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    Wyświetlanie 1-7 z 7
    Tytuł:
    Decentralized Variable Structure Tracking for Systems With Time-Domain Dominance
    Autorzy:
    Balluchi, A.
    Bicchi, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/908303.pdf
    Data publikacji:
    1999
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    warunek dominujący
    sterowanie
    sterowanie rozproszone
    dominance conditions
    decentralized control
    robust control
    variables structure control (VSC)
    Opis:
    In this paper, we consider the design of tracking controllers for linear MIMO systems described by an input-output model. The presence of known 'weak' interactions among SISO or MIMO subsystems may allow the designer to achieve objectives by using independent controllers of lower complexity than are necessary in general (control decentralization problem). Sufficient conditions for asymptotic tracking employing decentralized variable structure techniques are derived. The condition is shown to be closely related to (and in a sense, a time-domain counterpart of) dominance criteria used in frequency-domain techniques, as they have developed out of Rosenbrock's original diagonal dominance concept. The synthesis of a decentralized variable-structure controller for asymptotic tracking is illustrated for systems obeying some conditions on their nominal relative degrees.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 1999, 9, 2; 265-291
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Variable-structure repetitive control for discrete-time linear systems with multiple-period exogenous signals
    Autorzy:
    Kurniawan, Edi
    Harno, Hendra G.
    Wijonarko, Sensus
    Widiyatmoko, Bambang
    Bayuwati, Dwi
    Purwowibowo, Purwowibowo
    Maftukhah, Tatik
    Powiązania:
    https://bibliotekanauki.pl/articles/330684.pdf
    Data publikacji:
    2020
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    repetitive control
    variable structure control
    multiple period signal
    fast transient response
    sterowanie powtarzalne
    sterowanie o zmiennej strukturze
    odpowiedź przejściowa
    Opis:
    A new method to construct a discrete-time variable-structure repetitive controller for a class of linear systems perturbed by multiple-period exogenous signals is presented. The proposed control scheme combines the features of the discrete-time multiple-period repetitive control (MP-RC) and variable-structure control (VSC) techniques. The MP-RC part is assigned to simultaneously track and reject periodic signals consisting of multiple uncorrelated fundamental frequencies. The VSC part is then integrated to provide a fast transient response and robustness against plant parameter variations. Stability and robustness analyses are also elaborated to ensure that the resulting closed-loop system satisfies the desired control objectives. Moreover, it is shown through an example that the repetitive control system constructed using the proposed control method can effectively track a sinusoidal reference signal despite the presence of a multiple-period disturbance.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2020, 30, 2; 207-218
    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
    Tytuł:
    Two-level stochastic control for a linear system with nonclassical information
    Autorzy:
    Duda, Z.
    Brandys, W.
    Powiązania:
    https://bibliotekanauki.pl/articles/907409.pdf
    Data publikacji:
    2004
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie stochastyczne
    informacja nieklasyczna
    struktura hierarchiczna
    stochastic control
    nonclassical information
    hierarchical structure
    Opis:
    A problem of control law design for large scale stochastic systems is discussed. Nonclassical information pattern is considered. A two-level hierarchical control structure with a coordinator on the upper level and local controllers on the lower level is proposed. A suboptimal algorithm with a partial decomposition of calculations and decentralized local control is obtained. A simple example is presented to illustrate the proposed approach.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2004, 14, 2; 161-166
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Dynamic external force feedback loop control of a robot manipulator using a neural compensator - Application to the trajectory following in an unknown environment
    Autorzy:
    Ferguene, F.
    Toumi, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/907867.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie położeniem
    sterowanie siłowe
    struktura zewnętrzna
    sterowanie neuronowe
    manipulator robota
    force/position control
    external structure
    neural control
    robot manipulator
    Opis:
    Force/position control strategies provide an effective framework to deal with tasks involving interaction with the environment. One of these strategies proposed in the literature is external force feedback loop control. It fully employs the available sensor measurements by operating the control action in a full dimensional space without using selection matrices. The performance of this control strategy is affected by uncertainties in both the robot dynamic model and environment stiffness. The purpose of this paper is to improve controller robustness by applying a neural network technique in order to compensate the effect of uncertainties in the robot model. We show that this control strategy is robust with respect to payload uncertainties, position and environment stiffness, and dry and viscous friction. Simulation results for a three degrees-of-freedom manipulator and various types of environments and trajectories show the effectiveness of the suggested approach compared with classical external force feedback loop structures.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 1; 113-126
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Optimality and sensitivity for semilinear bang-bang type optimal control problems
    Autorzy:
    Felgenhauer, U.
    Powiązania:
    https://bibliotekanauki.pl/articles/907953.pdf
    Data publikacji:
    2004
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie optymalne
    struktura roztworu
    warunki optymalności
    bang-bang control
    optimality conditions
    sensitivity differentials
    solution structure
    stability in optimal control
    strong local optima
    Opis:
    In optimal control problems with quadratic terminal cost functionals and systems dynamics linear with respect to control, the solution often has a bang-bang character. Our aim is to investigate structural solution stability when the problem data are subject to perturbations. Throughout the paper, we assume that the problem has a (possibly local) optimum such that the control is piecewise constant and almost everywhere takes extremal values. The points of discontinuity are the switching points. In particular, we will exclude the so-called singular control arcs, see Assumptions 1 and 2, Section 2. It is known from the results by Agrachev et al. (2002) stating that regularity assumptions, together with a certain strict second-order condition for the optimization problem formulated in switching points, are sufficient for strong local optimality of a state-control solution pair. This finite-dimensional problem is analyzed in Section 3 and optimality conditions are formulated (Lemma 2). Using well-known results concerning solution sensitivity for mathematical programs in Rn (Fiacco, 1983) one may further conclude that, under parameter changes in the problem data, the switching points will change Lipschitz continuously. The last section completes these qualitative statements by calculating sensitivity differentials (Theorem 2, Lemma 6). The method requires a simultaneous solution of certain linearized multipoint boundary value problems.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 447-454
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A variable structure observer for the control of robot manipulators
    Autorzy:
    Abdessameud, A.
    Khelfi, M. F.
    Powiązania:
    https://bibliotekanauki.pl/articles/908406.pdf
    Data publikacji:
    2006
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    obserwator
    manipulator robotyczny
    stateczność wykładnicza
    system naprowadzający
    variable structure observers
    switching-type observers
    rigid robot manipulators
    exponential stability
    tracking control
    Opis:
    This paper deals with the application of a variable structure observer developed for a class of nonlinear systems to solve the trajectory tracking problem for rigid robot manipulators. The analyzed approach to observer design proposes a simple design methodology for systems having completely observable linear parts and bounded nonlinearities and/or uncertainties. This observer is basically the conventional Luenberger observer with an additional switching term that is used to guarantee robustness against modeling errors and system uncertainties. To solve the tracking problem, we use a control law developed for robot manipulators in the full information case. The closed loop system is shown to be globally asymptotically stable based on Lyapunov arguments. Simulation results on a 3-DOF robot manipulator show the asymptotic convergence of the vectors of observation and tracking errors.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2006, 16, 2; 189-196
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-7 z 7

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