作者：
B. FrankeP. LohnbergControl Laboratory
Department of Electrical Engineering and Mechatronics Research Centre Twente University of Twente Enschede Netherlands
This paper deals with consecutive (open-loop) identification and (closed-loop) control of a linear, time-invariant SISO process. The partition of a fixed total time between identification and control. is optimised acc...
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This paper deals with consecutive (open-loop) identification and (closed-loop) control of a linear, time-invariant SISO process. The partition of a fixed total time between identification and control. is optimised according to an LQ criterion. For a static gain process, an analytical expression for the optimal identification time as a function of the a-priori parameter mean and variance is derived. For an integrator process, the optimal identification time obtained from simulations is approximated by an analytical formula. Both procedures are applied on-line by replacing the a-priori statistics by their estimates. Finding an analytical expression for higher order processes appeared infeasible. Therefore, for a static gain process, at each sampling instant, the predicted cost for continuing identification is compared to the predicted cost for starting control This procedure is expected to be applicable for dynamic systems of high order.
A layered architecture was proposed for the command and control system of semi-autonomous space robots, and the proposal was validated by the demonstration of replacing an orbital replacement unit on a testbed for spa...
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A layered architecture was proposed for the command and control system of semi-autonomous space robots, and the proposal was validated by the demonstration of replacing an orbital replacement unit on a testbed for space robots. The command and control system consists of four layers: a task scheduling module, a macro-task module, a micro-task module, and an intelligent control module. The macro- and micro-task modules were implemented on top of Lisp and have a symbolic world model which is integrated with an online robot simulator developed upon a commercial robot simulator for industrial robots. The task decomposition and expansion from macro commands to micro commands was carried out dynamically by consulting the world model, and the impending collision between a manipulator and obstacles was detected by the online robot simulator. A small visual marker which can measure 6-DOF was designed, and a visual feedback system was developed with the visual marker.
This paper describes a globoidal-cam type gearing with roller-wheel composed of two lines of roller followers to obtain a no-backlash reduction gearing. A principal advantage of this system is the reduction of backlas...
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Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, an adaptive controller could be used. Then, if the operation point changes often,...
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Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, an adaptive controller could be used. Then, if the operation point changes often, a large number of parameters would have to be adapted over and over again. This prohibits application of conventional adaptive control, which is more suited for processes with slowly changing parameters. Furthermore, continuous adaptation is not always needed or desired. An extension of adaptive control is presented, in which for each operation point the process behaviour can be stored in a memory, retrieved from it and evaluated. These functions are coordinated by a "supervisor". This concept is referred to as supervisory control. It leads to an adaptive control structure which, after a learning phase, quickly adjusts the controller parameters based on retrieval of old information, without the need to fully relcam each time. This approach has been tested on an experimental set-up of a flexible beam, but it is directly applicable to processes in e.g. the (petro)chemical industry as well.
Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, an adaptive controller could be used. Then, if the operation point changes often,...
详细信息
Many processes operate only around a limited number of operation points. In order to have adequate control around each operation point, an adaptive controller could be used. Then, if the operation point changes often, a large number of parameters would have to be adapted over and over again. This prohibits application of conventional adaptive control, which is more suited for processes with slowly changing parameters. Furthermore, continuous adaptation is not always needed or desired. An extension of adaptive control is presented, in which for each operation point the process behaviour can be stored in a memory, retrieved from it and evaluated. These functions are coordinated by a “supervisor”. This concept is referred to as supervisory control. It leads to an adaptive control structure which, after a learning phase, quickly adjusts the controller parameters based on retrieval of old information, without the need to fully releam each time. This approach has been tested on an experimental set-up of a flexible beam, but it is directly applicable to processes in e.g. the (petro)chemical industry as well.
This book introduces the cutting-edge technology of micro/nano structure fabrication from precision machining, electrical discharge machining (EDM) and precision grinding and injection molding, the contents of the pre...
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ISBN:
(数字)9789819913381
ISBN:
(纸本)9789819913374;9789819913404
This book introduces the cutting-edge technology of micro/nano structure fabrication from precision machining, electrical discharge machining (EDM) and precision grinding and injection molding, the contents of the presented book includes but not limited to the machining process, cutting tool preparation, tool path generation, and surface evaluation. This book provides a variety of feasible fabrication methods and advanced manufacturing techniques for the precision fabrication of micro/nano-structures, especially for complex micro/nano-structures. Since the book focuses on the micro/nano-structure fabrication methods including hieratical micro/nano-structures, graduate students, engineering technicians, and researchers in related areas will benefit from this book; also, someone in related application fields such as biomedicine, communication, optics may be the potential readers of this book.
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