Temat: chained systems - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Geometry and flatness of m-crane systems
Autorzy:: Nowicki, M.
Respondek, W.
Piasek, J.
Kozłowski, K.
Powiązania:: https://bibliotekanauki.pl/articles/201728.pdf
Data publikacji:: 2019
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: differential flatness
crane
chained systems
feedback equivalence
accessibility
nonlinear control
Opis:: We propose a class of m-crane control systems that generalizes two- and three-dimensional crane systems. We prove that each representant of the described class is feedback equivalent to the second order chained form with drift. In consequence, we prove that it is differentially flat. Then we investigate its control properties and derive a control law for tracking control problem.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 5; 893-903
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

Skocz do pozycji: 2.

Tytuł:: Predictor-based stabilization for chained form systems with input time delay
Autorzy:: Mnif, F.
Powiązania:: https://bibliotekanauki.pl/articles/229546.pdf
Data publikacji:: 2016
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: σ-process transformation
chained form systems
mobile robots
exponential stabilization
time delay system
Opis:: This note addresses the stabilization problem of nonlinear chained-form systems with input time delay. We first employ the so-called σ-process transformation that renders the feedback system under a linear form. We introduce a particular transformation to convert the original system into a delay-free system. Finally, we apply a state feedback control, which guarantees a quasi-exponential stabilization to all the system states, which in turn converge exponentially to zero. Then we employ the so-called -type control to achieve a quasi-exponential stabilization of the subsequent system. A simulation example illustrated on the model of a wheeled mobile robot is provided to demonstrate the effectiveness of the proposed approach.
Źródło:: Archives of Control Sciences; 2016, 26, 4; 515-525
1230-2384
Pojawia się w:: Archives of Control Sciences
Dostawca treści:: Biblioteka Nauki

Artykuł

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