Identification of dynamic friction is precursory to the friction compensation in the motion control systems. This paper discusses and proves experimentally the FRF based identification of dynamic friction described by...
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In this paper, it is demonstrated that many position control laws developed for rigid joint robots can also be used for flexible joint robots after some modifications. The main assumptions are smoothness of the contro...
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The magnetic shape memory (MSM) alloys are well-promising for the controlled magnetic field-induced motion. This paper describes the observer-based inverse hysteresis control of a prototypic MSM based actuating elemen...
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A recently introduced new class of multi-agent transportation planning is considered. Several agents have to cooperate in order to transfer a passive agent from its initial configuration to a goal configuration. Docki...
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The paper deals with a novel application of the wireless data communication for a continual control of the distributed manipulation systems. The solution is intended for industrial robotic plants. A considered way of ...
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Human Robot Interaction (HRI) is an active field of integrating and embedding different techniques in artificial intelligence. This paper describes my research topic on: control of Robotic Systems for Safe Interaction...
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ISBN:
(纸本)9781577355120
Human Robot Interaction (HRI) is an active field of integrating and embedding different techniques in artificial intelligence. This paper describes my research topic on: control of Robotic Systems for Safe Interaction with Human Operators. It consists of online motion generation for robotic manipulators interactingwith dynamic obstacles and humans using a moving horizon scheme, modeling and long term prediction of human motion using probabilistic models and reachability analysis, and development of an HRI demonstration platform.
Lie derivatives are widely used in mathematics and physics. They are usually computed symbolically using computer algebra software. This symbolic computation might fail for very complicated expressions. Moreover, symb...
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Lie derivatives are widely used in mathematics and physics. They are usually computed symbolically using computer algebra software. This symbolic computation might fail for very complicated expressions. Moreover, symbolic differentiation becomesmore difficult if the function to be differentiated is not described explicitly as a function but by an algorithm. This is a situation occuring quite often in modeling languages. In this contribution we present an approach for calculating Lie derivatives based on algorithmic differentiation using the software package ADOL-C avoiding the drawbacks of symbolic differentiation.
The magnetic shape memory (MSM) alloys are interesting candidates among active materials used in the actuators, particularly due to a macroscopic relationship between the applied magnetic field and the resulting MSM s...
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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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ISBN:
(纸本)9781467322768
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 then the overall fuzzy model of nonlinear plant is transformed into a class of uncertain linear systems. Thus the stabilization problem of nonlinear plants was mapped into equivalent robust stabilization problem of uncertain linear systems with mismatched uncertainties. The robust stabilization of such uncertain systems is achieved by applying discrete-time sliding mode control approach. The stable sliding surface is designed via linear matrix inequalities to reduce the influence of mismatched uncertainties while also a sufficient condition for its existence was derived too. The synthesis design of the SMC guarantees system robust stabilization in closed loop. Chattering around the sliding surface in sliding mode control is also considerably reduced by this design. This novel technique was applied to the trailer-truck benchmark example and the essential simulation results are given to demonstrate feasibility and performance effectiveness of the proposed method.
A fundamental quantity of the solution of an optimal control problem is the value function, i.e., the optimal cost-to-go function. In the general case, the function is not known exactly, but need to be approximated nu...
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