This paper deals with exact linearization - a well-known method for nonlinear control design - from a control education point of view. It presents a couple of interactive tools based on Matlab, Simulink and Matlab Web...
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This paper deals with exact linearization - a well-known method for nonlinear control design - from a control education point of view. It presents a couple of interactive tools based on Matlab, Simulink and Matlab Web server that serve as easy-to-use control law calculators. Their main purpose is to remove the mathematical burden involved in exact linearization from students' shoulders and make the method easier to understand and to use. According to our belief, this approach - i.e. let computers do the calculations and let students do the reasoning - can be useful also in other cases where mathematics overshadow the contents and the benefits of a particular control design technique
The paper deals with the robust output feedback controller design with guaranteed cost and affine quadratic stability for linear continuous time systems. The proposed approach leads to an iterative LMI based algorithm...
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The paper deals with the robust output feedback controller design with guaranteed cost and affine quadratic stability for linear continuous time systems. The proposed approach leads to an iterative LMI based algorithm. Numerical examples are studied to verify effectiveness of the proposed method. The obtained results are compared with some other design procedures for robust affine quadratic controller design and robust parameter-dependent quadratic stability.
This article represents new experimental approaches to the problems of kinematics analysis and muscle activity identifications applied in case of ergometer rowing. Moreover, it is also proposed principle of defining m...
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This article represents new experimental approaches to the problems of kinematics analysis and muscle activity identifications applied in case of ergometer rowing. Moreover, it is also proposed principle of defining muscle activity participation in generating body segment motion. First experiment was done on sample of 20 rowers and it is included indoor rowing kinematics recording and data acquisition by using the video motion tracking system. Video camera - PC system records positions of markers attached on eight crucial points, in sagital plane. With a human body link segment model, the associated lines and the angular parameters of particular segments were calculated from the markers positions. Comparison of kinematics parameters of a representative sample (an elite rower) with kinematics parameters of others rowers is used for the rowing technique correction. Second experimental procedure included simultaneous measurement of EMG activity of Vastus Medialis, Biceps and Gastrocnemius muscles and kinematics data acquisition by using same video motion tracking system. Processing of collected kinematics and EMG data were done in Matlab program package. Thus, intervals of muscle activity can be defined in particular stroke phase by using threshold method, and beside that muscle participation in generating body segment movement correlating envelope of rectified and wavelets denoised emg signal with particular angular acceleration.
At the present time many embedded and real time systems require access to increasingly larger amount of data. Data structures can not be fully application dependent as usual and more sophisticated data processing algo...
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Rapid development of microcontrollers (and hand in hand cost reduction) enahle us to construct cheaper and/or more powerful digital tuners (as can he seen on the market). This publication shows possible methods how fo...
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Rapid development of microcontrollers (and hand in hand cost reduction) enahle us to construct cheaper and/or more powerful digital tuners (as can he seen on the market). This publication shows possible methods how for modern microcontrollers - how to cheaply detect tone frequency on microcontrollers.
Using Haar wavelets, a computational method is presented to determine the piecewise constant feedback controls for a finite-time linear optimal control problem of a time-varying state-delayed system. The method is sim...
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Using Haar wavelets, a computational method is presented to determine the piecewise constant feedback controls for a finite-time linear optimal control problem of a time-varying state-delayed system. The method is simple and computationally advantageous. The approximated optimal trajectory and optimal control are calculated using Haar wavelet integral operational matrix, Haar wavelet product operational matrix and Haar wavelet delay operational matrix. An illustrative example is included to demonstrate the validity and applicability of the technique
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
It is very difficult to achieve guaranteed real time database services when putting a database into a real-time environment because various components can compete for system resources. Previous research in real-time d...
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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 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
Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in or...
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Robots are complex mechatronics systems where several electric drives are employed to control the movement of articulated structures. In industrial environments they must perform tasks with rapidity and accuracy in order to produce goods and services with minimal production time. These procedures require the use of flexible robots which can act in a large workspace, thus subjected to important parameters variations and nonlinear dynamics effects. This paper investigates the fractional order dynamics during the evolution of trajectories of three robotic joints, considering the complete system dynamics.
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