A novel robust tracking control technique for time-delay systems with uncertain time-delays based on fuzzy T-S is presented. Fuzzy T-S model with parametric uncertainties is employed to represent the uncertain time-de...
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The reliability of AFM based nanomanipulation is one of the prerequisites for nano fabricating, thus uncertainties of the target nano-particle position need to be controlled within a pointed limits, which lead to two ...
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This paper presents part of material concerning decentralized control, taught in graduate course control of Complex Systems. We present some basic aspects of decentralized control design concerning stability and perfo...
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This paper presents part of material concerning decentralized control, taught in graduate course control of Complex Systems. We present some basic aspects of decentralized control design concerning stability and performance and illustrate them on a case study: virtual model of a quadruple tank process. control structure selection based on performance relative gain array (PRGA, Hovd, Skogestad, 1992) is used and its ability to evaluate the achievable performance is discussed. Robust stability condition for decentralized control is considered, which provides the upper level on subsystems, thus limiting the performance.
This paper is concerned with decentralized control design for uncertain linear systems; the main aim is to reduce computational complexity and/or problem size. Two approaches to robust decentralized control are studie...
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This paper is concerned with decentralized control design for uncertain linear systems; the main aim is to reduce computational complexity and/or problem size. Two approaches to robust decentralized control are studied and compared. First approach is based on the structured (decentralized) controller design for the whole system model. The novel robust stability condition in the form appropriate for convexification is developed and the respective LMI based design procedure is proposed. Second approach is based on subsystems robust controllers, where the interaction bounds are considered in local controller design. The decentralized control problem then reduces to a solution of robust control problems of subsystems'size. Both approaches has been tested on examples, one of them is presented in the paper.
PROFIBUS is a very complex protocol created in 3 layers of the reference communication model. The paper shows experimental way to explain the behaviour of devices on bus under normal traffic and diagnostic events. The...
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PROFIBUS is a very complex protocol created in 3 layers of the reference communication model. The paper shows experimental way to explain the behaviour of devices on bus under normal traffic and diagnostic events. The paper deals with two communication experiments performed on the same devices on the bus. For measurements on PROFIBUS DP physical layer the professional tester was used. It provides an overview of the signal conditions on the bus and detects the signal quality of each device on the bus. A universal tool for PROFIBUS protocol analysis can perform online bus traffic monitoring. It is able to detect and analyse the PROFIBUS frames for education and diagnosis purposes.
An innovated investigation of the control problem for nonlinear discrete-time plant systems via Takagi-Sugeno fuzzy model was carried out. Firstly, nonlinear dynamic plants are represented by such a fuzzy model, and t...
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A mathematical model of blood pressure regulation in rats is presented. The three major regulatory systems - sympathetic nervous system, renin-angiotensin-aldosterone system and L-Arginine/nitric oxide system are cons...
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The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal sw...
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The paper describes results obtained in the development of adaptive fuzzy-neural navigation subsystem for mobile legged robot. In order to keep the motion sufficiently smooth, free of sharp turnings and transversal swings when moving between closely located obstacles, fuzzy rules are updated on-line. To this end, the fuzzy rules are expressed through a layered feed-forward neural network and parameters are updated on line in two steps--the rough and fine updating. That is followed by the description of the learning fault diagnosis using binary neural network based on the Carpenter and Grossbergs＇ adaptive resonance theory.
The Mono Axial Vehicle (MAV) mobile robot platform is two wheel chassis with ability to change of the position of the center of gravity. Our mathematical model brings a new approach to modelling of these types of vehi...
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The Mono Axial Vehicle (MAV) mobile robot platform is two wheel chassis with ability to change of the position of the center of gravity. Our mathematical model brings a new approach to modelling of these types of vehicles. We developed one generalized mathematical model with generalized distance of the center of mass of the MAV. Thanks to this approach we are able to make controller synthesis much easier than before. We also deal with robustness of this controller and observer for the generalized distance of the center of mass of the MAV.
The paper deals with a problem of modeling of an unknown environment by mobile robot control system. The robot is equipped with sensory system constructed for measuring distances to obstacles in the surrounding enviro...
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The paper deals with a problem of modeling of an unknown environment by mobile robot control system. The robot is equipped with sensory system constructed for measuring distances to obstacles in the surrounding environment. The range data is used to compute grid a based model of the environment utilized for navigation tasks. The contribution accentuates the proposal of appropriate sensor models for the range finders. The models are designed on the basis of the sensor identification procedures and they are used to interpret distance measurements by sensory fusion algorithms. Experimental examples of occupancy grids built from real data recorded in the environment are presented.
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