The field of intelligent control has recently emerged as a response to the challenge of controlling highly complex and uncertain nonlinear systems. It attempts to endow the controller with the key properties of adapta...
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ISBN:
(数字)9781447103196
ISBN:
(纸本)9781852334383;9781447110903
The field of intelligent control has recently emerged as a response to the challenge of controlling highly complex and uncertain nonlinear systems. It attempts to endow the controller with the key properties of adaptation, learn ing and autonomy. The field is still immature and there exists a wide scope for the development of new methods that enhance the key properties of in telligent systems and improve the performance in the face of increasingly complex or uncertain conditions. The work reported in this book represents a step in this direction. A num ber of original neural network-based adaptive control designs are introduced for dealing with plants characterized by unknown functions, nonlinearity, multimodal behaviour, randomness and disturbances. The proposed schemes achieve high levels of performance by enhancing the controller's capability for adaptation, stabilization, management of uncertainty, and learning. Both deterministic and stochastic plants are considered. In the deterministic case, implementation, stability and convergence is sues are addressed from the perspective of Lyapunov theory. When compared with other schemes, the methods presented lead to more efficient use of com putational storage and improved adaptation for continuous-time systems, and more global stability results with less prior knowledge in discrete-time sys tems.
This book introduces an optimal iterative learning control (ILC) design framework from the end user's point of view. Its central theme is the understanding of model dynamics, the construction of a procedure for sy...
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ISBN:
(数字)9783031802362
ISBN:
(纸本)9783031802355;9783031802386
This book introduces an optimal iterative learning control (ILC) design framework from the end user's point of view. Its central theme is the understanding of model dynamics, the construction of a procedure for systematic input updating and their contribution to successful algorithm design. The authors discuss the many applications of ILC in industrial systems, applications such as robotics and mechanical testing.
The text covers a number of optimal ILC design methods, including gradient-based and norm-optimal ILC. Their convergence properties are described and detailed design guidelines, including performance-improvement mechanisms, are presented. Readers are given a clear picture of the nature of ILC and the benefits of the optimization-based approach from the conceptual and mathematical foundations of the problem of algorithm construction to the impact of available parameters in making acceleration of algorithmic convergence possible. Three case studies on robotic platforms, an electro-mechanical machine, and robot-assisted stroke rehabilitation are included to demonstrate the application of these methods in the real-world.
With its emphasis on basic concepts, detailed design guidelines and examples of benefits,
Optimal Iterative Learning control
will be of value to practising engineers and academic researchers alike.
This book constitutes the refereed proceedings of the 12th Annual Conference Towards Autonomous Robotics systems, TAROS 2011, held in Sheffield, UK, in August/September 2011.;The 32 revised full papers presented toget...
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ISBN:
(数字)9783642232329
ISBN:
(纸本)9783642232312
This book constitutes the refereed proceedings of the 12th Annual Conference Towards Autonomous Robotics systems, TAROS 2011, held in Sheffield, UK, in August/September 2011.;The 32 revised full papers presented together with 29 two-page abstracts were carefully reviewed and selected from 94 submissions. Among the topics addressed are robot navigation, robot learning, human-robot interaction, robot control, mobile robots, reinforcement learning, robot vehicles, swarm robotic systems, etc.
It is shown that when examining the controlability of the continuous-flow stirred-tank reactor the dynamics of the cooling coil, the thermometer and other additional loop elements must not be neglected. A first-order ...
It is shown that when examining the controlability of the continuous-flow stirred-tank reactor the dynamics of the cooling coil, the thermometer and other additional loop elements must not be neglected. A first-order approximation of the cooling system is determined and combined with the linearized heat and mass balances of the reactor, this giving the transfer function between the velocity of the cooling water and the temperature of the reactor. The temperature control system is analysed by means of the root locus method. It is shown how a simple root locus may be found which approximates that of the temperature control loop at high natural frequencies.
The two-volume set LNCS 7565 and 7566 constitutes the refereed proceedings of three confederated international conferences: Cooperative Information systems (CoopIS 2012), Distributed Objects and Applications - Secure ...
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ISBN:
(数字)9783642336065
ISBN:
(纸本)9783642336058
The two-volume set LNCS 7565 and 7566 constitutes the refereed proceedings of three confederated international conferences: Cooperative Information systems (CoopIS 2012), Distributed Objects and Applications - Secure Virtual Infrastructures (DOA-SVI 2012), and Ontologies, DataBases and Applications of SEmantics (ODBASE 2012) held as part of OTM 2012 in September 2012 in Rome, Italy. The 53 revised full papers presented were carefully reviewed and selected from a total of 169 submissions. The 22 full papers included in the first volume constitute the proceedings of CoopIS 2012 and are organized in topical sections on business process design; process verification and analysis; service-oriented architectures and cloud; security, risk, and prediction; discovery and detection; collaboration; and 5 short papers.
This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar...
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ISBN:
(数字)9783031018275
ISBN:
(纸本)9783031006999
This monograph describes the Reaction Wheel Pendulum, the newest inverted-pendulum-like device for control education and research. We discuss the history and background of the reaction wheel pendulum and other similar experimental devices. We develop mathematical models of the reaction wheel pendulum in depth, including linear and nonlinear models, and models of the sensors and actuators that are used for feedback control. We treat various aspects of the control problem, from linear control of themotor, to stabilization of the pendulum about an equilibrium configuration using linear control, to the nonlinear control problem of swingup control. We also discuss hybrid and switching control, which is useful for switching between the swingup and balance controllers. We also discuss important practical issues such as friction modeling and friction compensation, quantization of sensor signals, and saturation. This monograph can be used as a supplement for courses in feedback control at the undergraduate level, courses in mechatronics, or courses in linear and nonlinear state space control at the graduate level. It can also be used as a laboratory manual and as a reference for research in nonlinear control.
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