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This paper presents modelling of ball and plate systems based on first principles by considering balance of forces and torques. A non-linear model is derived considering the dynamics of motors, gears, ball and plate. The non-linear model is linearized near the operating region to obtain a standard state space model. This linear model is used for discrete optimal control of the ball and plate system...
The paper deals with predictive control of non-holonomic mobile robot. The basic nonlinear kinematic equation is linearized into two different linear time varying models based on frame of reference — world coordinates and local coordinate of mobile robot. The non-linear model predictive control is applied to the trajectory tracking problem of a non-holonomic mobile robot with these models. The control...
Steady-state control error occurs in case of unmeasured disturbances or disagreement between the model and the actual behaviour of the system because, state-space controllers do not have integral character. This problem (offset-free reference tracking) of state-space controllers has been observed in both theoretical and application areas (industrial MPC Implementation IDCOM, DMC, and QDMC IDCOM-M)...
Kalman filters have gained immense research attention in robotics, throughout the last decades. Among the applications, localization of robots through Kalman filters proved promising results. This paper presents an application of sensor fusion for prediction of orientation and depth to wall/obstacle by fusing the inputs from three IR range finders. The experimental result demonstrates the capability...
Paper deals with a Dynamic Linked Library calling in real time from MATLAB and Simulink. S-function as user Simulink block is created to enable communication with GUNT control units equipped with LabJack U12 data acquisition device and to extend significantly their potential for the purpose of automation subjects teaching, student thesis and research activities.
The paper deals with Helicopter model elevation control. Helicopter model is significantly nonlinear plant which simulates in some simplified way behavior of real helicopter. There is derived new way to control it which uses piecewise-linear neural model. As it is shown at the end of the paper, this new control algorithm brings decent performance improvement compared to classical control techniques.
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