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In this article we study a two-level driver model composed of one anticipatory and one compensatory control. The anticipatory control, executed in an open loop, is based mainly on the standard linear equations for the lateral dynamics of the vehicle. The compensatory control, executed in a closed loop, uses N PID controllers for the correction of lateral deviation, and other N PID controllers for...
This paper derives an LQR anti-jerk controller for an automotive driveline. The time derivative of the drive shaft torque, which is closely related to the vehicle jerk, is used as a virtual system output and regulated to zero. Thereby the controller does not need a reference model for generation of reference trajectories for the control law evaluation. The controller acts as a torque compensator for...
An atomic force microscope (AFM) usually employs proportional-integral (PI) control strategy to sustain a constant cantilever deflection. However, it is well known that the tuning of PI parameters is a tedious and complicated procedure, especially for those unfamiliar with control theory. In this paper, we employ and implement relay controller to automate the tuning procedure for contact-mode AFM...
Synchronization of Kuramoto model has a notorious interest, since it models phenomena like coordination, synchronization, consensus, averaging, etc. for several systems in biology, physics and engineering. Recently, some steps were done in order to characterize synchronizing interconnection topologies, combining control and algebraic graph theories. In this work, we present a complete analysis of...
The presence of harmful stick-slip oscillations in oil well drillstrings has attracted the attention of the control community in recent years. The control law named D-OSKIL mechanism which uses the weight on the bit (WoB) force as an additional control variable to extinguish limit cycles has been investigated. This paper reports experimental implementation of such a mechanism, in a laboratory testbed...
We present the 3D mathematical model of glycolysis reaction in an open reactor based on the Selkov equations. It has been shown that this relatively simple model adequately reproduce the main features of the experimentally observed glycolytic traveling waves. The analysis of the wave generation conditions shows that the emergence, direction of motion and shape of these reaction-diffusion waves can...
In this paper, we propose a new CPG model and Hebbian learning rule for the CPG. The output of the proposed CPG is determined by only phase differences of synchronization of component oscillators. A phase synchronization can be regarded as an adaptive behavior to an environment, so the CPG has an adaptavility despite of only simple connections to the environment. We also propose a motion learning...
Under certain conditions the payload oscillation inherent to all crane systems cannot be described by a single-pendulum but shows a double-pendulum like behavior. In that case anti-sway concepts have to be adapted to the new system. For the here given application case the rope angles of the double-pendulum have to be reconstructed out of gyroscope signals, in order to make the full state information...
The resonance piezoelectric tactile array sensors offer the means of measuring not only the presence of applied mechanical stress but also the stress intensity. The problem in such kind of resonance sensors is the real time mode of operation. The sensibility array field is scanned in consecutive way thus hampering the sensor from coping with dynamically changing mechanical stresses. It is useful to...
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