In this paper we consider the problem of stabilizing the seeker scan loop mounted in a missile head. The system consist of a spin-stabilizing gyro-optics assembly and its driving signal processor. The model contains t...
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The underactuated free floating robot in space is nonlinear systems where velocity and acceleration constraints are both nonintegrable, therefore it is a second-order nonholonomic system. Some of the existing non-holo...
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The underactuated free floating robot in space is nonlinear systems where velocity and acceleration constraints are both nonintegrable, therefore it is a second-order nonholonomic system. Some of the existing non-holonomic control methods will not be directly applicable to such systems as it is extremely difficult, if not impossible, to find the control Lie brackets. In this paper, by investigating the system dynamics in dept., we propose a simple velocity-based method to control the unactuated joints and a multi-step composite strategy to implement orientation tracking tasks. The proposed algorithm is of significance in controlling of space robots when some joints fail to function, or they are intentionally set to be passive for energy efficiency and safety purposes.
Proposes a simple and effective method for building a fuzzy model from data. A three-layered RBF network is introduced to implement the fuzzy model. Differing from existing clustering-based methods, in this approach t...
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A fast and computationally efficient fuzzy clustering approach is presented. In this approach, fuzzy clustering is implemented in two hierarchical phases: subclusters generation by a self-organising network and fuzzy ...
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This paper is concerned with multivariable predictive control of thermal treatment processes and its implementation. The choice for a control structure ensuring decoupling is discussed. A unified predictive controller...
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This paper is concerned with multivariable predictive control of thermal treatment processes and its implementation. The choice for a control structure ensuring decoupling is discussed. A unified predictive controller is used to implement the monovariable control systems for each channel of the decoupled plant. Aspects of the modelling and performance of the control scheme are dealt with and illustrated by plant results. The model of the thermal treatment processes has been used to check the controller behaviour before its real implementation and some simulation results are given too.
The implementation of a new estimation method with alternative process models for the state estimation of the baker’s yeast fermentation is presented. Some of the implementation issues are discussed using the data ob...
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The implementation of a new estimation method with alternative process models for the state estimation of the baker’s yeast fermentation is presented. Some of the implementation issues are discussed using the data obtained from simulation tests.
This paper deals with the robust predictive control, and proposes a new approach based on Laguerre filters modelling. It is shown that this approach of modelling can bring some advantages to the robust predictive cont...
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This paper deals with the robust predictive control, and proposes a new approach based on Laguerre filters modelling. It is shown that this approach of modelling can bring some advantages to the robust predictive control context. Robustness conditions are also given. Simulation results are presented to illustrate the new robust predictive control algorithm. Ce travail propose une loi de commande prédictive assez simple, basée sur un modèle des polynomes de Laguerre. Ce modéle donne une représentation compacte du processus. On montre que cette approche fournit un apport dans la loi de commande prédictive et robuste. Les conditions de robustesse seront aussi présentées ainsi que les résultats obtenus en simulation afin d'illustrer les performances de ce nouvel algorithme de commande prédictive et robuste.
Models and solution procedures were proposed in a previous work for continuous-time production planning, i.e., when production and demand are expressed in terms of rates instead of quantities. This paper investigates ...
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Models and solution procedures were proposed in a previous work for continuous-time production planning, i.e., when production and demand are expressed in terms of rates instead of quantities. This paper investigates the case where demand is discrete, i. e., corresponds to quantities of products that need to be fulfilled at given points in time. After describing the model and the solution procedure, we show how they can be extended to take discrete demand into account. Numerical experiments on an example are presented and discussed
This paper gives the fuzzy control block diagram of elevator group supervisory control expert system and describes the application of fuzzy logic theory in computer elevator group supervisory control system. In the pa...
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This paper gives the fuzzy control block diagram of elevator group supervisory control expert system and describes the application of fuzzy logic theory in computer elevator group supervisory control system. In the paper, the fuzzy control block diagram is compared with the overall system block diagram characterized statistics. The theory of fuzzy inference system discussed in this paper is the basis to establish modern elevator group supervisory control system.
In a recent work the authors derived quaternionic recursions for positions, velocities and acceleration components (inertial, Coriolis and centrifugal) of robot links for robots with only revolute joints (Hachicho, et...
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In a recent work the authors derived quaternionic recursions for positions, velocities and acceleration components (inertial, Coriolis and centrifugal) of robot links for robots with only revolute joints (Hachicho, et al., 1998). In the present paper recursions for the general case, i.e. for robots with both revolute and prismatic joints, are developed
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