This paper builds on previous work which developed a robust control algorithm which used statistical confidence bounds. The key idea was to change the nominal design so as to reduce the overall variability from an a p...
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ISBN:
(纸本)0780366387
This paper builds on previous work which developed a robust control algorithm which used statistical confidence bounds. The key idea was to change the nominal design so as to reduce the overall variability from an a priori specified desired performance. However, due to the choice of cost function, the original design method did not necessarily guarantee stability. This paper addresses the latter problem in a mixed H/sub 2//H/sub /spl infin// framework.
We present a fuzzy belief, desire and intention (BDI) architecture as a useful framework for modeling co-operative societies of artificial agents. We outline the social conditions necessary for agents to form joint in...
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We present a fuzzy belief, desire and intention (BDI) architecture as a useful framework for modeling co-operative societies of artificial agents. We outline the social conditions necessary for agents to form joint intentions and joint actions. Our architecture facilitates the inference of a mutual belief by the agents of the society. We see this as critical because mutual belief is the starting point for joint action.
Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitt...
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Vibration isolation control system design for a microgravity experiment mount is considered. The controller design based on dynamic sliding manifold (DSM) technique is proposed to attenuate the accelerations transmitted to an isolated experiment mount either from a vibrating base or directly generated by the experiment, as well as to stabilize the internal dynamics of this nonminimum phase plant. An auxiliary DSM is employed to maintain the asymptotic high-order sliding mode on the primary sliding manifold in the presence of uncertain actuator dynamics of the second order. The primary DSM is designed for the closed-loop.
A problem of sliding mode control design for a SISO system with unmodeled actuators of the first and second order is considered. A design methodology, based on dynamic sliding manifolds (DSM), is proposed to attenuate...
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A problem of sliding mode control design for a SISO system with unmodeled actuators of the first and second order is considered. A design methodology, based on dynamic sliding manifolds (DSM), is proposed to attenuate the chattering phenomenon affecting sliding-mode-controlled plants in the presence of unmodeled dynamics. The proposed methodology maintains the sliding mode on the sliding surface, which is designed without actuator dynamics being considered. This goal is achieved via auxiliary dynamic sliding manifold design; the sliding mode on the auxiliary DSM provides for high order asymptotic sliding mode on the initial surface.
A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular s...
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A new parallel gripping mechanism is proposed in this work. This device has a parallelogramic platform which can be flexibly folded. Therefore, this mechanism not only can be used to grasp an object having irregular shape or large volume, but also can be utilized as micro-positioning device after grasping the object. Forward position analysis and platform kinematics are investigated to deal with motion tracking and force control. Pneumatic rotator is employed for actuation and a compact sized, 4/3 way proportional pressure valve is also developed to deal with feedback-based dynamic control. The pressure valve also allows indirect force control by measuring the offset pressure occurring due to contact between the grasped object and the parallel platform. In experimental work, performances of the motion tracking and indirect force control are shown satisfactory.
Future welfare models should meet the needs of a large group of aged and disabled people. Present research and technology efforts in this direction are oriented toward the development of highly effective home-installe...
Future welfare models should meet the needs of a large group of aged and disabled people. Present research and technology efforts in this direction are oriented toward the development of highly effective home-installed devices which will provide the user with continuous assistance in different everyday activities. The problems and needs of the elderly and the disabled vary from person to person over a large range, and with many serious requirements. Modern designs for such devices are oriented toward solutions where the user is less engaged in the control process, and the interaction between the device and the user ishuman-friendly, i.e., the devices should possess a high level of intelligence in their controls, actions, and interactions with the user, offering him/her a high level of comfort and functionality. This paper considers a mixed control mode as a better alternative for human-machine interactions for users with great movement disability. Some examples of easy direct control are discussed.
The C4ISR Architecture Framework document issued by the department of Defense specifies three views of an information architecture and defines a set of products that describe each view. These architecture views are to...
Proposes the mixed H/sub 2//H/sub /spl infin// controller design method with regional pole placements according to the 3 step guidance courses for underwater vehicle systems in horizontal motion and vertical motion, r...
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Proposes the mixed H/sub 2//H/sub /spl infin// controller design method with regional pole placements according to the 3 step guidance courses for underwater vehicle systems in horizontal motion and vertical motion, respectively. The change of hydrodynamics, time delays, and disturbances are considered as uncertainties of the system. The full nonlinear simulation including initial leveling part, guidance, autopilot, actuator, etc., shows that the proposed controllers are efficient in the sense of new strategy for underwater vehicle systems.
Building a knowledge base for an intelligent system is the main goal in the development of any learning machine. Our daily lives and experiences suggest that human-like learning systems are better suited for functioni...
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Building a knowledge base for an intelligent system is the main goal in the development of any learning machine. Our daily lives and experiences suggest that human-like learning systems are better suited for functioning in hard-to-navigate environments because of their high degree of flexibility. This paper applies the biofunctional model of human learning to the design and implementation of a learning machine that is effective in navigating complex environments and relatively easy to design using classifier systems. We portray in the case study how a fuzzy logic controller links the system to the biofunctional model. It also makes vast improvements to the learning rate and the overall efficiency of the whole system.
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