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 "control constraints" wg kryterium: Temat

  Lista filtrów
Wyrównaj
    Wyświetlanie 1-10 z 10
    Tytuł:
    Planning of collision-free trajectory for mobile manipulators
    Autorzy:
    Pająk, G.
    Powiązania:
    https://bibliotekanauki.pl/articles/265205.pdf
    Data publikacji:
    2013
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    mobilny manipulator
    planowanie trajektorii
    mobile manipulator
    path following
    trajectory planning
    penalty function
    control constraints
    Opis:
    A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. A computer example involving a mobile manipulator consisting of a nonholonomic platform and a SCARA type holonomic manipulator operating in a two-dimensional task space is also presented.
    Źródło:
    International Journal of Applied Mechanics and Engineering; 2013, 18, 2; 475-489
    1734-4492
    2353-9003
    Pojawia się w:
    International Journal of Applied Mechanics and Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control error dynamic modification as an efficient tool for reduction of effects introduced by actuator constraints
    Autorzy:
    Janiszowski, K. B.
    Powiązania:
    https://bibliotekanauki.pl/articles/907663.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie cyfrowe
    regulacja PID
    wind-up
    actuator constraints
    digital dead-beat control
    PID control
    rate constraints
    state-space control
    saturations at control
    Opis:
    A modification of digital controller algorithms, based on the introduction of a virtual reference value, which never exceeds active constraints in the actuator output is presented and investigated for some algorithms used in single-loop control systems. This idea, derived from virtual modification of a control error, can be used in digital control systems subjected to both magnitude and rate constraints. The modification is introduced in the form of on-line adaptation to the control task. Hence the design of optimal (in a specified sense) digital controller parameters can be separated from actuator constraints. The adaptation of the control algorithm (to actuator constraints) is performed by the transformation of the control error and is equivalent to the introduction of a new, virtual reference value for the control system. An application of this approach is presented through examples of three digital control algorithms: the PID algorithm, the dead-beat controller and the state space controller. In all cases, clear advantages of transients are observed, which yields some general conclusions to the problem of processing actuator constraints in control.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 2; 271-279
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    On the Constrained Controllability of Dynamical Systems With Multiple Delays in the State
    Autorzy:
    Sikora, B.
    Powiązania:
    https://bibliotekanauki.pl/articles/908099.pdf
    Data publikacji:
    2003
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    matematyka
    delay systems
    constrained controllability
    control
    constraints
    asymptotic stability
    Opis:
    Linear stationary dynamical systems with multiple constant delays in the state are studied. Their relative and approximate controllability properties with constrained controls are discussed. Definitions of various types of controllability with constrained controls for systems with delays in the state are introduced. Some theorems concerning the relative and the approximate relative controllability with constrained controls for dynamical systems with delays in the state are established. Various types of constraints are considered. Numerical examples illustrate the theoretical analysis. An example of a real technical dynamical system is given to indicate one of possible practical applications of the theoretical results.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2003, 13, 4; 469-479
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Self-Tuning Generalized Predictive Control With Input Constraints
    Autorzy:
    Królikowski, A.
    Jerzy, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/908330.pdf
    Data publikacji:
    2001
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    samostrojenie
    sterowanie
    generalized predictive control
    constraints
    self-tuning
    ARIMAX/ARMAX systems
    Opis:
    The handling of various input constraints in the self-tuning generalized predictive control (STGPC) problem of ARIMAX/ARMAX systems is considered. The methods based on the Lagrange multipliers and Lemke's algorithm are used to solve the constrained optimization problem. A self-tuning controller is implemented in an indirect way, and the considered constraints imposed on the control input signal are of the rate, amplitude and energy types. A comparative simulation study of self-tuning control system behaviour is given with respect to the design parameters and constraints. The stability of a closed-loop control system is analyzed and the computational loads of both the methods are compared.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2001, 11, 2; 459-479
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust multisensor fault tolerant model-following MPC design for constrained systems
    Autorzy:
    Yetendje, A.
    Seron, M. M.
    De Doná, J. A.
    Powiązania:
    https://bibliotekanauki.pl/articles/331458.pdf
    Data publikacji:
    2012
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie tolerujące uszkodzenia
    odporność
    ograniczenie
    fault tolerant control
    constraints
    robustness
    invariant set
    Opis:
    In this paper, a robust fault-tolerant control strategy for constrained multisensor linear systems, subject to sensor faults and in the presence of bounded state and output disturbances, is proposed. The scheme verifies that, for each sensors-estimator combination, suitable residual variables lie inside pre-computed sets and selects a more appropriate combination based on a chosen criterion. An active fault tolerant output feedback controller yields an MPC-based control law and, by means of the notion of a "tube" of trajectories, we ensure robust closed-loop exponential stability and good performance in the fault-free case and under the occurrence of abrupt sensor faults.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2012, 22, 1; 211-223
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Convergence of the Lagrange-Newton Method for Optimal Control Problems
    Autorzy:
    Malanowski, K. D.
    Powiązania:
    https://bibliotekanauki.pl/articles/907971.pdf
    Data publikacji:
    2004
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie optymalne
    ograniczenia mieszane
    metoda Lagrange'a-Newtona
    optimal control
    nonlinear ODEs
    mixed constraints
    Lagrange-Newton method
    Opis:
    Convergence results for two Lagrange-Newton-type methods of solving optimal control problems are presented. It is shown how the methods can be applied to a class of optimal control problems for nonlinear ODEs, subject to mixed control-state constraints. The first method reduces to an SQP algorithm. It does not require any information on the structure of the optimal solution. The other one is the shooting method, where information on the structure of the optimal solution is exploited. In each case, conditions for well-posedness and local quadratic convergence are given. The scope of applicability is briefly discussed.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2004, 14, 4; 531-540
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Input constraints handling in an MPC/feedback linearization scheme
    Autorzy:
    Deng, J.
    Becerra, V. M.
    Stobart, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/907653.pdf
    Data publikacji:
    2009
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    sterowanie predykcyjne
    sterowanie odwrotne
    sieć neuronowa
    system nieliniowy
    predictive control
    feedback linearization
    neural network
    nonlinear system
    constraints
    Opis:
    The combination of model predictive control based on linear models (MPC) with feedback linearization (FL) has attracted interest for a number of years, giving rise to MPC+FL control schemes. An important advantage of such schemes is that feedback linearizable plants can be controlled with a linear predictive controller with a fixed model. Handling input constraints within such schemes is difficult since simple bound contraints on the input become state dependent because of the nonlinear transformation introduced by feedback linearization. This paper introduces a technique for handling input constraints within a real timeMPC/FL scheme, where the plant model employed is a class of dynamic neural networks. The technique is based on a simple affine transformation of the feasible area. A simulated case study is presented to illustrate the use and benefits of the technique.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2009, 19, 2; 219-232
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    An active fault-tolerant control framework against actuator stuck failures under input saturations
    Autorzy:
    Qi, X.
    Theilliol, D.
    He, Y.
    Han, J.
    Powiązania:
    https://bibliotekanauki.pl/articles/331084.pdf
    Data publikacji:
    2017
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    fault tolerant control
    actuator stuck failure
    actuator constraints
    reference redesign
    linear matrix inequality
    sterowanie tolerujące uszkodzenia
    projekt odniesienia
    liniowa nierówność macierzowa
    Opis:
    In this paper, a control framework including active fault-tolerant control (FTC) and reference redesign is developed subject to actuator stuck failures under input saturations. FTC synthesis and reference redesign approaches are proposed to guarantee post-fault system safety and reference reachability. Then, these features are analyzed under both actuator stuck failures and constraints before fault-tolerant controller switches. As the main contribution, actuator stuck failures and constraints are unified so that they can be easily considered simultaneously. By means of transforming stuck failures into actuator constraints, the post-fault system can be regarded as an equivalent system with only asymmetrical actuator constraints. Thus, methods against actuator saturations can be used to guarantee regional stability and produce the stability region. Based on this region, stuck compensation is analyzed. Specifically, an unstable open-loop system is considered, which is more challenging. Furthermore, the method is extended to a set-point tracking problem where the reachability of the original reference can be evaluated. Then, a new optimal reference will be computed for the post-fault system if the original one is unreachable. Finally, simulation examples are shown to illustrate the theoretical results.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2017, 27, 4; 749-761
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Reliability-based economic model predictive control for generalised flow-based networks including actuators’ health-aware capabilities
    Autorzy:
    Grosso, J. M.
    Ocampo-Martinez, C.
    Puig, V.
    Powiązania:
    https://bibliotekanauki.pl/articles/330080.pdf
    Data publikacji:
    2016
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    model predictive control
    flow based network
    dynamic safety stocks
    actuator health
    service reliability
    chance constraints
    economic optimisation
    sterowanie predykcyjne
    niezawodność serwisu
    optymalizacja ekonomiczna
    Opis:
    This paper proposes a reliability-based economic model predictive control (MPC) strategy for the management of generalized flow-based networks, integrating some ideas on network service reliability, dynamic safety stock planning, and degradation of equipment health. The proposed strategy is based on a single-layer economic optimisation problem with dynamic constraints, which includes two enhancements with respect to existing approaches. The first enhancement considers chance-constraint programming to compute an optimal inventory replenishment policy based on a desired risk acceptability level, leading to dynamical allocation of safety stocks in flow-based networks to satisfy non-stationary flow demands. The second enhancement computes a smart distribution of the control effort and maximises actuators’ availability by estimating their degradation and reliability. The proposed approach is illustrated with an application of water transport networks using the Barcelona network as the case study considered.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2016, 26, 3; 641-654
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    H-infinity control of discrete-time linear systems constrained in state by equality constraints
    Autorzy:
    Filasová, A.
    Krokavec, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/330125.pdf
    Data publikacji:
    2012
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    układ dyskretny
    liniowa nierówność macierzowa
    sprzężenie zwrotne
    algorytm sterowania
    układ singularny
    equality constraints
    discrete time systems
    linear matrix inequality
    state feedback
    control algorithms
    quadratic stability
    singular systems
    Opis:
    In this paper, stabilizing problems in control design are addressed for linear discrete-time systems, reflecting equality constraints tying together some state variables. Based on an enhanced representation of the bounded real lemma for discrete-time systems, the existence of a state feedback control for such conditioned stabilization is proven, and an LMI-based design procedure is provided. The control law gain computation method used circumvents generally an ill-conditioned singular design task. The principle, when compared with previously published results, indicates that the proposed method outper forms the existing approaches, guarantees feasibility, and improves the steady-state accuracy of the control. Furthermore, better performance is achieved with essentially reduced design effort. The approach is illustrated on simulation examples, where the validity of the proposed method is demonstrated using one state equality constraint.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2012, 22, 3; 551-560
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-10 z 10

      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