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Wyświetlanie 1-15 z 18
Tytuł:
Designing a ship course controller by applying the adaptive backstepping method
Autorzy:
Witkowska, A.
Śmierzchalski, R.
Powiązania:
https://bibliotekanauki.pl/articles/331255.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
autopilot
sterowanie adaptacyjne
sterowanie nieliniowe
algorytm genetyczny
adaptive control
nonlinear control
backstepping
genetic algorithms
Opis:
The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method. The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic. The adjustable parameters of the achieved nonlinear control structure were tuned up by using the genetic algorithm in order to optimize the system performance. A realistic full-scale simulation model of the B-481 type vessel including wave and wind effects was applied to simulate the control algorithm by using time domain analysis.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2012, 22, 4; 985-997
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Data probes, vertical trajectories and classification: A tentative study
Autorzy:
Pearson, D. W.
Powiązania:
https://bibliotekanauki.pl/articles/911252.pdf
Data publikacji:
2007
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
klasyfikacja
zerowanie wyjścia
sterowanie nieliniowe
geometria różniczkowa
classification
output zeroing
nonlinear control
differential geometry
Opis:
In this paper we introduce a method of classification based on data probes. Data points are considered as point masses in space and a probe is simply a particle that is launched into the space. As the probe passes by data clusters, its trajectory will be influenced by the point masses. We use this information to help us to find vertical trajectories. These are trajectories in the input space that are mapped onto the same value in the output space and correspond to the data classes.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2007, 17, 1; 107-112
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Stabilization of Second-order Systems by Non-linear Feedback
Autorzy:
Skruch, P.
Powiązania:
https://bibliotekanauki.pl/articles/907952.pdf
Data publikacji:
2004
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
układ drugiego rzędu
teoria stabilności
sterowanie nieliniowe
second-order system
stability theory
non-linear feedback
Opis:
A stabilization problem of second-order systems by non-linear feedback is considered. We discuss the case when only position feedback is available. The non-linear stabilizer is constructed by placing actuators and sensors in the same location and by using a parallel compensator. The stability of the closed-loop system is proved by LaSalle's theorem. The distinctive feature of the solution is that no transformation to a first-order system is invoked. The results of analytic and numerical computations are included to verify the theoretical analysis and the mathematical formulation.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 455-460
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear controller design of a ship autopilot
Autorzy:
Tomera, M.
Powiązania:
https://bibliotekanauki.pl/articles/907758.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie ślizgowe
sterowanie nieliniowe
eliminacja zakłóceń
sterowanie statkiem
sliding-mode control
nonlinear control
disturbance rejection
ship control
Opis:
The main goal here is to design a proper and efficient controller for a ship autopilot based on the sliding mode control method. A hydrodynamic numerical model of CyberShip II including wave effects is applied to simulate the ship autopilot system by using time domain analysis. To compare the results similar research was conducted with the PD controller, which was adapted to the autopilot system. The differences in simulation results between two controllers are analyzed by a cost function composed of a heading angle error and rudder deflection either in calm water or in waves. Simulation results show the effectiveness of the method in the presence of nonlinearities and disturbances, and high performance of the proposed controller.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2010, 20, 2; 271-280
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A numerically efficient fuzzy MPC algorithm with fast generation of the control signal
Autorzy:
Marusak, Piotr M.
Powiązania:
https://bibliotekanauki.pl/articles/1838187.pdf
Data publikacji:
2021
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
model predictive control
fuzzy system
fuzzy control
nonlinear control
sterowanie predykcyjne
system rozmyty
sterowanie rozmyte
sterowanie nieliniowe
Opis:
Model predictive control (MPC) algorithms are widely used in practical applications. They are usually formulated as optimization problems. If a model used for prediction is linear (or linearized on-line), then the optimization problem is a standard, i.e., quadratic, one. Otherwise, it is a nonlinear, in general, nonconvex optimization problem. In the latter case, numerical problems may occur during solving this problem, and the time needed to calculate control signals cannot be determined. Therefore, approaches based on linear or linearized models are preferred in practical applications. A novel, fuzzy, numerically efficient MPC algorithm is proposed in the paper. It can offer better performance than the algorithms based on linear models, and very close to that of the algorithms based on nonlinear optimization. Its main advantage is the short time needed to calculate the control value at each sampling instant compared with optimization-based numerical algorithms; it is a combination of analytical and numerical versions of MPC algorithms. The efficiency of the proposed approach is demonstrated using control systems of two nonlinear control plants: the first one is a chemical CSTR reactor with a van de Vusse reaction, and the second one is a pH reactor.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2021, 31, 1; 59-71
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Suboptimal Nonlinear Predictive Controllers
Autorzy:
Declercq, F.
De Keyser, R.
Powiązania:
https://bibliotekanauki.pl/articles/908312.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
sterowanie nieliniowe
programowanie sekwencyjne
równanie diofantyczne
predictive control
nonlinear control
sequential quadratic programming
diophantine equations
Opis:
Predictive control based on linear models has become a mature technology in the last decade. Many successful real-time applications can be found in almost every sector of industry. Nonlinear predictive control can further increase the performance of this easy-to-understand control strategy. One of the main problems of implementing nonlinear predictive control is the computational aspect, which is of most importance in real-life applications. In this paper, suboptimal nonlinear predictive control strategies are proposed and compared. The nonlinear predictors are built based on neural identification methods or by white modelling. The use of diophantine equations, which is a common technique to calculate the optimal contribution of the noise model, is avoided by using a more natural method. The comparison between the control algorithms is made based on a simulated discrete multivariable nonlinear system and a continuous stirred tank reactor.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 129-148
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A backstepping approach to ship course control
Autorzy:
Witkowska, A.
Tomera, M.
Śmierzchalski, R.
Powiązania:
https://bibliotekanauki.pl/articles/911245.pdf
Data publikacji:
2007
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie nieliniowe
algorytm genetyczny
sterowanie statkiem
funkcja Lapunowa
backstepping
nonlinear control
genetic algorithms
ship control
Lyapunov function
Opis:
As an object of course control, the ship is characterised by a nonlinear function describing static manoeuvring characteristics that reflect the steady-state relation between the rudder deflection and the rate of turn of the hull. One of the methods which can be used for designing a nonlinear ship course controller is the backstepping method. It is used here for designing two configurations of nonlinear controllers, which are then applied to ship course control. The parameters of the obtained nonlinear control structures are tuned to optimise the operation of the control system. The optimisation is performed using genetic algorithms. The quality of operation of the designed control algorithms is checked in simulation tests performed on the mathematical model of a tanker. In order to obtain reference results to be used for comparison with those recorded for nonlinear controllers designed using the backstepping method, a control system with the PD controller is examined as well.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2007, 17, 1; 73-85
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite-Dimensional Control of Nonlinear Parabolic Pde Systems With Time-Dependent Spatial Domains Using Empirical Eigenfunctions
Autorzy:
Armaou, A.
Christofides, P. D.
Powiązania:
https://bibliotekanauki.pl/articles/908332.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie nieliniowe
sterowanie skończenie wymiarowe
Karhunen-Loeve expansion
Galerkin's method
nonlinear control
diffusion-reaction processes with moving boundaries
Opis:
This article presents a methodology for the synthesis of finite-dimensional nonlinear output feedback controllers for nonlinear parabolic partial differential equation (PDE) systems with time-dependent spatial domains. Initially, the nonlinear parabolic PDE system is expressed with respect to an appropriate time-invariant spatial coordinate, and a representative (with respect to different initial conditions and input perturbations) ensemble of solutions of the resulting time-varying PDE system is constructed by computing and solving a high-order discretization of the PDE. Then, the Karhunen-Loeve expansion is directly applied to the ensemble of solutions to derive a small set of empirical eigenfunctions (dominant spatial patterns) that capture almost all the energy of the ensemble of solutions. The empirical eigenfunctions are subsequently used as basis functions within a Galerkin model reduction framework to derive low-order ordinary differential equation (ODE) systems that accurately describe the dominant dynamics of the PDE system. The ODE systems are subsequently used for the synthesis of nonlinear output feedback controllers using geometric control methods. The proposed control method is used to stabilize an unstable steady-state of a diffusion-reaction process with nonlinearities, spatially-varying coefficients and time-dependent spatial domain, and is shown to lead to the construction of accurate low-order models and the synthesis of low-order controllers. The performance of the low-order models and controllers is successfully tested through computer simulations.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 2; 287-317
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Design and Stability of Fuzzy Logic Multi-Regional Output Controllers
Autorzy:
Domański, P.
Brdyś, M. A.
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/908274.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie nieliniowe
sterowanie wewnętrzne
zbiór rozmyty
model Takagi-Sugeno
nonlinear output control
fuzzy logic
Takagi-Sugeno models
stability conditions
Opis:
Design and stability analysis of fuzzy multi-regional digital controllers is considered in the paper. The controllers are based on a notion of NARMAX systems, very similar to the Takagi-Sugeno fuzzy model. The nonlinear system is approximated by a number of linear subsystems. Linear controllers are designed for all subsystems. It can be made in a classical way due to the subsystems linearity. The controllers are blended into one controller by employing fuzzy logic, the result being the fuzzy multi-regional controller (FuMR). The stability analysis of nonlinear systems with FuMR controllers composed of dynamic output feedback local linear controllers is provided. Examples illustrate the design procedure and the meaning of the stability criterion.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 4; 883-897
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Sub-Optimal Nonlinear Predictive and Adaptive Control Based on the Parametric Volterra Model
Autorzy:
Haber, R.
Bars, R.
Lengyel, O.
Powiązania:
https://bibliotekanauki.pl/articles/908307.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
sterowanie nieliniowe
sterowanie optymalne
układ nieliniowy
adaptacyjny układ sterowania
predictive control
nonlinear control
optimal control
nonlinear systems
adaptive control
Opis:
Predictive control algorithms have been worked out mainly to control linear plants. There is a great demand to apply different control ideas to nonlinear systems. Using predictive control algorithms for nonlinear systems is a promising technique. Extended horizon one-step-ahead and long-range optimal predictive control algorithms are given here for the parametric Volterra model (which includes also the generalized Hammerstein model). A quadratic cost function is minimized which considers the quadratic deviations of the reference signal and the output signal at a future point (or points) beyond the dead time and also penalizes large control signal increments. For prediction of the output signal, a predictive model is applied which uses information about the input and output signals up to the current time. A predictive transformation of the nonlinear dynamic model is given. The incremental model is advantageous since the cost function contains the control increment and not the control signal itself. An incremental transformation of the predictive forms is also described. Sub-optimal solutions to the optimal control algorithms are discussed with different assumptions for the control signal during the control horizon. The effect of the different strategies and the effect of the tuning parameters is investigated through simulation examples.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 1; 161-173
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Nonlinear stabilizing control of an uncertain bioprocess model
Autorzy:
Dimitrova, N.
Krastanov, M.
Powiązania:
https://bibliotekanauki.pl/articles/930090.pdf
Data publikacji:
2009
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
oczyszczanie ścieków
stabilność asymptotyczna
sterowanie nieliniowe
wastewater treatment model
local bifurcations of steady states
asymptotic stabilization
extremum seeking
uncertain data
Opis:
In this paper we consider a nonlinear model of a biological wastewater treatment process, based on two microbial populations and two substrates. The model, described by a four-dimensional dynamic system, is known to be practically verified and reliable. First we study the equilibrium points of the open-loop system, their stability and local bifurcations with respect to the control variable. Further we propose a feedback control law for asymptotic stabilization of the closed-loop system towards a previously chosen operating point. A numerical extremum seeking algorithm is designed to stabilize the dynamics towards the maximum methane output flow rate in the presence of coefficient uncertainties. Computer simulations in Maple are reported to illustrate the theoretical results.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2009, 19, 3; 441-454
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
An adaptive output feedback motion tracking controller for robot manipulators: Uniform global asymptotic stability and experimentation
Autorzy:
Yarza, A.
Santibanez, V.
Moreno-Valenzuela, J.
Powiązania:
https://bibliotekanauki.pl/articles/330314.pdf
Data publikacji:
2013
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
adaptive control
robot control
nonlinear control
output feedback
Lyapunov UGAS stability
sterowanie adaptacyjne
sterowanie robotem
sterowanie nieliniowe
sprzężenie zwrotne
stabilność Lyapunova
Opis:
This paper deals with two important practical problems in motion control of robot manipulators: the measurement of joint velocities, which often results in noisy signals, and the uncertainty of parameters of the dynamic model. Adaptive output feedback controllers have been proposed in the literature in order to deal with these problems. In this paper, we prove for the first time that Uniform Global Asymptotic Stability (UGAS) can be obtained from an adaptive output feedback tracking controller, if the reference trajectory is selected in such a way that the regression matrix is persistently exciting. The new scheme has been experimentally implemented with the aim of confirming the theoretical results.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2013, 23, 3; 599-611
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Supervisory predictive control and on-line set-point optimization
Autorzy:
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/929583.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie predykcyjne
sterowanie nieliniowe
linearyzacja
model niepewności
sterowność wymuszona
optymalizacja
predictive control
nonlinear control
linearisation
model uncertainty
constrained control
set-point optimization
Opis:
The subject of this paper is to discuss selected effective known and novel structures for advanced process control and optimization. The role and techniques of model-based predictive control (MPC) in a supervisory (advanced) control layer are first shortly discussed. The emphasis is put on algorithm efficiency for nonlinear processes and on treating uncertainty in process models, with two solutions presented: the structure of nonlinear prediction and successive linearizations for nonlinear control, and a novel algorithm based on fast model selection to cope with process uncertainty. Issues of cooperation between MPC algorithms and on-line steady-state set-point optimization are next discussed, including integrated approaches. Finally, a recently developed two-purpose supervisory predictive set-point optimizer is discussed, designed to perform simultaneously two goals: economic optimization and constraints handling for the underlying unconstrained direct controllers.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2010, 20, 3; 483-495
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust Control of Nonlinear Time-Delay Systems
Autorzy:
Antoniades, C.
Christofides, P. D.
Powiązania:
https://bibliotekanauki.pl/articles/908267.pdf
Data publikacji:
1999
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
model niepewności
sterowanie solidne nieliniowe
opóźnienie czasowe
model uncertainty
time delays
nonlinear robust control
fluidized catalytic cracker
Opis:
This paper focuses on single-input single-output nonlinear differential difference equation (DDE) systems with uncertain variables. For such systems, a general methodology is developed for the synthesis of robust nonlinear state feedback controllers that guarantee boundedness of the states and ensure that the ultimate discrepancy between the output and the external reference input in the closed-loop system can be made arbitrarily small by an appropriate choice of controller parameters. The controllers are synthesized by using a novel combination of geometric and Lyapunov-based techniques and enforce the above properties in the closed-loop system independently of the size of the state delay. The proposed control method is successfully applied to a fluidized catalytic cracking unit with a time-varying uncertain variable and is shown to outperform a proportional integral (PI) controller, a nonlinear controller that does not account for the uncertainty, and anonlinear controller that does not account for the state delays.
Źródło:
International Journal of Applied Mathematics and Computer Science; 1999, 9, 4; 811-837
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A novel method for the design of switching surfaces for discretized MIMO nonlinear systems
Autorzy:
Luis-Delgado, J. D.
Al-Hadithi, B. M.
Jiménez, A.
Powiązania:
https://bibliotekanauki.pl/articles/331143.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
discrete sliding mode
variable structure control
nonlinear control
optimal control
MIMO system
sterowanie dyskretne
sterowanie ślizgowe
sterowanie o zmiennej strukturze
sterowanie nieliniowe
sterowanie optymalne
system MIMO
Opis:
Designing variable structure control with sliding mode (VSC-SM) control schemes needs a switching function or a sliding surface which guarantees the global stability of the closed-loop system. Despite the fact that a wide range of design approaches has been proposed for solving this mathematical problem, the number of proposed methodologies for nonlinear systems is not very extensive, especially for discrete time nonlinear MIMO systems, and most of them require some coordinate system transformation. Therefore, it is not an easy task to find a design scheme that can be applied to discrete time nonlinear MIMO systems. The proposed methodology introduces a mathematical tool: a switching surface equation for a class of MIMO nonlinear systems through an explicit equation without any coordinate transformation. This equation makes use of an implicit linearizing process via the Taylor expansion that allows the use of linear procedures for the design of switching surfaces and the forward Euler method to obtain a discrete time dynamics representation. An illustrative example is included to show the advantages of the proposed design methodology.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2017, 27, 1; 5-17
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 18

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