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In this paper we consider two stage controllers for motion control of robot manipulators with joint flexibilities. The dynamic equations of a manipulator with flexible joints are reparametrized in a model, with two blocs, suitable for control laws design. A passivity based adaptive compensator is proposed to control the reduced complexity model (the first bloc) with Integral (I) adaptation algorithms...
In this paper, abrupt changes detection techniques are used for segmentation of ultrasound signals in order to characterize materials. We describe the main motivations for the investigation of change detection problems. We show that the use of the Recursive Likelihood Ratio Deviation (RLRD) algorithm provides better results than the Linear Prediction Error (LPE) algorithm. The choice of the ultrasound...
The focus of this work is a study of the passive dynamic walking of a kneeless biped robot with torso on inclined slopes. We show that under a simple PD control applied between the torso and the stance leg the biped robot converges at a stable gait cycle.
We develop for systems with backlash a non linear observer, based on the estimation of the disturbed torque transmitted due the dead zone. Then we design an adaptive controller using this non linear observer in order to compensate the disturbed torque on line. Simulation and experimantal results applied on an elecrical actuator are given to support the theoretical demonstrations.
The aim of this paper is to ensure the stability of a pneumatic legged robot with robustness, versus perturbation, and uncertanties. To verify these three properties, we develop an appropriate sliding mode control based on general form of sliding manifold. This control is then compared with state feedback control implemented on the robot. The stability analysis proved by use of the Lyapunov theory...
A neural network adaptive force controller is proposed for a real hydraulic system. The dynamic model of this system is highly non-linear and very complex to obtain. Thus, it is considered as a black box, and a priori identification becomes necessary. A neural network is used to approximate the model, then controller using Lyapunov approach is designed. The neural network parameters are updated online...
Different kinds of system components including hardware elements, software algorithms, network connections, and sensors are required to cooperate with each other to provide various services in smart home. With the development of smart grid providing a two-way communication infrastructure, residents have the opportunity to schedule their electricity usage pattern to reduce their electricity cost. The...
High quality demand side management has become indispensable in the smart grid infrastructure for enhanced energy reduction and system control. Most of the demand side management systems that existed were focusing on the interaction between utility company and its customers. So as a reason the Home Energy Management (HEM) systems plays a crucial role in realizing residential Demand Response (DR) programs...
Sometimes, the use of the global vehicle dynamic model is not needed to analyse and develop some applications in vehicle. For example, for the passenger comfort only the sub-model of the suspension is needed. In this context, this paper deals with a splitting of dynamic model for vehicle into five sub-models each one describing a subsystems regrouped in three blocks. The novelty of this idea consists...
This paper presents a new structural approach of analytical redundancy relations generation from linear and linearized bond graphs. The approach considers for the first time the linearized bond graphs enclosing information bonds. And secondly, it uses the graphical algorithm of the transfer function to calculate the analytical redundancy relations directly from the diagnostic bond graph in integral...
This paper presents different dynamic models of vehicles to compare their dynamics. The main objective is to appreciate the couplings between the different model blocks after splitting systems to five sub models. The passivity approach is used and illustrated by simulation results obtained by the proposed simulator SimK106N.
This paper will show how to handle modeling of vehicles to get efficient and good Sliding Mode Observers. A car model with 16 DoF is decomposed for partial state observation with SMO. This decomposition method may lead, in VSAS, to good estimates of different kind variables and inputs (subsystems states, environment and ground variables, interfaces variables, connections and constraint variables)...
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