The role of structural invariants in the solutions of classical linear control problems when regular state feedback is used is enhanced. The structural modification that arise when these problems are extended to the c...
详细信息
On the basis of Lagrangian mechanics uniform structures made of simple and standardized procedures and closed form analytical formulas were previously used to develop an adaptive control for SCARA robots in dynamic in...
详细信息
On the basis of Lagrangian mechanics uniform structures made of simple and standardized procedures and closed form analytical formulas were previously used to develop an adaptive control for SCARA robots in dynamic interaction with an unmodeled environment. This standardized form contains well defined free parameters by tuning of which the complex effect of the behavior of the controlled system as well as that of the external interactions can be 'imperfectly' modeled and learned. These structures, free parameters and procedures play exactly the same role as that of the traditional artificial neural networks (ANNs) or fuzzy controllers: the structures and the procedures are fit for a wide class of problems more or less similar to each other, while parameter tuning corresponds to learning the concrete properties of a particular element of this wider set. While in the case of the standard soft computing methods there is no reliable a priori information on the number of the concrete elements in the uniform structures, the proposed method has definite indication for this by using the Lie parameters of the orthogonal group. In the initial stage of learning the proposed methods also use a standardized ancillary procedure, a very simple form of regression analysis based controller compensating the remnant errors whenever appropriate. In this paper certain details of the uniform control and parameter-tuning are discussed on the basis of simulation results. It can be concluded that the approach is promising therefore experimental investigations are under preparation.
A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Stu...
A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Students, teachers, and researchers can all benefit from a deeper understanding of the relationships between these two approaches.
A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Stu...
详细信息
A synthesis of the two major approaches to linear control system design, namely the state-space and the transfer-function ones, can be achieved by use of dynamics assignment, a convenient reference design problem. Students, teachers, and researchers can all benefit from a deeper understanding of the relationships between these two approaches.
Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The ...
详细信息
Discrete-time symmetric polynomial equations with complex coefficients are studied in the scalar and matrix case. New theoretical results are derived and several resolution algorithms ares proposed and evaluated. The algorithms are implemented in the Polynomial Toolbox for Matlab.
The linear equation AX + BY = C is studied, where A , B , and C are given polynomial matrices such that A −1 B is a strictly proper rational matrix. All polynomial matrix solution pairs X , Y such that YX −1 is a prop...
详细信息
The linear equation AX + BY = C is studied, where A , B , and C are given polynomial matrices such that A −1 B is a strictly proper rational matrix. All polynomial matrix solution pairs X , Y such that YX −1 is a proper rational matrix are parametrized. The study is motivated by the polo placement techniques in the design of linear control systems.
This paper introduces the real-time digital identification of nonlinear dynamical processes whose structure and parameters are not known exactly. On the basis of recorded input-output pairs of SISO measurements incorp...
详细信息
This paper introduces the real-time digital identification of nonlinear dynamical processes whose structure and parameters are not known exactly. On the basis of recorded input-output pairs of SISO measurements incorporating an additive output noise of stochastic nature the process is linearized and modelled by a second-order lumped parameters representation. The instrumental variable techniques are used as estimators for such processes, and recursive approximations are used to make the IV estimators computationally efficient. The identification performances are presented by simulating two realistic systems, which represent the human blood glucose metabolism, using a notebook computer.
Proportional and Derivative (PD) feedback schemes are often used in the anaiysis of linear control problems, when for instance no solution exists with pure Proportional (even dynamic) feedback. The classes of compensa...
详细信息
Proportional and Derivative (PD) feedback schemes are often used in the anaiysis of linear control problems, when for instance no solution exists with pure Proportional (even dynamic) feedback. The classes of compensators that are realizable by using regular PD either state or output feedback are characterized, both for strictly proper systems and, more generally, for descriptor systems.
The growth modelling of the bacterium Photorhabdus luminescens is proposed. Cultivation in liquid culture of the bacterium used in biological pest control is strongly influenced by the control inputs pH value and subs...
详细信息
The growth modelling of the bacterium Photorhabdus luminescens is proposed. Cultivation in liquid culture of the bacterium used in biological pest control is strongly influenced by the control inputs pH value and substrate concentration. Two modelling strategies-formal kinetic approach and model based gas analysis-are presented to mathematically describe the bacterial growth as a function of the substrate concentration. The biomass concentration and the substrate consumption can be estimated by using a combination of these approaches.
作者：
Zoran VukićEdin OmerdićLjubomir KuljacaUniversity of Zagreb
Faculty of Electrical Engineering and Computing Department of Control and Computer Engineering in Automation Unska 3 HR-10000 Zagreb Croatia University of Tuzla
Faculty of Electrical and Mechanical Engineering Department of Control Engineering in Automation Franjevačka 2 BH-75000 Tuzla Bosnia and Herzegovina
Improved 2-input fuzzy autopilot for ship course control and 3-input fuzzy autopilot for track-keeping are proposed. Nonlinear model of a ship and a steering subsystem is used. The 3-input fuzzy autopilot uses heading...
详细信息
Improved 2-input fuzzy autopilot for ship course control and 3-input fuzzy autopilot for track-keeping are proposed. Nonlinear model of a ship and a steering subsystem is used. The 3-input fuzzy autopilot uses heading signal, yaw rate signal and lateral offset from the nominal track to produce a command rudder angle. Input variable fuzzyfication, fuzzy associative memory rules and output set defuzzyfication are described. Obtaining of FAM rules for 3-input fuzzy is described. Dynamical behavior of 2 and 3-input fuzzy autopilot is compared. The influence of wave disturbance, sea current and external disturbance from a passing ship on track-keeping performance was analyzed.
暂无评论