Temat: nonlinear control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Position/force control of manipulator in contact with flexible environment
Autorzy:: Gierlak, Piotr
Powiązania:: https://bibliotekanauki.pl/articles/386967.pdf
Data publikacji:: 2019
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: robotics
robot control
nonlinear control systems
Opis:: The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.
Źródło:: Acta Mechanica et Automatica; 2019, 13, 1; 16-22
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Neural control of a robotic manipulator in contact with a flexible and uncertain environment
Autorzy:: Gierlak, Piotr
Powiązania:: https://bibliotekanauki.pl/articles/2233648.pdf
Data publikacji:: 2023
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: robotics
robot control
nonlinear control systems
Opis:: This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot's dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.
Źródło:: Acta Mechanica et Automatica; 2023, 17, 3; 435--444
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 3.

Tytuł:: Control of Fractional-Order Nonlinear Systems: A Review
Autorzy:: Petráš, I.
Bednárová, D.
Powiązania:: https://bibliotekanauki.pl/articles/386576.pdf
Data publikacji:: 2011
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: sterowanie
systemy nielioniowe
przegląd
control
nonlinear systems
review
Opis:: This paper deals with the control of the fractional-order nonlinear systems. A list of the control strategies as well as synchronization of the chaotic systems is presented. An illustrative example of sliding mode control (SMC) of the fractional-order (commensurate and incommensurate) financial system is described and commented together with the simulation results.
Źródło:: Acta Mechanica et Automatica; 2011, 5, 2; 96-100
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 4.

Tytuł:: Sky-hook control and Kalman filtering in nonlinear model of tracked vehicle suspension system
Autorzy:: Jurkiewicz, A.
Kowal, J.
Zając, K.
Powiązania:: https://bibliotekanauki.pl/articles/386619.pdf
Data publikacji:: 2017
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: continuous sky-hook control strategy
extended Kalman filter
military vehicle
nonlinear model
semi-active suspension system
simulation
Opis:: The essence of the undertaken topic is application of the continuous sky-hook control strategy and the Extended Kalman Filter as the state observer in the 2S1 tracked vehicle suspension system. The half-car model of this suspension system consists of seven logarithmic spiral springs and two magnetorheological dampers which has been described by the Bingham model. The applied continuous skyhook control strategy considers nonlinear stiffness characteristic of the logarithmic spiral springs. The control is determined on estimates generated by the Extended Kalman Filter. Improve of ride comfort is verified by comparing simulation results, under the same driving conditions, of controlled and passive vehicle suspension systems.
Źródło:: Acta Mechanica et Automatica; 2017, 11, 3; 222-228
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

Artykuł

Informacja