In conventional cross-coupled controller design, the method usually ignored the inherent characteristic of time-varying parameters and model uncertainties in system. In this paper, a cross-coupled controller (CCC) usi...
详细信息
In conventional cross-coupled controller design, the method usually ignored the inherent characteristic of time-varying parameters and model uncertainties in system. In this paper, a cross-coupled controller (CCC) using an H infinity control scheme has been proposed to reduce the contouring error for an X-Y table. Furthermore, the proposed CCC design, which is a typical Multi-Input Multi-Output (MIMO) system-with linear time varying (LTV) characteristics, has been verified as being internally stable. The simulations are carried on Matlab simulink to verify the proposed method, and the results showed that the proposed method can reduce the contouring error significantly compared with the conventional one.
Many industrial plants exhibit nontrivial interactions of continuous-valued and discrete-valued controls and states. These interactions can be studied using the formalism of hybrid systems. Hybrid systems are now a ho...
详细信息
Many industrial plants exhibit nontrivial interactions of continuous-valued and discrete-valued controls and states. These interactions can be studied using the formalism of hybrid systems. Hybrid systems are now a hot research topic in system and control theory. However, despite considerable application potential of hybrid systems theory, the control of hybrid systems is still mostly a purely theoretical topic limited to simulation experiments at best. This paper proposes a more practical alternative. In the first part, it describes a laboratory scale plant that is designed in such a way that it exhibits most of the hybrid phenomena typical of process control applications. Further, it focuses on potential control problems that arise from the interactions of continuous and discrete valued dynamics and controls. These problems are elucidated using detailed proposals of control experiments that can be performed with this plant.
This paper presents a method for optimally generating stable bipedal walking gaits, based on a truncated Fourier series formulation with coefficients tuned by genetic algorithm. It also provides a way to adjust the st...
详细信息
This paper presents a method for optimally generating stable bipedal walking gaits, based on a truncated Fourier series formulation with coefficients tuned by genetic algorithm. It also provides a way to adjust the stride-frequency, step-length or walking pattern in real-time. The proposed approach to gait synthesis is not limited by the robot kinematic structure and can be used to satisfy various motion assumptions. It is also easy to generate optimal gaits on terrains of different slopes or on stairs under different motion requirements. Dynamic simulation results show the validity and robustness of the approach. The gaits generated resulted in human-like motions optimized for stability, even walking speed and lower leg-strike velocity of the swing foot
A semi active suspension system for a light commercial vehicle, based on four shock absorbers with continuously adjustable damping characteristics is treated in this paper. Quarter car, half car and full car simulatio...
详细信息
A semi active suspension system for a light commercial vehicle, based on four shock absorbers with continuously adjustable damping characteristics is treated in this paper. Quarter car, half car and full car simulation models are developed. These models are used to develop and test the low level and high level suspension controllers. Several different low level control algorithms like: skyhook, groundhook and hybrid control were considered. The higher level supervisory controller coordinates the operation of the four low level suspension controllers during acceleration/braking, entering curves or evasive maneuvers. The experimental vehicle that is used to test the developed controllers is also presented along with experimental results.
In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. Robust controls are prop...
详细信息
In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. Robust controls are proposed based on a simplified dynamic model, the defined reference signals and the mixed tracking errors. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Constraint force control is developed, which does not utilize force feedback control but is based on the passivity of hybrid joint. Experiment results validate not only the states of the system asymptotically converge to the desired trajectory but also the constraint force asymptotically converges to the desired force
control systems design has traditionally been treated separately from the design of its software and hardware implementation. The increasing use of embedded control in for example distributed, safety critical and mass...
详细信息
control systems design has traditionally been treated separately from the design of its software and hardware implementation. The increasing use of embedded control in for example distributed, safety critical and mass-produced systems has caused an increasing need for the simultaneous consideration of the control system and its implementation platform during development. To this end, there is a need for both theoretical contributions and supporting tools that assist designers in understanding and analyzing the intricate relationships between the qualities, such as control performance, robustness and cost, and design parameters related to control system and platform design. This paper explores issues in co-design. A number of representative tools are compared with the purposes of illustrating different approaches concerning the levels of abstraction, analysis vs. synthesis features, constraints addressed and usability features. A perspective to the co-design tools is also provided, where opportunities and challenges for future design environments are discussed.
Learning from data sets that contain very few instances of the positive class usually produces biased classifiers that have a higher predictive accuracy over the negative class than over the positive class (visually t...
详细信息
Learning from data sets that contain very few instances of the positive class usually produces biased classifiers that have a higher predictive accuracy over the negative class than over the positive class (visually the more important or interesting class). Based on v-SVM and its elicitation, the bounds of both the SV number and BSV number were proposed. Further, the bounds of both the SV rate and BSV rate were presented and attested. Then the bounds mentioned above were extended to positive class and negative class respectively. Finally, it was proved that the SV rate and BSV rate of positive class are higher than those of negative class and that the positive class yields poorer classification and predictive accuracy than the negative class does. Experimental study based on German credit and Heart disease data sets showed that the hypothesis is reasonable and the conclusions are correct.
The Internet-based hydraulic servo can control any plant interconnected with the node of Internet. Because of the protocol and architecture of Internet, the phenomena of delay, lose, duplicated, delivered out of order...
详细信息
ISBN:
(纸本)7506274027
The Internet-based hydraulic servo can control any plant interconnected with the node of Internet. Because of the protocol and architecture of Internet, the phenomena of delay, lose, duplicated, delivered out of order happen during the process of datagram transfer, which will affect the performance of the control system. If Internet delay becomes severe enough, the system will become unstable. Several topics about delay compensation presented in this paper. It has been proved by theory analysis and experiment that those topics are valid and practicable.
暂无评论