This paper represents one of the results of the second Herbertov Workshop in 1992 on ''Research Issues in Automotive Integrated Chassis Control systems''. It was decided to bring together engineers who...
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(纸本)9026513801
This paper represents one of the results of the second Herbertov Workshop in 1992 on ''Research Issues in Automotive Integrated Chassis Control systems''. It was decided to bring together engineers who are actively involved in current software developments to report on the progress in integrated system analysis and design software for controlled vehicles. Therefore, after mentioning some of the principal requirements for such software, the state-of-the-art is summarized. Promising recent research and software developments are described and the application of some of these concepts to an actively controlled vehicle with preview is discussed. Throughout the article the ideas of concurrent analysis and design strategies are emphasized.
Advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however t...
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Advances in visual servoing theory and practice now make it possible to accurately and robustly position a robot manipulator relative to a target. Both the vision and control algorithms are extremely simple, however they must be initialized on task-relevant features in order to be applied. Consequently, they are particularly well-suited to teleroboticssystems where an operator can initialize the system but round-trip delay prohibits direct operator feedback during motion. This paper describes the basic theory behind feature-based visual servoing, and discusses the issues involved in integrating visual servoing into the ROTEX space teleoperation system.< >
A controller designed with fuzzy logic can nonlinearly map input error states to output control command actions while conventional state space methods are limited to a planar correlations between the input error, the ...
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A controller designed with fuzzy logic can nonlinearly map input error states to output control command actions while conventional state space methods are limited to a planar correlations between the input error, the output command and the previous value of the output command. This paper presents an example application where it is desirable to use this attribute of fuzzy logic. A pitch plane autopilot is designed for a supersonic missile simultaneously using aft fin and forward propulsive control. An ambiguously stated performance index involving response and divert performance and energy usage is achieved and demonstrated to require a nonlinear correlation between the input and output of the controller.< >
This paper deals with the generalization of the concept of "sliding mode control" for arbitrary dynamic systems governed by a shift operator. This class embraces continuous- and discrete-time, finite- and in...
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This paper deals with the generalization of the concept of "sliding mode control" for arbitrary dynamic systems governed by a shift operator. This class embraces continuous- and discrete-time, finite- and infinite-dimensional systems, and systems described by difference-differential equations. The new concept rests upon the singularity property of a shift operator in systems with sliding modes. The design procedures are presented for different classes of dynamic systems.< >
The presentation deals with the basic concepts, design and application aspects of sliding mode control. The major attention is paid to the chattering problem. It is shown that chattering caused by unmodelled dynamics ...
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The presentation deals with the basic concepts, design and application aspects of sliding mode control. The major attention is paid to the chattering problem. It is shown that chattering caused by unmodelled dynamics may be eliminated in systems with asymptotic observers. The chattering suppression methods are illustrated for sliding mode control design, intended for electric drives, based on reduced order models. The concept "discrete-time sliding mode" is developed for systems with digital controllers to design systems with motions free of chattering.< >
In this paper a supervised learning approach using a multilayer neural network for learning the position in 3-D space and the radius of a generic sphere is introduced. Learning is based on laser range finder measureme...
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The problem of grasping a generic sphere is addressed. A supervised learning approach using a multilayer neural network for learning the position in 3D space and the radius of the sphere is introduced. Learning is bas...
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The problem of grasping a generic sphere is addressed. A supervised learning approach using a multilayer neural network for learning the position in 3D space and the radius of the sphere is introduced. Learning is based on laser range finder measurements of the surface of spheres of known radii at known positions. The problem is first formulated. An analytical solution for a set of four laser range finders and a solution based on supervised learning are then given and compared. Experimental results showing the feasibility and novelty of the approach are reported.< >
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