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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Jakub Możaryn Jan Klimaszewski Paweł Kołodziejczyk Dariusz Świeczkowski-Feiz Paweł Wawrzyński Institute of Automatic Control and Robotics Warsaw University of Technology Warszawa Institute of Control and Computation Engineering Warsaw University of Technology Warszawa

In this paper there is presented the design process and experimental verification of the quadruped robot wave gait. Mathematical model of a robot movement is a result of linking together derived leg movement equations with a scheme of their locomotion. The gait is designed and analysed based on two-step design procedure which consists of simulations using MSC Adams and Matlab environments and experimental verification using real quadruped robot.

关键词： Legged locomotion Robot kinematics Joints Stability criteria Trajectory

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Fault accommodation of the two rotor aero-dynamical system using the state space neural networks based model predictive control

Fault accommodation of the two rotor aero-dynamical system u...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Andrzej Czajkowski Krzysztof Patan Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra

This paper deals with the application of state space neural network model to design a model predictive control for a laboratory stand of the Two Rotor Aero-dynamical system. The work describes approach based on the so-called instantaneous linearisation of the already trained nonlinear state space model of the system. With obtained linear model it is possible to derive a vector of future controls based on the minimisation of the cost function within one optimisation window. Repeating procedure in each step of simulation and applying the obtained change of the control signal allows for efficiently control of the nonlinear systems in case of faults. All data used in experiments is obtain from the real-time laboratory stand which is working in Matlab/Simulink RTW environment.

关键词： Aerospace electronics Mathematical model Rotors Predictive control Vectors computational modeling Real-time systems

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SSNN toolbox for non-linear system identification

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Journal of Physics: Conference Series 2015年第1期659卷

作者： Marcel Luzar Andrzej Czajkowski Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland

The aim of this paper is to develop and design a State Space Neural Network toolbox for a non-linear system identification with an artificial state-space neural networks, which can be used in a model-based robust fault diagnosis and control. Such toolbox is implemented in the MATLAB environment and it uses some of its predefined functions. It is designed in the way that any non-linear multi-input multi-output system is identified and represented in the classical state-space form. The novelty of the proposed approach is that the final result of the identification process is the state, input and output matrices, not only the neural network parameters. Moreover, the toolbox is equipped with the graphical user interface, which makes it useful for the users not familiar with the neural networks theory.

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Design of sensor and actuator multi model fault detection and isolation system using state space neural networks

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Journal of Physics: Conference Series 2015年第1期659卷

作者： Andrzej Czajkowski Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland

This paper deals with the application of state space neural network model to design a Fault Detection and Isolation diagnostic system. The work describes approach based on multimodel solution where the SIMO process is decomposed into simple models (SISO and MISO). With such models it is possible to generate different residual signals which later can be evaluated with simple thresholding method into diagnostic signals. Further, such diagnostic signals with the application of Binary Diagnostic Table (BDT) can be used to fault isolation. All data used in experiments is obtain from the simulator of the real-time laboratory stand of Modular Servo under Matlab/Simulink environment.

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An H∞ approach to fault estimation of non-linear systems: Application to one-link manipulator

An H∞ approach to fault estimation of non-linear systems: A...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Marcin Witczak Mariusz Buciakowski Marcin Mrugalski Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland

The paper is focused on the problem of robust fault estimation of non-linear discrete-time systems. The general unknown input observer scheme and the H ∞ framework are applied to design a robust fault estimation methodology. The main advantage of the proposed approach is its simplicity resulting from the boiling down of designing methodology to solving a set of linear matrix inequalities, which can be efficiently done by the application of modern computational packages. The resulting approach guaranties that a prescribed disturbance attenuation level is achieved with respect to the fault estimation error while guaranteeing the convergence of the observer with a possibly large decay rate of the state estimation error. The final part of the paper presents an illustrative example regarding the application of the proposed approach to faults estimation of the one-link manipulator.

关键词： Observers Attenuation Robustness Estimation error Convergence

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Particle systems-based riverbed modelling over a terrain with hardness layer 22

Particle systems-based riverbed modelling over a terrain wit...

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22nd International Conference in Central Europe on Computer Graphics, Visualization and Computer Vision, WSCG 2014 - in co-operation with EUROGRAPHICS Association

作者： Warszawski, Korneliusz K. Nikiel, Slawomir S. Faculty of Electrical Engineering Computer Science and Telecommunications University of Zielona Gora ul. Szafrana 2 Zielona Gora65-246 Poland Institute of Control and Computation Engineering University of Zielona Gora ul. Szafrana 2 Zielona Gora65-246 Poland

ISBN: (纸本)9788086943725

This paper proposes a method that applies particle systems to simulate results of hydrological erosion caused by spout, like riverbeds. The terrain model is divided into two layers. The first one stores heights data (typical heightfield) while the second is reserved for hardness data. This data structure enables fast and simple implementation of terrain deformation. We present the construction of a particle system terrain modifier, its main attributes and how they influence the final product of the modelling process. The proposed technique behaves like in classical particle systems. It uses emitter as element that control starting location, direction and quantity of particles in a given simulation environment. We choose parameters for particles such as: the current position, directional angle, linear velocity, rotation angle, rotation velocity and the size which define its zone of influence for landscape modification processes. Each emitted particle is moving (rolling) over the surface of terrain structure making deformations at its current position. Scale of the modifications depends on particle parameters and landscape structure susceptibility for modifications process under the particle influence zone. The proposed method is not intended to simulate physically erosion process, but focuses on its results for exploitation in virtual environments in real-time simulations and rapid prototyping of virtual terrains.

关键词： Hardness

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Robust control with Disturbance Estimation Using Echo State Networks for the Twin Rotor Aero-Dynamical System Application

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IFAC Proceedings Volumes 2014年第3期47卷 11305-11310页

作者： Andrzej Czajkowski Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna 50 65-246 Zielona Góra Poland

This paper deals with the application of Echo State Network (ESN) model to robust control of the Twin Rotor Aero-Dynamical System (TRAS) through estimation and cancellation of disturbances. The work describes the modelling process of the plant and control scenarios in which the system is under influence of the unknown disturbances. In such control scenarios the ESN model is used to estimate the disturbances and calculate the input correction in such way to improve the control quality. All data used in experiments are collected from the TRAS through the Matlab/Simulink environment.

关键词： Echo State Network Neural Network Disturbance Estimation Twin Rotor Aero-Dynamical control Robustness

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2D systems based iterative learning control design for multiple-input multiple-output systems

2D systems based iterative learning control design for multi...

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International Conference on Methods and Models in Automation and Robotics (MMAR)

作者： Lukasz Hladowski Thanh Van Dinh Krzysztof Galkowski Eric Rogers Chris T Freeman Institute of Control and Computation Engineering University of Zielona Gora Poland Electronics and Computer Science University of Southampton UK

Iterative learning control can be applied to systems that repeat the same task over a finite duration with resetting to the starting location once each one is complete. The novel feature is the use of information from previous executions of the task in order to update the control signal applied during the next one and thereby sequentially improve performance. Linear iterative learning control laws can be designed using 2D systems theory and recently experimental validation of such designs for single-input single-output examples has been reported. This paper gives the first results on extending this approach to systems with more than one input and output.

关键词： MIMO Vectors Stability analysis Asymptotic stability State-space methods Robots Convergence

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A LMI-based strategy for ℋ∞ fault estimation of non-linear systems: Application to the multi-tank system

A LMI-based strategy for ℋ∞ fault estimation of non-linear...

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European control Conference (ECC)

作者： Marcin Witczak Józef Korbicz Marcel Luzar Institute of Control and Computation Engineering University of Zielona Góra ul. Podgórna Góra Poland

The paper is concerned with the task of robust fault estimation of non-linear discrete-time systems. The general unknown input observer strategy and the ℋ ∞ framework are utilised to design a robust fault estimation scheme. The resulting design procedure guaranties that a prescribed disturbance attenuation level is achieved with respect to the fault estimation error while guaranteeing the convergence of the observer. The core advantage of the proposed approach is characterized by its simplicity. Indeed, it is shown that it reduces to solving a set of linear matrix inequalities, which can be efficiently solved with modern computational packages. The final part of the paper presents an illustrative example regarding the multi-tank system which exhibits the performance of the proposed approach.

关键词： Observers Fault diagnosis Robustness Attenuation Estimation error Linear matrix inequalities

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Design of robust predictive fault-tolerant control for Takagi-Sugeno fuzzy systems: Application to the twin-rotor system

Design of robust predictive fault-tolerant control for Takag...

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IEEE International Symposium on Intelligent control (ISIC)

作者： Piotr Witczak Marcin Witczak Krzysztof Patan Ralf Stetter Institute of Control and Computation Engineering University of Zielona Góra Poland Faculty Mechanical Engineering University of Applied Sciences Ravensburg-Weingarten Germany

The paper deals with the problem of robust predictive fault-tolerant control for non-linear discrete-time systems described by the Takagi-Sugeno models as well as application to the so-called Twin-Rotor system. Approach proposed in this paper is in fact series of three, i.e. it starts from fault estimation, which is subsequently compensated with a robust controller. While robust controller is designed without taking into account the input constraints, compensation feasibility is proven by introducing invariant set of states, which takes into account the input constraints. If the current state do not belong to a robust invariant set, appropriate predictive control actions are performed. This appealing phenomenon makes it possible to enlarge the domain of attraction, making the proposed approach an efficient solution for the fault-tolerant control. The final part of the paper shows an illustrative example of proposed approach to the Twin-Rotor system.

关键词： Robustness Fault tolerance Fault tolerant systems Estimation Actuators Vectors Optimization

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