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We present a simple bisection algorithm to compute the H∞ norm of a transfer matrix. The bisection method is far more efficient than algorithms which involve a search over frequencies, and moreover can compute the H∞ norm with guaranteed accuracy.
A new technique for designing dyadic controllers is established. By the use of the recently established matrix partial fraction expansion formula, the dyadic transformation matr??ces are naturally formed. A direct interpretation of the parameters of the dyadic transformation matrices via the residue matrices becomes possible.
Some key concepts of strucred singular value theory for the stability and performance-robustness analysis of linear time-invariant multivariable systems are stated. Using a set-invariance principle, the theory is then generalized to allow for nonlinear and/or time-varying nominal systems and uncertainties. The general theory is then re-specialized to the case of nominally linear time-invariant systems...
This paper considers the problem of assessing the stability of multivariable system in the presence of a class of structured uncertainties, characterized by upper bounds on the absolute values of the individual elements of the uncertainty matrix. Explicit sub-optimal solutions are given and an optimal result is motivated, for determining the stability margin as well as for a Nyquist-type treatment...
A DMC algorithm was used to control a column temperature exhibiting inverse response dynamics to heat input. The DMC algorithm was used for feedforward control on column through-put disturbance. The control application also used DMC to dynamically predict the heat input effect on the bottoms temperature which had a high constraint limit. A system identification software package was used after traditional...
This paper reports the results of a successful experimental study in which the benefits of providing predictive information to the operators of the 5 MWt MIT Research Reactor were demonstrated. The predictive information, which was in the form of computer-generated graphic displays, was used by the operators as an aid for the control of reactor power. This research is part of an on-going program to...
The dynamic behavior of multibody systems containing structural elements undergoing large overall rotation and translation as well as small elastic deformations is considered. A systematic procedure, using assumed mode functions and von K??rm??n-type strain measures, is developed in order to properly account for motion-induced structural stiffness variations during arbitrary overall motion. The procedure...
Apriori knowledge of failure modes of a system is an indispensable information for design of robust decentralized hierarchical control schemes. In particular inclusion of system faults as part of the process under control provides greater flexibility for self diagnosis and maintenance of real-time systems. By assigning discrete states to the process under control, an "artificial consciousness"...
An advanced control strategy, based on the principles of Self-Adjusting Model Algorithmic Control (SAMAC), for regulating the energy input to a nonlinear electric arc furnace system is presented in this paper. The SAMAC strategy is an extension of Model Algorithmic Control (MAC) designed to accommodate the nonlinear and time-varying characteristics of the arc furnace process. Simulation results show...
This paper investigates how certain aspects of human learning can be used to characterize learning in intelligent adaptive control systems. Reflexive and declarative memory and learning are described. It is shown that model-based systems-theoretic adaptive control methods exhibit attributes of reflexive learning, whereas the problem-solving capabilities of knowledge-based systems of artificial intelligence...
A differential geometric methodology is used to establish, at the structural level (regardless of specific controllers), the existence of a global solution of the nonlinear control problem associated to a free-radical, polymerization reactor. The structural characterization turns out to depend exclusively on stoichiometric constraints and on parameters associated to the reaction kinetic scheme. At...
The problem of control/structural interaction arises in ground and space systems where flexibility limits performance. In this paper, an experiment called the "jitter beam" simulates the interaction of a pointing control system and a flexible structure. Noncolocation of a sensor and an actuator makes control difficult. A Linear Quadratic Gaussian (LQG) design overcomes the noncolocation...
A design methodology is presented which addresses three main issues in the control of Large Space Structures: improving the disturbance attenuation of the system. implementing the design as a low order output feedback controller and ensuring that the controller is robust to modeling uncertainty. The method developed to solve this problem makes use of projective controls. A new frequency domain characterization...
The work presented here is an approach in robotic deburring of two dimensional parts with unknown geometry. Two problems have been addressed in this paper: tracking the the part contour, and control of the metal removal process. The tracking mechanism is a roller bearing mounted on a force sensor at the robot endpoint. The tracking control employs the force measured by this force sensor to find the...
In this paper, a digital algorithm is developed to obtain a feedforward function which not only yields near-minimum-time trajectory but also damps out vibration in the controlled modes of a flexible one-link robot. The results from numerical simulations are presented for links with two different sets of parameters. It is found that the `move-time' for this algorithm is close to that for the time-optimal...
Boresight disturbances during the operation of an electromagnetic rail gun considered herein arise from the coupling of the structural dynamics of the conducting rails with the electrodynamics of the plasma and rail currents. A simplified model of a rail gun is used here to size these effects on pointing accuracy, for purposes of fire control.
A new LQ design method developed recently by the author, called "the Inverse LQ design method" is applied to the design of an LQ regulator with a constant set point. A very simple way of choosing the design parameters so as to achieve a desired transient response of the regulator is proproposed, and an explicit expression of the resulting optimal state feedback gain is given in terms of...
The linear equations of motion of a uniform flexible slewing link which were derived via Hamilton's Extended Principle are considered. These equations account for the coupling between bending and rigid modes. Unconstrained and constrained mode expansions are investigated and a quantitative comparison is made between the frequency equations and associated mode shapes. A finite dimensional model is...
The payload adaptability of a light-weight flexible manipulator is studied. Using the FEM (Finite-Element Method) model of a flexible manipulator, a lower order compensator can be accomplished. The simulation results have shown that the proposed payload-adaptation synthesizer, which synthesizes a payload identifier and a nominal regulator/estimator interpolator to obtain a near-optimal compensator,...
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