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The paper considers a reference-based control system for heaving wave energy converters. The proposed controller comprises two parts: lower level part (LLP) and higher level part (HLP). The HPL generates the buoy's velocity reference with the objective to maximize the power absorption with the constraints in the maximum control force and the power take-off device's utilization index. The index is...
This paper deals with the problem of neural network delay control for an idealized offshore platform system. Two neural networks (feed-forward neural network and nonlinear autoregressive neural network) delay controllers are proposed to the vibration control of the offshore platform under external wave force. It is shown through simulation results that the designed neural network delay controllers...
This paper develops a linear parameter varying(LPV) based robust model predictive control(MPC) method for a multi-vectored airship, the speed of the forward flight channel is considered. The nonlinear model of the airship is introduced with kinematics and dynamics. Then, in order to obtain the LPV models, the small perturbation linearization method is used. After that, the higher order singular value...
This paper presents a robust optimal controller for a Hovering Autonomous Underwater Vehicle (HAUV) in station keeping. The proposed controller does not require added mass, hydrodynamic drag force, and buoyancy force information of the HAUV system. The proposed controller is a time invariant controller which combined optimal control technique and robust filter control technique. The optimal control...
Precise force detection is required to realize precise force control, and a lot of research have been conducted for precise and robust force estimation. Based on the industrial trends that the number of load-side encoders is increasing in various industrial fields, a force observer using load-side encoder information has already been proposed to avoid the estimation performance deterioration in the...
The paper is concerned with the robust finite-time stabilization problem of quadrotors subject to inertia uncertainty and disturbances. The underlying stabilization problem consists of controller designs for position loop and attitude loop, both of which are carried out based on the terminal sliding mode control approach. First, a robust finite-time position controller is designed by considering the...
In this paper, the maneuver flight control scheme is proposed for the hypersonic glide vehicle (HGV). The system uncertainty, unknown external disturbances and input saturation are explicitly considered in the controller design. Firstly, the maneuver control architecture of lateral turning for the HGV is developed, and then a robust attitude controller is constructed to execute the maneuver command...
The article presents a use case evaluation of the robustness of a physical protection system for the Vodňany water tank, designated as a national critical infrastructure element. The evaluation will be performed based on three probable attack scenarios; the aim of these would be poisoning the drinking water source and intoxication of the population of the nearby city or destruction of the water tank...
Periodic speed errors can occur in permanent magnet linear synchronous machines for two reasons: 1) a periodic reference signal; 2) cogging force and friction. For reducing such periodic errors, iterative learning control or repetitive control approaches, used in conjunction with more common control actions, can be strongly effective. However, the design of the stability filter, robustness filter...
A novel sensorless speed control algorithm based on sliding mode observer (SMO) for permanent magnet synchronous motors (PMSM) is proposed. By utilizing a phase locked loop algorithm (PLL) based on synchronous reference frame and an embedded low pass filter, the drawback of SMO called “chattering phenomenon” is effectively attenuated, with no phase delay caused by the filter. The active back electromotive...
Collective object manipulation is one of the frequently observed behaviors in natural swarm systems which inspired many researchers to study and implement such methods via robotic systems. Adding obstacle avoidance capability to the agents involved in the manipulation task creates a ground for parallel object manipulation and collective construction in cluttered environments. In this paper, the obstacle...
Dexterous manipulation has broad applications in assembly lines, warehouses and agriculture. To perform broad-scale manipulation tasks, it is desired that a multi-fingered robotic hand can robustly manipulate objects without knowing the exact objects dynamics (i.e. mass and inertia) in advance. However, realizing robust manipulation is challenging due to the complex contact dynamics, the nonlinearities...
Under the high-speed operation, the control precision of the industrial robot is low and the robustness is poor due to the coupling effects of joints, inertia parameter variation and external disturbance. In order to solve these problems, a nonlinear compensation control algorithm of high-speed operation robot is proposed by combining the PID control method with the automatic disturbance rejection...
This paper utilizes the quantitative feedback theory (QFT) to design a robust controller for adaptive cutting feedrate control. The proposed algorithm could dynamically change the feedrate according to the spindle current which is highly related to the measured cutting force. The QFT controller could provide the constant cutting force even under different cutting condition. Hence, the machining efficiency...
This paper proposes a force control system using the State Observer Based Disturbance Observer (SO-DOB) and the State Observer Based Reaction Force Observer (SO-RFOB) based on the novel observer gain tuning methodology. The observer gain tuning methodology is based on the stable margin theory. By using the proposed gain tuning methodology, the system stability and the robustness of the SO-DOB and...
This research proposes a Kalman filter-based equivalent elastic force feedback approach for time-delay compensation. This research shows that the time-varying delay can be regarded as noise in the input and output signals. In order to achieve robustness, this research proposes a Kalman filter-based state observer (KFSO) in the time-delay system for the estimation and the compensation of the disturbance...
This paper presents a DSP-based sliding mode controller of the planar switched reluctance motor (PSRM) for precision positioning applications. The mechanical structure, control scheme, and the design of sliding mode controller are presented and analyzed, respectively. The DSP-based sliding mode controller is implemented for the PSRM experimentally. The steady-state positioning errors of x- and y-axes...
This paper applies ADRC algorithm to the inverted pendulum stabilization problem. Since the extended state observer and control law can be nonlinear or linear, different combinations are designed to balance the pendulum's angle. It also offers a practical solution that the nonlinear parameters are tuned as the linear ones. The output response speed and control variable are compromised to determine...
Atomic force microscopy is gaining interest as a technique to quantitatively study biological samples in native environment. However, the measuring principles behind may cause the presence of different sources of artifacts and image degradations. In this work, we present an AFM image analysis tool able to recognize morphological alterations in human leukemia cells after 3 h incubation with the antioxidant...
Standard hexarotors are often mistakenly considered ‘by definition’ fail-safe multi-rotor platforms because of the two additional propellers when compared to quadrotors. However this is not true, in fact, a standard hexarotor cannot statically hover with ‘only’ five propellers. In this paper we provide a set of new general algebraic conditions to ensure static hover for any multi-rotor platform with...
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