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This paper introduces a new modeling method for improved engineering processes in product modeling. The proposed modeling is intended to be implemented in current product lifecycle management (PLM) systems. It is relied upon the information content based product modeling as proposed earlier by the authors. In this modeling, human intent based engineering objective and contextual connection definitions...
Special Automatic Guided Vehicles (AGVs) equipped with at least three omnidirectional wheels may be very useful tools in industrial applications because -in contrast to the Ackerman engines- their position and orientation with respect to the plane of operation can simultaneously be prescribed. So they have the ability for smart and precise navigation in a crowded environment. In the present constructions...
The task of solving the adaptive control of a partially and imprecisely modeled electrical vehicle driven by three omnidirectional wheels together with the torque and/or power limits of their electric driving motors is considered. The vehicle is very roughly modeled as a rigid body while the a part of the burden carried by it through elastic connection is completely neglected in the controller's model...
The most popular classical adaptive robot control methods as the Adaptive Inverse Dynamics Control or the Slotine-Li Adaptive Robot Controller are constructed on the basis of exact knowledge on the form of the equations of motion, and on the application of Lyapunov's 2nd Method. This generic technique makes it possible to guarantee the stability of the controlled system using only simple estimations...
The great advantage of the Variable Structure - Sliding Mode controllers is their simplicity, and that they can efficiently work in the possession of a very rough model of the system to be controlled. Instead investing any effort into identifying the precise analytical model of this system they apply well timed bang-bang type control signals in order to drive the “error metrics” near zero during finite...
In this paper a discrete time approximation of Caputo's fractional order derivatives is used for modeling the dynamic behavior of hypothetical fractional order systems the appropriate responses of which that can directly be manipulated by some physical agents are some fractional order time-derivatives of their state variables. A possible generalization of the concept of ldquoinitial conditionsrdquo...
In this paper a further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. Its main advantage in comparison with the complicated Lyapunov function based techniques is that its fundament is some simple geometric consideration allowing to formulate the control task as a Fixed Point Problem for the solution of which various Contractive...
Most of the wheeled vehicles are anholonom systems the position and the rotational pose of which cannot arbitrarily be determined. This problem typically is solved by iterative, small, ldquoback and forthrdquo type movements while leaving a place/occupying a vacancy in a crowded parking place and also needs simple solution in the tracking control of a smooth path of considerable velocity. For this...
In this paper a further step towards a novel approach to adaptive nonlinear control developed at Budapest Tech in the past few years is reported. Its main advantage in comparison with the complicated Lyapunov function based techniques is that it is based on simple geometric considerations on the basis of which the control task can be formulated as a fixed point problem for the solution of which a...
In this paper the approximate dynamic model of an active car body suspension system is presented on the basis of which a fractional order active controller is designed to reduce jogging of the payload carried by the car. Besides the conventional springs of viscous damping the model includes an air spring, and a dashpot with hydraulic nonlinearities. Dissipative phenomena in the air spring are also...
In this paper the robustness of a novel adaptive nonlinear control developed at Budapest Tech is investigated by the use of a 4th order Single Input - Single Output (SISO) Classical Mechanical paradigm, the Ball-Beam system. It is shown that the parameters can easily be set "experimentally" by the use of simple simulations. The control properties can simply be improved until the control...
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