Temat: multiple model control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Actuator failure compensation for two linked 2WD mobile robots based on multiple-model control
Autorzy:: Ma, Y.
Cocquempot, V.
El Badaoui El Najjar, M.
Jiang, B.
Powiązania:: https://bibliotekanauki.pl/articles/331196.pdf
Data publikacji:: 2017
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: actuator failure
multiple model control
physically linked robot
two wheel drive
awaria siłownika
sterowanie wielomodelowe
robot połączony
Opis:: This paper develops a new actuator failure compensation scheme for two linked two-wheel drive (2WD) mobile robots based on multiple-model control. First, a configuration of two linked 2WD robots is described, and their kinematics and dynamics are modeled. Then, a multiple-model based failure compensation scheme is developed to compensate for actuator failures, consisting of a kinematic controller, multiple dynamic controllers and a control switching mechanism, which ensures system stability and asymptotic tracking properties. Finally, simulation results verify the effectiveness of the proposed failure compensation control system.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2017, 27, 4; 763-776
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Motor Control: Neural Models and Systems Theory
Autorzy:: Doya, K.
Kimura, H.
Miyamura, A.
Powiązania:: https://bibliotekanauki.pl/articles/908323.pdf
Data publikacji:: 2001
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: adaptacyjny układ sterowania
model wielokrotny
inverse model
adaptive control
cerebellum
reinforcement learning
basal ganglia
multiple models
Opis:: In this paper, we introduce several system theoretic problems brought forward by recent studies on neural models of motor control. We focus our attention on three topics: (i) the cerebellum and adaptive control, (ii) reinforcement learning and the basal ganglia, and (iii) modular control with multiple models. We discuss these subjects from both neuroscience and systems theory viewpoints with the aim of promoting interplay between the two research communities.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2001, 11, 1; 77-104
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: A multi-model based adaptive reconfiguration control scheme for an electro-hydraulic position servo system
Autorzy:: Zhang, Zhao
Yang, Zhong
Liu, Shuchang
Chen, Shuang
Zhang, Xiaokai
Powiązania:: https://bibliotekanauki.pl/articles/2124780.pdf
Data publikacji:: 2022
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: fault tolerant control
electro hydraulic position
servo system
multiple model
adaptive control
reconfiguration control
sterowanie tolerujące uszkodzenia
serwomechanizm
sterowanie adaptacyjne
Opis:: Reliability and safety of an electro-hydraulic position servo system (EHPSS) can be greatly reduced for potential sensor and actuator faults. This paper proposes a novel reconfiguration control (RC) scheme that combines multi-model and adaptive control to compensate for the adverse effects. Such a design includes several fixed models, one adaptive model, and one reinitialized adaptive model. Each of the models has its own independent controller that is based on a complete parametrization of the corresponding fault. A proper switching mechanism is set up to select the most appropriate controller to control the current plant. The system output can track the reference model asymptotically using the proposed method. Simulation results validate robustness and effectiveness of the proposed scheme. The main contribution is a reconfiguration control method that can handle component faults and maintain the acceptable performance of the EHPSS.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2022, 32, 2; 185--196
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Fault tolerance in networked control systems under intermittent observations
Autorzy:: Georges, J. P.
Theilliol, D.
Cocquempot, V.
Ponsart, J. C.
Aubrun, C.
Powiązania:: https://bibliotekanauki.pl/articles/930171.pdf
Data publikacji:: 2011
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: przeciążenie sieci
sterowanie odporne na błędy
diagnostyka uszkodzeń
system sieciowy
model wielokrotny
network congestion
fault tolerant control
fault diagnosis
networked control system
interacting multiple model
Opis:: This paper presents an approach to fault tolerant control based on the sensor masking principle in the case of wireless networked control systems. With wireless transmission, packet losses act as sensor faults. In the presence of such faults, the faulty measurements corrupt directly the behaviour of closed-loop systems. Since the controller aims at cancelling the error between the measurement and its reference input, the real outputs will, in such a networked control system, deviate from the desired value and may drive the system to its physical limitations or even to instability. The proposed method facilitates fault compensation based on an interacting multiple model approach developed in the framework of channel errors or network congestion equivalent to multiple sensors failures. The interacting multiple model method involved in a networked control system provides simultaneously detection and isolation of on-line packet losses, and also performs a suitable state estimation. Based on particular knowledge of packet losses, sensor fault-tolerant controls are obtained by computing a new control law using fault-free estimation of the faulty element to avoid intermittent observations that might develop into failures and to minimize the effects on system performance and safety.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2011, 21, 4; 639-648
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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