to design identifiers and adaptive controllers for nonlinearly parameterized systems, which are traditionally tackled using overparameterization and assuming persistency of excitation.

关键词： Adaptive control systems identification nonlinear control

来源：评论

学校读者我要写书评

暂无评论

RNA genetic algorithm based on octopus learning mechanism

RNA genetic algorithm based on octopus learning mechanism

引用

IEEE International Conference on Real-time Computing and robotics (RCAR)

作者： Lifeng Zhang Qiuxuan Wu Xiaoni Chi Jian Wang Botao Zhang Weijie Lin Sergey A. Chepinskiy Anton A. Zhilenkov Yanbin Luo Farong Gao School of Automation Hangzhou Dianzi University Hangzhou China Faculty of Control Systems and Robotics ITMO University St. Petersburg Russia Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University Russia

Genetic algorithms are often easy to fall into local optimum, Inspired by octopus RNA gene editing ability and learning ability, this paper proposed an RNA genetic algorithm based on octopus learning mechanism (LRNA-GA), which uses a single RNA chain to represent the individuals of the population, Imitating the octopus's A-to-G RNA editing method to replace traditional gene mutations, using behavioral learning to design the RNA chain, and determining the possibility of RNA editing by evaluating the RNA chain, so as to quickly jump out of the local optimal solution. The effectiveness of LRNA-GA is tested through typical benchmark functions, and it has fast search capabilities and high accuracy.

关键词： Learning systems RNA Sociology Reinforcement learning Real-time systems Statistics Standards

来源：评论

学校读者我要写书评

暂无评论

Modeling and control of A Bird-like Flapping Wing Aerial Vehicle Driven by Servos

Modeling and Control of A Bird-like Flapping Wing Aerial Veh...

引用

第34届中国控制与决策会议

作者： Shuangshuang Yu Qiang Lu Lin Fu Botao Zhang Sergey A.Chepinskiy Anton A.Zhilenkov HDU-ITMO Joint Institute Hangzhou Dianzi University School of Automation Hangzhou Dianzi University Faculty of Control Systems and Robotics ITMO University Institute of Hydrodynamics and Control Processes Saint-Petersburg State Marine Technical University

In this paper,dynamics modeling and control scheme of a flapping wing aerial vehicle driven by three servos are *** to the quasi-steady state theorem and the characteristics of flexible wings flapping movement,a simplified aerodynamic modeling scheme is proposed such that the body aerodynamic force and the flapping force of the flapping wing aerial vehicle are calculated and the relationship between its own attitude and aerodynamic force is ***,the Lagrangian position and attitude dynamics model are established based on the aerodynamic ***,in order to solve the problem of low modeling accuracy and strong disturbance in the flight process of flapping wing aerial vehicle that cannot keep stationary status,a cascaded structural sliding mode control method and the pathtracking scheme are ***,the flight control system is simulated in MATLAB,which illustrates that the sliding mode control method has good robustness.

关键词： Flapping wing aerial vehicle aerodynamic model sliding mode control path-tracking scheme

来源：评论

学校读者我要写书评

暂无评论

An Adaptive Flux and Position Observer for Interior Permanent Magnet Synchronous Motors ⁎

引用

IFAC-PapersOnLine 2019年第29期52卷 43-48页

作者： Madina Sinetova Anton Pyrkin Alexey Bobtsov Romeo Ortega Alexey Vedyakov ITMO University Faculty of Control Systems and Robotics 49 Kronverksky Pr. St. Petersburg 197101 Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratoire des Signaux et Systmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

The design of an adaptive active flux observer is an open problem, which attracts a lot of scientists from adaptive control and electric drive societies. The design of new observer for the interior permanent magnet synchronous motor is based on the ”linear regression plus gradient search” approach. It is proved that the flux observer provides asymptotic convergence of estimation errors to zero. In comparison with known solutions proposed approach gives improved results with guaranteed performance (monotonicity, convergence rate regulation) and allows to regulate the convergence rate via the selection of the adaptation gains. The main feature of the proposed observer, compared to existing ones, is that it is well defined in all operating modes, improving its robustness properties.

关键词： Nonlinear control systems robust observers synchro motors flux estimator speed estimator sensorless approach

来源：评论

学校读者我要写书评

暂无评论

A fuzzy track-keeping autopilot for ship steering

引用

Proceedings of the Institute of Marine Engineering, Science and Technology Part A: Journal of Marine Engineering and Technology 2003年第2期 23-29页

作者： Omerdic, E. Roberts, G.N. Vukic, Z. Mechatronics Research Centre University of Wales College Newport United Kingdom University of Zagreb Faculty of Electrical Engineering and Computing Zagreb Croatia Department of Mechatronics United Kingdom IFAC Technical Committee on Marine Systems United Kingdom IFAC Technical Committee on Mechatronic Systems United Kingdom Department of Control Engineering University of Zagreb Faculty of Electrical Engineering and Computing Croatia IEEE Control Systems/Robotics Automation Society Croatia

In this paper a non-linear fuzzy autopilot for ship track-keeping is presented. The proposed autopilot has four inputs (actual and desired heading, rate of change of heading and offset from the desired path) and one output (command rudder angle). The track-keeping problem is decomposed into two subtasks: (i) followthe desired heading, and (ii) bring the ship onto the desired path and keep tracking. Internally, the autopilot consists of two autopilots that fulfil these tasks simultaneously. The proposed control scheme has been verified using a non-linear model of a Mariner-class vessel and steering mechanism under the influence of wave and current disturbances. Results presented show how such a control strategy enables improved tracking performance.

关键词： Ships

来源：评论

学校读者我要写书评

暂无评论

Sensorless control of the Levitated Ball ⁎

引用

IFAC-PapersOnLine 2019年第29期52卷 274-279页

作者： Alexey Bobtsov Anton Pyrkin Romeo Ortega Alexey Vedyakov Madina Sinetova Faculty of Control Systems and Robotics ITMO University Kronverksky av. 49 197101 Saint Petersburg Russia Center for Technologies in Robotics and Mechatronics Components Innopolis University Innopolis Russia Laboratoire des Signaux et Systèmes CNRS-SUPELEC Plateau du Moulon 91192 Gif-sur-Yvette France

One of the most widely studied dynamical systems in nonlinear control theory is the levitated ball. Several full-state feedback controllers that ensure asymptotic regulation of the ball position have been reported in the literature. However, to the best of our knowledge, the design of a stabilizing law measuring only the current and the voltage—so-called sensorless control—is conspicuous by its absence. Besides its unquestionable theoretical interest, the trade off between cost and reliability of position sensors for magnetic levitated systems, makes the problem of great practical application. Our main contribution is to provide the first solution to this problem without linearisation and signal injection. Instrumental for the development of the theory is the use of parameter estimation-based observers, which combined with the dynamic regressor extension and mixing parameter estimation technique, allow the reconstruction of the magnetic flux. With the knowledge of the latter it is shown that the mechanical coordinates can be estimated with suitably tailored nonlinear observers. Replacing the observed states, in a certainty equivalent manner, with a full information asymptotically stabilising law completes the sensorless controller design. Simulation results are used to illustrate the performance of the proposed scheme.

关键词： Nonlinear control sensorless control nonlinear observers MagLev system

来源：评论

学校读者我要写书评

暂无评论

Switched-capacitor finite impulse response rotator filter

Switched-capacitor finite impulse response rotator filter

引用

Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Paweł Pawłowski Rafał Długosz Adam Dąbrowski Division of Signal Processing and Electronic Systems Jana Pawł a II 24 Poznan University of Technology Faculty of Control Robotics and Electrical Engineering and Institute of Automation and Robotics Poznań Poland Faculty of Telecommunication Computer Science and Electrical Engineering Kaliskiego 7 UTP University of Science and Technology Bydgoszcz Poland

ISBN: (数字)9788362065394

ISBN: (纸本)9781728177465

Design of the topology and layout for an analog finite impulse response (FIR) filter realized in the CMOS technology using the switched capacitor (SC) technique, is presented. The filter is based on the so called “rotator structure” supplemented with the programmable capacitor array. This array makes the on-line adjusting of the frequency response of the filter possible in a very wide range, thus, enlarges the area of applications of this circuit, e.g., to multi-standard wireless communication, software-defined radio, adaptive systems, etc. The presented circuit realizes filters of orders up to 15 (16 filter coefficients). The maximum frequency range approaches ca. 2 MHz. The circuit dissipates ca. 8 mW from the power supply.

关键词： Finite impulse response filters Capacitors IIR filters Clocks Operational amplifiers Switches Capacitance

来源：评论

学校读者我要写书评

暂无评论

Visual tracking in four degrees of freedom using kernel projected measurement

Visual tracking in four degrees of freedom using kernel proj...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Fateme Bakhshande Hamid D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICCE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

Visual Servoing is generally comprised of feature tracking and control. According to the literature, no attempt has already been made to optimize these two parts together. In kernel based visual servoing method, the main objective is to combine and optimize the entire control loop. By kernel definition, a Lyapanov candidate function is formed and the control input is computed so that the Lyapanov stability can be verified. This is performed in four degrees of freedom. In the present study, previous kernel algorithm from the recorded literature has been implemented. We have used the KBVS for our purpose such that an object without any marker is tracked. This method is chosen because of its robustness, speed and featureless properties. Furthermore, in order to show the visual tracking performance, all four degrees of freedom have been synthesized. Experimental results verifies the effectiveness of this method implemented for four degrees of freedom movements.

关键词： Kernel Visualization Asymptotic stability

来源：评论

学校读者我要写书评

暂无评论

Position based sliding mode control for visual servoing system

Position based sliding mode control for visual servoing syst...

引用

RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： M. Parsapour S. RayatDoost H. D. Taghirad Advanced Robotics and Automated Systems (ARAS) Industrial Control Center of Excellence (ICEE) Faculty of Electrical and Computer Engineering K. N. Toosi University of Technology Tehran Iran

This paper presents a nonlinear controller for visual servoing system. Pose estimation is one of the fundamental issues in position-based visual servoing (PBVS) approach. A few researches have focused on controller synthesis under modeling uncertainty and measurement noise of estimated position. In this research, PD-type sliding surface is designed for tracking target. The control signal is obtained from the sliding surface and the stability of the algorithm is verified by Lyapunov theory. Moreover, a recent designed robust estimator based on unscented Kalman observer (UKO) cascading with Kalman filter (KF) is used to estimate the pose, velocity and acceleration of the target. The combination of the implemented estimator and the proposed controller provide a stable and robust structure in PBVS. The reported experimental results, verify the effectiveness of the proposed method in an industrial visual servoing system.

关键词： Estimation Measurement uncertainty Robustness Visualization Service robots Positron emission tomography

来源：评论

学校读者我要写书评

暂无评论

Distributed formation control of networked mechanical systems

引用

IFAC-PapersOnLine 2022年第13期55卷 294-299页

作者： N. Javanmardi P. Borja M.J. Yazdanpanah J.M.A. Scherpen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen The Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

关键词： Autonomous systems Cooperative control Networked control systems Large-scale systems Port-Hamiltonian systems Scalability

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：