This paper presents a model and controller design for a pneumatic actuator system. Three control strategies of position, force and compliance control are proposed. From the compliance control, stiffness characteristic...
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This paper presents a model and controller design for a pneumatic actuator system. Three control strategies of position, force and compliance control are proposed. From the compliance control, stiffness characteristic of the pneumatic actuator will be presented in real-time system. Model of the pneumatic actuator system (transfer function) is obtained from System Identification (SI) method. Next, Predictive Functional control (PFC) with observer design is selected as the control strategy for the pneumatic system. Performance assessment of the controller is performed in MATLAB and validated through real-time experiment. Result shows that the PFC controller is adapted to the system and able to control successfully in both simulation and experiment.
In order to improve the quality of power supplied by medium and small-sized diesel generator which was applied an islanded load, a digital electronic speed control system was designed in this paper. For adapting the b...
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For reducing the fuel consumption and improving the quality of power supplied by diesel generator, a digital electronic speed control system was designed in this paper. In order to adapt the broad load characteristics...
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This paper presents an operational approach for determining satellite attitude from carrier phase GPS (Global Positioning System) measurements. A conventional recursive least square (RLS) estimator was implemented wit...
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A generalized nonlinear classification model based on cross-oriented Choquet integrals is presented. A couple of Choquet integrals are used in this model to achieve the classification boundaries which can classify dat...
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This paper proposes an online training method for the parameters of a fuzzy neural network (FNN) using sliding mode systems theory with an adaptive learning rate. The implemented control structure consists of a conven...
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Abstract This contribution presents a new approach of estimating the joint torques for an active orthosis. The new approach combines inverse dynamics and measured ground reaction forces. The joint torques can easily b...
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Abstract This contribution presents a new approach of estimating the joint torques for an active orthosis. The new approach combines inverse dynamics and measured ground reaction forces. The joint torques can easily be computed from the ground reaction forces, but the measurement is usually flawed. An obsererver is employed to estimate the disturbance of the measurements and restore the original joint torques. A model of the human lower extremity is presented and additional seat forces are introduced to model the seat. Simulation results on the Sit-to-Stand movement illustrate the effectivity of the new approach.
Abstract For the implementation of modal control concepts for linear distributed-parameter systems knowledge of the modal coordinates is mandatory. Modal filters present an approach to extract these coordinates from a...
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Abstract For the implementation of modal control concepts for linear distributed-parameter systems knowledge of the modal coordinates is mandatory. Modal filters present an approach to extract these coordinates from a set of measurements. Using an array of sensors the design problem involves the choice of proper weighting coefficients and locations for the elements of the sensor array. In this contribution conditions on the sensor positions are derived using knowledge of the mode shapes to design modal filters that are exact for a maximal number of consecutive modes. The application of the given design process is illustrated by two examples.
Development of a cascade controller structure including adaptive backstepping for a nonlinear hydraulic-mechanical system is considered in this paper where a dynamic friction (LuGre) model is included to obtain the ne...
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We propose a geometrical approach for virtual camera rectification on uncalibrated single-lens stereovision using a biprism. This system is also called a virtual stereovision system, as the image captured can be divid...
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