Model reference adaptive control (MRAC) has been developed in many modifications. The stability proofs have been given under the assumption that the plant model is linear. However, MRAC approaches give often convergen...
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Model reference adaptive control (MRAC) has been developed in many modifications. The stability proofs have been given under the assumption that the plant model is linear. However, MRAC approaches give often convergent solutions even for nonlinear systems. The aim of this paper is to show that for nonlinear systems with the model in canonical form, the standard MRAC with state feedback structure can be used to obtain the perfect model matching. The stability proof is derived using the general Laypunov stability theory. At the end of paper, an example of adaptive control of third order nonlinear system is presented, where a considerable improvement of control system dynamical behavior has been obtained.
Model reduction has significant importance in Large-Scale Systems. In this paper one of the main classes of model reduction-aggregation is used and the results of the two different methods are discused and compared fo...
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Model reduction has significant importance in Large-Scale Systems. In this paper one of the main classes of model reduction-aggregation is used and the results of the two different methods are discused and compared for application in Power Systems.
The paper addresses the problem of design of robust decentralized controllers with output feedback for interconnected linear systems with uncertainties. A new class of robust continuous-time and discrete-time controll...
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The paper addresses the problem of design of robust decentralized controllers with output feedback for interconnected linear systems with uncertainties. A new class of robust continuous-time and discrete-time controllers is proposed to guarantee exponential stability of uncertain linear systems without matching conditions. The uncertainties possibly nonlinear can appear both in the subsystems and in the interconnections between them. The proposed algorithm is applied to 6th order system model comprising two subsystems with decentralized controller.
This paper deals with nonlinear predictive control based on higher order Takagi-Sugeno fuzzy systems which can also be interpreted as generalized radial basis function networks. We investigate how the fuzzy models can...
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This paper deals with nonlinear predictive control based on higher order Takagi-Sugeno fuzzy systems which can also be interpreted as generalized radial basis function networks. We investigate how the fuzzy models can be linked to a special type of model based predictive control algorithm, namely the dynamic matrix control (DMC). Previously, purely linear step response models were used for long-range prediction. Here, the method is extended to nonlinear processes. Therefore, various step responses for different operating points are extracted from the fuzzy model. For performance evaluation, a heat exchanger is identified by means of the local linear model tree algorithm and controlled by the modified DMC.
The paper focuses on the speed control of stepping motors in a closed-loop configuration. An incremental optical encoder is used as the position transducer, allowing the achievement of a minor loop. The numerical cont...
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The paper focuses on the speed control of stepping motors in a closed-loop configuration. An incremental optical encoder is used as the position transducer, allowing the achievement of a minor loop. The numerical control algorithm is implemented using an IBM PC together with a specialized interface for stepper motors. The solution was obtained in two steps: the first was a nonlinear control law and the second was the improvement of the first one by using a PI part.
A practical scheme for on-line automatic tuning the existing industrial PID controllers with the assistance of a neural network is developed. A radial basis function (RBF) network have been used to implement the neura...
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A practical scheme for on-line automatic tuning the existing industrial PID controllers with the assistance of a neural network is developed. A radial basis function (RBF) network have been used to implement the neural network PID auto-tuner. A real-time version of the neural network assisted PID auto-tuner has been implemented on a personal computer (PC). Experimental testings on some generic process models, and comparison with some commercial PID auto-tuners shows favourable result on the performance of the developed scheme.
Presents an approach to robot-tool calibration. It is a well-known fact that industrial robots are not very accurate. Two aspects of the accuracy should be taken into account: the ability of a robot manipulator to per...
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Presents an approach to robot-tool calibration. It is a well-known fact that industrial robots are not very accurate. Two aspects of the accuracy should be taken into account: the ability of a robot manipulator to perform accurate positioning in the task space and the ability of a robot to follow straight-line and circular trajectories. Many of the calibration approaches deal with the accurate positioning which improves the robot's capability to follow straight or circular trajectories. However, there are drawbacks in these approaches: the need for expensive measurement devices and no guarantee that the calibration model will still be correct on the manufacturing floor. Our approach concentrates on the ability of a robot to follow the technological trajectories. The approach does not require any expensive measurement techniques. The criteria of equal distances between the points in the robot space and the task space is used. The approach is demonstrated by the results of the calibration of the GMFanuc S-10 robot. The error analysis and convergence rate for this robot are also presented. The calibration can be performed directly on the manufacturing floor where the robot is used. The advantages of the approach are simplicity of the measurement setup, fast data collection and high reliability of the kinematic parameters obtained.
作者：
B. HrúzSlovak University of Technology
Faculty of Electrical Engineering and Information Technology Department of Automatic Control Systems Ilkovičova 3 812 19 Bratislava Slovak Republic Phone: +42 7 791698
A certain class of Petri nets interpreted for control, shortly CTRL - Petri nets, are introduced and defined in the paper. Three basic elementary CTRL - Petri net structures are described reflecting three main control...
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A certain class of Petri nets interpreted for control, shortly CTRL - Petri nets, are introduced and defined in the paper. Three basic elementary CTRL - Petri net structures are described reflecting three main control situations with respect to conflict decision problem in the flexible manufacturing systems (FMS). Two main sources of the conflicts in the FMS are analyzed and specified. Then a method for removal of the conflicts in the FMS modelling CTRL - Petri net is presented. The method is illustrated on a practical example.
An educational approach to the modelling and control of the discrete event dynamic systems (DEDS) is treated in the paper. After summarizing importance of the field an outline of the lecture course is presented. The r...
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An educational approach to the modelling and control of the discrete event dynamic systems (DEDS) is treated in the paper. After summarizing importance of the field an outline of the lecture course is presented. The role of the Petri nets for the DEDS as well as for education is emphasized. Three laboratory works supporting the subject education are further described. They are simulated robotic cell controlled by means of the program based on the Petri nets and written in the real-time programming language PEARL, manufacturing line model controlled by the PEARL program based also on the Petri nets and the same model controlled by the ladder logic program.
This paper describes methods based on Petri nets analysis techniques for constructing a supervisory controller of discrete event dynamic systems. Two methods (method based on reachability tree analysis and on-line met...
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This paper describes methods based on Petri nets analysis techniques for constructing a supervisory controller of discrete event dynamic systems. Two methods (method based on reachability tree analysis and on-line method based on matrix equations) have been designed. Programs in C++ have been written to solve supervisory control problem and real time control of a discrete event dynamic system.
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