Informacja

Drogi użytkowniku, aplikacja do prawidłowego działania wymaga obsługi JavaScript. Proszę włącz obsługę JavaScript w Twojej przeglądarce.

English (EN)·Polski (PL)·Yкраїнський (UK)
Przejdź do strony domowej biblioteki Centralna Biblioteka Wojskowa Link otwiera się w nowym oknie Logo biblioteki Prolib Integro - strona głównaCentralna Biblioteka Wojskowa

Wyszukujesz frazę "discontinuous control" wg kryterium: Temat

  Lista filtrów
Wyrównaj
    Wyświetlanie 1-4 z 4
    Tytuł:
    Different kinematic controllers stabilizing nonholonomic mobile manipulators of (nh, nh) type about desired configuration
    Autorzy:
    Mazur, A.
    Płaskonka, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/384796.pdf
    Data publikacji:
    2011
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    nonholonomic systems
    point stabilization
    discontinuous control
    Opis:
    In the paper, a problem of selection of kinematic control algorithm for nonholonomic manipulator has been considered. For a nonholonomic manipulating arm, two kinematic algorithms - Astolfi algorithm (working in closed-loop) and Nakamura, Chung and Sordalen algorithm (working in open loop of control) have been compared. Simulation results have shown that influence of the dynamics on the behavior of mobile manipulator of (nh, nh) type is huge. It means that only kinematic control algorithms using feedback in the control loop are sufficiently robust to apply them in practical applications. Then, for the nonholonomic wheeled mobile platform, Astolfi algorithm, which belongs to discontinuous class of kinematic algorithms, has also been compared to a discontinuous algorithm proposed by Zhang & Hirschorn.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 41-48
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Stability analysis of sliding-mode feedback control
    Autorzy:
    Clarke, F. H.
    Vinter, R. B.
    Powiązania:
    https://bibliotekanauki.pl/articles/970887.pdf
    Data publikacji:
    2009
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    sliding-mode control
    discontinuous control
    Lyapunov functions
    stabilization
    robustness
    Opis:
    This paper provides new analytic tools leading to the first rigorous stability and robustness analysis of sliding-mode feedback controllers. Unrestrictive conditions are given, under which these controllers are stabilizing in the presence of large disturbances, conditions invoke the existence of two Lyapunov-type functions, the first associated with passage to the sliding set in finite time, and the second with convergence to the desired state. In this approach, account is taken, from the outset, of implementational constraints. We provide a framework for establishing stability and robustness of the closed-loop system, for a variety of implementation schemes. We illustrate our results by means of two examples of the type frequently encountered in the sliding-mode literature.
    Źródło:
    Control and Cybernetics; 2009, 38, 4A; 1169-1192
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Comparative study of stabilization controls of a forklift vehicle
    Autorzy:
    Widyotriatmo, Augie
    Powiązania:
    https://bibliotekanauki.pl/articles/970586.pdf
    Data publikacji:
    2019
    Wydawca:
    Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
    Tematy:
    autonomous vehicle
    stabilization control
    time varying based control
    discontinuous control
    navigation variables based control
    Opis:
    This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three stabilization controls, which are chained-form time-varying control, sigma-transformed discontinuous control, and navigation-variables-based discontinuous control, for a forklift vehicle are compared by simulations. The sigma-transformed and navigation-variables-based discontinuous controls provide fast convergence motions from an initial to a final configuration, while the time-varying-based control provides oscillatory motion and slow convergence. The sigma-transformed discontinuous control has a set of discontinuous points in which, from a practical point of view, the control signals can blow up if a vehicle enters the set. The navigation-variables-based control, which also has a discontinuous point at the final configuration, does not produce blown up control signals since its boundedness nature. Discussion on the implementation of control algorithm is elucidated for the three stabilization controls for the forklift vehicle.
    Źródło:
    Acta Mechanica et Automatica; 2019, 13, 3; 181-188
    1898-4088
    2300-5319
    Pojawia się w:
    Acta Mechanica et Automatica
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Regulation control of an underactuated mechanical system with discontinuous friction and backlash
    Autorzy:
    Rascón, R.
    Rosas, D.
    Hernandez-Balbuena, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/330564.pdf
    Data publikacji:
    2017
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    underactuated mechanical system
    sliding mode control
    H infinity control
    discontinuous observer
    sterowany układ mechaniczny
    sterowanie ślizgowe
    obserwator nieciągły
    Opis:
    In this work, the problem of position regulation control is addressed for a 2DOF underactuated mechanical system with friction and backlash. For this purpose, a method combining sliding mode and H∞ control is developed. We prove that the application of the method to the nonlinear model considered results in an asymptotically stable equilibria set. Moreover, it is possible to achieve a sufficiently small and bounded steady-state position error even in the presence of disturbances by employing the proposed technique. That is, the developed controller is able to account not only for unmatched external perturbations and model discrepancies of the test rig considered, but also for matched bounded perturbations. The control methodology is presented from both the theoretical and experimental angles to demonstrate the good performance of the proposed controller.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2017, 27, 4; 785-797
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-4 z 4

      Ta witryna wykorzystuje pliki cookies do przechowywania informacji na Twoim komputerze. Pliki cookies stosujemy w celu świadczenia usług na najwyższym poziomie, w tym w sposób dostosowany do indywidualnych potrzeb. Korzystanie z witryny bez zmiany ustawień dotyczących cookies oznacza, że będą one zamieszczane w Twoim komputerze. W każdym momencie możesz dokonać zmiany ustawień dotyczących cookies