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In the past few years quadcopters have become an integral part of life. There are many applications for these objects including entertaining purpose, agricultural monitoring, or gathering information from places what humans can not reach. An interesting problem is controlling these vehicles from remote locations in order to follow a desired trajectory. While many solutions exist to this task the vast...
The precise control of a voltage-controlled, DC motor driven electric cart would be a 3rd order task since Classical Mechanics relates the acceleration of the cart to driving torques, while these torques are proportional to the current that cannot be modified abruptly. Abrupt jumps in the control voltage cause abrupt change only in the time-derivative of the motor current. Therefore a 2nd order controller...
The traditional way of thinking in controller design prefers the use of the “state space representation” introduced by R. Kalman in the early sixties of the past century. This system description is in close relationship with linear or at least partly linear system in which the linear part can be used in forming a quadratic Lyapunov function in the stability proof. In the standard model of such systems...
As an alternative of Lyapunov functions based design methods the “Robust Fixed Point Transformations (RFPT)”-based adaptive control design was developed in the past years. The traditional approaches emphasize the global stability of the controlled phenomena while leaving the details of the trajectory tracking develop as a not very clear consequence of the control settings the novel design directly...
In the design of adaptive controllers the “Robust Fixed Point Transformations (RFPT)“-based approach is a recently developed, very simple alternative of “Lyapunov's 2nd Method”. The main difference between them is that while the traditional approach concentrates on guaranteeing global stability at the cost of directly not considering the primary design intent (i.e. the dynamic details of the tracking...
The realization of small, unmanned, automatic airplanes is a significant project at Óbuda University. Essential results have been achieved regarding automatic take-off and navigation. Another another important research field is development of design methods for adaptive controllers as alternatives to the Lyapunov function technique. For guaranteeing global stability this method means the realization...
In this paper a novel implementation of the adaptive controllers designed by the use of Robust Fixed Point Transformation is studied. Instead guaranteeing global stability the so designed controllers work smoothly in a bounded region of operation. Both the limits of this region as well as the performance of the controller depends on the basic component of the RFPT-based design, i.e. on the properties...
In the control of chemical reactions the goal is to stabilize the control and take care of the design that has to integrate engineering aspects, as restrictions concerning the control signals, and the phenomenological limits that are not necessarily expressed by the reaction kinetic equations (e.g. no negative concentrations can be physically interpreted, and the reactants at the side of ingress cannot...
In this paper, we make an initial effort to define the scope and goals of “Cognitive Control (CoCo)”, which intends to be a research initiative for bringing about a novel generation of control systems which - in a certain sense - reflect the behavior of humans while solving everyday tasks. Very briefly stated, through the use of a rich inventory of available modeling techniques, control theory has...
The controllers designed by Lypunov's 2nd method normally have global stability but do not concentrate on the details of the primary intent of the designer: the details of the tracking error relaxation. They have a huge number of arbitrary adaptive control parameters that -from the engineering point of view- are hard to design for prescribed detailed behavior of the controlled system. In the past...
For replacing Lyapunov's ingenious but complicated “2nd method” in designing adaptive controllers for nonlinear systems the use of “Robust Fixed Point Transformations (RFPT)” was extensively studied in the past few years mainly for “Classical Mechanical Systems (CMS)”. In spite of the strongly nonlinear coupling that is typical in the Euler-Lagrange equations of motion CMS are simple in the sense...
For replacing Lyapunov's sophisticated “2nd Method” in the design of adaptive controllers a novel approach based on Robust Fixed Point Transformations (RFPT) was proposed that directly concentrates on the designer's intent instead of forcing global stability. It guarantees convergence only in a bounded basin while iteratively generating the sequence of the appropriate control signals. In the initial...
In the design of adaptive controllers for roughly modeled nonlinear dynamic plants the most popular prevalent fundamental mathematical tool is Lypunov's “direct” method. Though normally it guarantees global stability several controller performance parameters of practical engineering significance cannot directly be addressed in this manner. In general simulation investigations or GA-based parameter...
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