This paper reports about experience in building control Laboratory and in organising the learning process with the aim to foster an active and creative learning by doing.
This paper reports about experience in building control Laboratory and in organising the learning process with the aim to foster an active and creative learning by doing.
作者：
Jasmin VelagicZoran VukicEdin OmerdicUniversity of Sarajevo
Faculty of Electrical Engineering Skenderija 70 BH-71000 Sarajevo Bosnia and Herzegovina fax : (+387 71) 654 972 University of Zagreb
Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia fax : (+385 1) 612 98 09 University of Tuzla
Faculty of Electrical and Mechanical Engineering Franjevacka 2 BH-75000 Tuzla Bosnia and Herzegovina
We develop in this paper an adaptive fuzzy gain autopilot for ship track-keeping. This autopilot is composed of Sugeno fuzzy type autopilot in an ordinary feedback loop and adjustable scaling factors mechanism in an a...
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We develop in this paper an adaptive fuzzy gain autopilot for ship track-keeping. This autopilot is composed of Sugeno fuzzy type autopilot in an ordinary feedback loop and adjustable scaling factors mechanism in an additional feedback loop. The adjustment mechanism represents a fuzzy controller that changes scaling factors of the base fuzzy autopilot. The control system for the track-keeping is completely described. For the track-keeping problem, the maneuver of way-point turning and ship guiding through a complex path (trajectory) are presented. The influence of sea current and wave disturbances on track-keeping performance was also considered. We first present simulation results obtained by the Sugeno fuzzy type autopilot. Then, we compare those results with ones obtained by an adaptive fuzzy autopilot.
The paper deals with proving of robustness for a few simple control methods often used in robotics. These methods are: two variants of variable-structure control, a control method with an auxiliary controller develope...
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The paper deals with proving of robustness for a few simple control methods often used in robotics. These methods are: two variants of variable-structure control, a control method with an auxiliary controller developed by Hsia (1989) and a fuzzy control. Robustness of the proposed continuous-path control methods is evaluated in the case of planar articulated robot moving along two common used trajectories: straight-line and circular. Computer simulations performed with load change, added external disturbance and white measurement noise proved satisfying robustness of all presented robot control methods.
The application of a nonlinear predictive controller in the cascade control structure of a boost converter is investigated. The neuro-predictive controller is realized as a nonlinear optimizer, using the Levenberg-Mar...
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The application of a nonlinear predictive controller in the cascade control structure of a boost converter is investigated. The neuro-predictive controller is realized as a nonlinear optimizer, using the Levenberg-Marquardt unconstrained optimization procedure. For the prediction of future process responses, two MLP neural networks are used. One network is used for modeling the converter dynamics and the other for online estimation of the converter's input voltage. This structure ensures good system performance in all operating regions and inherent compensation of ripples in the converter's input current caused by variations of the input voltage. The advantages of the proposed control structure are demonstrated through experimental comparison with a linear GPC with manually adjusted feedforward compensator.
The PI controllers provide very good trade-off between robustness and performance. However, in certain applications the control performance of the PI controller is not sufficient. In order to increase control performa...
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The PI controllers provide very good trade-off between robustness and performance. However, in certain applications the control performance of the PI controller is not sufficient. In order to increase control performance, more complicated controller structure has to be used. In this paper it has been shown that disturbance rejection properties can be significantly improved by simply adding the first-order filter within the classical PI controller structure.
This paper deals with the open issue of finding a stable element in an affine polynomial family, a difficult design problem occurring when stabilizing a given SISO plant with a fixed order compensator whose parameters...
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ISBN:
(纸本)0780365666
This paper deals with the open issue of finding a stable element in an affine polynomial family, a difficult design problem occurring when stabilizing a given SISO plant with a fixed order compensator whose parameters are subject to interval constraints. Using a rank-one LMI formulation of the problem, a tractable linearization heuristic is developed, which proves efficient in practice, as illustrated by intensive numerical experiments.
Linear Matrix Inequalities (LMIs) are now widely used as a convenient tool for solving a significant number of control problems. Probably for historical reasons, LMIs have mainly been used conjointly with state-space ...
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Linear Matrix Inequalities (LMIs) are now widely used as a convenient tool for solving a significant number of control problems. Probably for historical reasons, LMIs have mainly been used conjointly with state-space methods. Several recent works however tend to prove that polynomial (or algebraic) methods, generally favored by teachers exposing the basics of control systems, can also rely on LMIs. With the help of simple illustrative examples, the purpose of this paper is to show how the simultaneous use of LMIs and polynomial methods can shed new insights into several important control problems. The readership can range from postgraduate students specializing in control systems to experts in LMIs or polynomial methods. The algorithms described in this paper will be part of the next version of the POLYNOMIAL TOOLBOX for MATLAB to be released soon, see *** .
A sufficient LMI condition is proposed for checking robust stability of a polytope of polynomial matrices. It hinges upon two recent results: a new approach to polynomial matrix stability analysis and a new robust sta...
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A sufficient LMI condition is proposed for checking robust stability of a polytope of polynomial matrices. It hinges upon two recent results: a new approach to polynomial matrix stability analysis and a new robust stability condition for convex polytopic uncertainty. Numerical experiments illustrate that the condition narrows significantly the unavoidable gap between conservative tractable quadratic stability results and exact NP-hard robust stability results.
The paper presents a new procedure for the system identification based on approximation of the plant step responses by PTnTd models. By simple examples, the method application in designing PID controllers is demonstra...
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作者：
Vukic, Z.Velagic, J.University of Zagreb
Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 ZagrebHR-10000 Croatia University of Sarajevo
Faculty of Electrical Engineering Skenderija 70 SarajevoBH-71000 Bosnia and Herzegovina
In this paper a comparative analysis of Mamdani and Sugeno type fuzzy autopilots for ships is given. Both autopilots have two inputs: the heading signal and the yaw rate signal, and only one output: command rudder ang...
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