We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay...
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Abstract This paper studies decentralized control design problem for uncertain linear system. Decentralized control design procedure is proposed for static output feedback control which is based on solving robust cont...
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Abstract This paper studies decentralized control design problem for uncertain linear system. Decentralized control design procedure is proposed for static output feedback control which is based on solving robust control design problems of subsystems’ size. The presented approach uses so called equivalent subsystems to consider the interactions in the local robust controller design. The resulting decentralized control scheme has been successfully tested on the linearized model of three interconnected boiler-turbine subsystems.
The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain incl...
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ISBN:
(纸本)9798350309805
The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain inclinations. This is in contrast to the most popular humanoid design with a configuration based on perpendicular joint axes. This paper reviews the oblique joint axes of the mainly involved joints for locomotion of the human musculoskeletal system. We elaborate on how the oblique axes affect the performance of walking and running. The mechanisms are put into perspective for the locomotion types of walking and running. In particular, walking robots can highly benefit from using oblique joint axes. For running, the primary goal is to align the axis of motion to the mainly active sagittal plane. The results of this analysis can serve as a guideline for the kinematic design of a humanoid robot and a prior for optimization-based approaches.
This paper deals with the parameter identification for non-commensurable fractional systems under noisy observations of the output signal. Fractional systems are increasingly used to describe complex systems or memory...
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ISBN:
(数字)9783907144022
ISBN:
(纸本)9781728188133
This paper deals with the parameter identification for non-commensurable fractional systems under noisy observations of the output signal. Fractional systems are increasingly used to describe complex systems or memory effects. Actual identification methods can not handle noisy observations of the output signal if the system is not at rest. In this paper, an approach is proposed which uses a combination of the modulating function method and the instrumental variable method. The instrumental variable method yields unbiased estimates without knowing anything about the noise which corrupts the output signal. To calculate the instrumental variables, an algorithm to calculate the closed-form solution of a fractional system is also extended by the short-memory principle. The presented approach is compared to the common least-squares method by a numerical simulation.
Fuzzy direct adaptive sliding mode control design for a class of interconnected large-scale nonlinear systems with unknown functions has been resolved. It makes use of the fuzzy control method via fuzzy logic approxim...
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Fuzzy direct adaptive sliding mode control design for a class of interconnected large-scale nonlinear systems with unknown functions has been resolved. It makes use of the fuzzy control method via fuzzy logic approximation with fuzzy sliding mode control to approximate the ideal controller synthesised. Fuzzy sliding mode control is introduced to attenuate the fuzzy approximation errors. The (sub)system parameters are being regulated on-line by adaptive laws and stabilised by virtue of Lyapunov's second method applied.
THE Lebanese wireless device explosion incident has drawn widespread attention,involving devices such as pagers,walkie-talkies,and other common devices[1].This event has revealed and highlighted the security vulnerabi...
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THE Lebanese wireless device explosion incident has drawn widespread attention,involving devices such as pagers,walkie-talkies,and other common devices[1].This event has revealed and highlighted the security vulnerabilities in global supply chains from raw material manufacturing and distribution to the usage of devices and equipment,signaling the onset of a new wave of"supply chain warfare"[2].
The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the fi...
The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the filter is based on the switched capacitor technique. In circuits of this type, one of main challenges is an efficient implementation of filter coefficients, which result from several factors described in this work. When implementing such filters as programmable circuits, the values of their coefficients have to be limited to a selected range, i.e. a given resolution in bits. In the implemented prototype filter, the filter coefficients are represented by 6 bits in sign-magnitude notation, so they can take 63 different values only. In such filters, it is not possible to directly implement any frequency response of the filter. Each time, it is necessary to properly round the theoretical values of the coefficients so that they fit into the available range of discrete values resulting from the implementation. The authors of the work designed an algorithm that allows such matching. The paper also presents results of measurements of the prototype chip.
The paper deals with the parameter identification of nonlinear dynamic systems using three-block cascade models with static input and dynamic output nonlinearities. Multiple application of a decomposition technique pr...
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ISBN:
(纸本)9781479909261
The paper deals with the parameter identification of nonlinear dynamic systems using three-block cascade models with static input and dynamic output nonlinearities. Multiple application of a decomposition technique provides an output equation for the corresponding nonlinear model description that is linear in parameters but includes more internal variables. An iterative technique allows estimation of all the model parameters and all the immeasurable internal variables based on measured input/output data. An illustrative example is included.
This paper investigate Zero Movement Point (ZPM) dynamic control of walking robots and develop an open architecture of real time control multiprocessor systems, in view of obtaining new capabilities for walking robots...
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This paper proposes an approach to a robust PI controller design for real uncertain Coupled-Tank process in time domain. Only the first independent tank is considered (single-input single-output system). Polytopic mod...
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ISBN:
(纸本)9781479909261
This paper proposes an approach to a robust PI controller design for real uncertain Coupled-Tank process in time domain. Only the first independent tank is considered (single-input single-output system). Polytopic model of uncertain system is considered as a plant model to be controlled. Stability and performance of the closed loop system is determined through the LMI region, where the closed loop poles of whole uncertainty domain are placed. A robust stability condition based on the parameter-dependent Lyapunov function (PDLF) is used.
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