The problem of robust output feedback stabilization is studied. The new robust stability LMI condition including guaranteed cost and the respective simple control design procedure is developed. Though the proposed con...
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The problem of robust output feedback stabilization is studied. The new robust stability LMI condition including guaranteed cost and the respective simple control design procedure is developed. Though the proposed condition is sufficient, it is supposed not to be overly conservative. To reduce the conservatism parameter-dependent Lyapunov function is employed and an extra degree of freedom is included by using previous results of (Oliveira et al., 1999) and introducing other additional slack matrix and scalar parameters. The example is given to analyse and compare the obtained results with other ones.
Two novel linear matrix inequality (LMI) - based procedures to receive stabilizing robust output feedback gain are presented, one of them being modification of previous results of (Oliveira et al., 1999). The proposed...
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Two novel linear matrix inequality (LMI) - based procedures to receive stabilizing robust output feedback gain are presented, one of them being modification of previous results of (Oliveira et al., 1999). The proposed robust control law stabilizes the respective uncertain discrete-time system described by polytopic model with guaranteed cost. The obtained results are compared with other LMI results from literature and illustrated on the example.
In a distributed control systems the internal communication bus represents a critical technology component that interconnects particular control system elements. Efficiency of a communication inside the distributed co...
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In large distributed control systems or in large information systems still more often the wireless communication with remote objects which are the integral part of these systems is used. The second sphere of the wirel...
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The paper addresses the problem of robust output feedback controller design with a guaranteed cost and quadratic, and parameter dependent Lyapunov function quadratic stability for linear continuous time affine systems...
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The paper addresses the problem of robust output feedback controller design with a guaranteed cost and quadratic, and parameter dependent Lyapunov function quadratic stability for linear continuous time affine systems. The proposed design methods lead to a non-iterative LMI based algorithm. Numerical examples are given to illustrate the design procedure.
In this paper a switching force/position control system of robot manipulator by using fuzzy logic is proposed. This system contains a fuzzy control system. The first aim of this paper is achievement of a good end-effe...
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In this paper a switching force/position control system of robot manipulator by using fuzzy logic is proposed. This system contains a fuzzy control system. The first aim of this paper is achievement of a good end-effector trajectory tracking performance when the manipulator moves in free space. The second is considering the system behavior when contact forces arise. The objective is to control the contact force and enable the robot actively accommodate the reactive force of environment instead of rejecting it. Performance of the force control schemes for different values of compliant environment are considered and analyzed.
This paper focuses upon the diagnosis of an assembling/dissembling robot, using analytical methods based on observers. The paper presents a modality of detecting incidents, using the mathematical model of the robot, w...
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This paper focuses upon the diagnosis of an assembling/dissembling robot, using analytical methods based on observers. The paper presents a modality of detecting incidents, using the mathematical model of the robot, which is based upon the analytical evaluation of the residue with adaptive limits.
GO-CAD brings some novel functions and features to the intelligent building design and virtual reality simulation. This paper presents a novel methodology simulation during lighting simulation of a building to acquire...
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GO-CAD brings some novel functions and features to the intelligent building design and virtual reality simulation. This paper presents a novel methodology simulation during lighting simulation of a building to acquire data about the mutual interaction between a human - a virtual reality visitor represented by the so-called “avatar”, and a 3D building model and distance designing via Internet performed by a distributed multi-professional team. To demonstrate possibilities of the GO-CAD based modelling in the virtual reality, a lighting model has been chosen.
This paper presents an attractive artificial neural network (ANN) architecture with novel type of activation functions based on orthonormal function for modelling and control of non-linear processes. Theoretical metho...
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This paper presents an attractive artificial neural network (ANN) architecture with novel type of activation functions based on orthonormal function for modelling and control of non-linear processes. Theoretical methodology and design of algorithm for modelling and self-tuning control of uncertain non-linear complex processes is proposed. Several types of orthonormal functions (Fourier, Legendre, Laguerre and Chebychev) for non-linear process modelling and control are analysed and compared. Simulation results are provided to illustrate high performance of artificial neural networks with the orthonormal activation functions (OAFN) in practical problem solutions . The obtained results are compared and potential shortcomings of the proposed methods for real time industry control are discussed and analysed.
The paper addresses the problem of robust output feedback controller design with a guaranteed cost and parameter dependent Lyapunov function quadratic stability for linear continuous time polytopic systems. The propos...
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The paper addresses the problem of robust output feedback controller design with a guaranteed cost and parameter dependent Lyapunov function quadratic stability for linear continuous time polytopic systems. The proposed design methods lead to a non-iterative LMI based algorithm. Numerical example is given to illustrate the design procedure.
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