In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generate...
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In this paper, a learning-based feedforward term is developed to solve a general control problem in the presence of unknown nonlinear dynamics with a known period. Since the learning-based feedforward term is generated from a straightforward Lyapunov-like stability analysis, the control designer can utilize other Lyapunov-based design techniques to develop hybrid control schemes that utilize learning-based feedforward terms to compensate for periodic dynamics and other Lyapunov-based approaches (e.g., adaptive-based feedforward terms) to compensate for non-periodic dynamics. To illustrate this point, a hybrid adaptive/learning control scheme is utilized to achieve global asymptotic link position tracking for a robot manipulator.
In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p
In the paper,we exhibit the usefulness of nonlinearity in two aspects:analysis of nonlinear dynamics and nonsmooth feedback *** illustrative examples are given to show how the new bifurcation p
We consider the regulation control problem for a two-degree-of-freedom (2-DOF), underactuated overhead crane system. Inspired by recently designed passivity-based controllers for underactuated systems, we design sever...
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We consider the regulation control problem for a two-degree-of-freedom (2-DOF), underactuated overhead crane system. Inspired by recently designed passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate the gantry position and payload position. Specifically, utilizing LaSalle's invariance set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then design a two nonlinear controllers that increase the coupling between the gantry position and payload position.
The primary purpose of this lecture is to provide the participant with a comprehensive coverage of theoretical foundation of digital fuzzy set theory (DFS) and multivalued logic (MVL), as well as a broad overview of t...
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We investigate the fault tolerant control problem and propose an intelligent online sliding mode control strategy using artificial neural networks to handle the desired trajectories tracking problem for systems suffer...
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Color provides a wealth of information about an image. Color reduction and color feature extraction can be used to compress this information into a manageable image characteristic. These simple image-processing techni...
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In typical MEMS applications, actuation is accomplished directly by converting electrical input power to useful mechanical power. However, indirect schemes employing electrically driven primary and alternately driven ...
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This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and elect...
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This paper presents a new method for using Petri net models in order to design and implement a sequence controller for a small scale robotic cell which consists of a robotic manipulator, a variety of sensors and electro-pneumatic actuators. The proposed method leads directly to the generation of the associated Ladder Logic Diagrams (LLDs) and it has proved to be effective through the application to sequence control of a small-scale industrial system. In addition, it has reduced the period for developing, debugging and reengineering of the LLD, compared to die traditional method that directly prepares an LLD. Experimental results are included to show the effectiveness of the PN/LDD controller.
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