This work studies the issue of optimal output transition control for nonlinear flat differential systems with constraints. Of special interest here is to generate a state reference trajectory and a feedforward input c...
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This work studies the issue of optimal output transition control for nonlinear flat differential systems with constraints. Of special interest here is to generate a state reference trajectory and a feedforward input command, which are essential for the implementation of exact feedforward linearization. Our approach is to transfer the transition problem in the real output space into a trajectory planning issue in the flat output space. The new aspect of this idea in our approach is to involve the generation of a noncausal trajectory for the flat output. This novelty turns out to be considerably effective for the performance improvement. It is also remarkable that our methodology guarantees the planned trajectories feasible for all nonlocal transitions. This is a new contribution to noncausal output transition control of nonlinear systems. The proposed method is illustrated on a benchmark system, the ICSTR, although its applicability could be much more wider.
Incidence prediction models for urban population have not yielded consistent or highly accurate results. The complex nature of the interrelationship between "environmental factors and incidence" has many non...
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The paper introduces CAHDL, the Computer Architecture and Hardware Description Language. CAHDL is aimed to specify processor instructions and computer hardware formally. Although CAHDL supports RTL modeling to some ex...
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ISBN:
(纸本)9781479981748
The paper introduces CAHDL, the Computer Architecture and Hardware Description Language. CAHDL is aimed to specify processor instructions and computer hardware formally. Although CAHDL supports RTL modeling to some extent, it is does not describe digital circuits. CAHDL is designed first to specify CPU and hardware behavior, rather than their structure. CAHDL can be applied in simulators, compilers, disassemblers, testers and other programs requiring specification of computer architecture. In the end of the paper we observe how CAHDL is applied in computer simulation. The paper brings some CAHDL syntactic constructions as examples and explains their semantics. Parsing methods are also briefly reviewed.
A novel deployment strategy for monitors is presented in this paper. Firstly, the real road networks are modeled though graph-theoretic analysis with limited information like the topology of the road networks and the ...
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Modern detectors of cosmic gamma-rays are a special type of imaging telescopes (air Cherenkov telescopes) supplied with cameras with a relatively large number of photomultiplier-based pixels. For example, the camera o...
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In this communication we discuss a few topics related to modern experimental data on physics of light pseudoscalar mesons. It includes the contribution of the pseudoscalar mesons to the muon anomalous magnetic moment ...
The German-Russian Astroparticle Data Life Cycle Initiative is an international project launched in 2018. The Initiative aims to develop technologies that provide a unified approach to data management, as well as to d...
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Reversible integer transforms are or great importance for lossless compression algorithms. To perform reversible decorrelation of color channels we propose an algorithm for calculating parameters of a reversible integ...
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Deriving accurate and time efficient models for soft robots has proven to be a difficult task. This is mainly due to the behaviour of the soft materials and the interaction with other parts of the robot, resulting in ...
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ISBN:
(数字)9781665467612
ISBN:
(纸本)9781665467629
Deriving accurate and time efficient models for soft robots has proven to be a difficult task. This is mainly due to the behaviour of the soft materials and the interaction with other parts of the robot, resulting in complicated models with many states that require complex sensor *** robots such as the Bionic Soft Arm (BSA) are subject to uncertainties. The resulting mismatch between plant and model can be viewed as a disturbance. Disturbance observers significantly improve the control performance of the model-based controllers. However, they assume an underlying model of the disturbance that is usually unknown. To address this problem, we propose a novel Data-Driven Predictive Disturbance Observer (DPDO), which predicts the future disturbance based on past measurements that are updated online and, thereby, enables the model-based controller to achieve zero control error. The approach is first tested in simulation, examining the influence of noise, time delays and typical model uncertainties for the BSA. Afterwards, the algorithm is applied to the real system, demonstrating its practicability.
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