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Wyświetlanie 1-15 z 48
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:
Fault tolerant control of switched nonlinear systems with time delay under asynchronous switching
Autorzy:
Xiang, Z.
Wang, R.
Chen, Q.
Powiązania:
https://bibliotekanauki.pl/articles/929592.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
opóźnienie czasowe
sterowanie tolerujące uszkodzenia
układ komutowany
układ nieliniowy
time delay
fault tolerant control
switched nonlinear systems
asynchronous switching
Opis:
This paper investigates the problem of fault tolerant control of a class of uncertain switched nonlinear systems with time delay under asynchronous switching. The systems under consideration suffer from delayed switchings of the controller. First, a fault tolerant controller is proposed to guarantee exponentially stability of the switched systems with time delay. The dwell time approach is utilized for stability analysis and controller design. Then the proposed approach is extended to take into account switched time delay systems with Lipschitz nonlinearities and structured uncertainties. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2010, 20, 3; 497-506
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:
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:
Robust adaptive fuzzy filters output feedback control of strict-feedback nonlinear systems
Autorzy:
Tong, S.
Liu, C.
Li, Y.
Powiązania:
https://bibliotekanauki.pl/articles/908148.pdf
Data publikacji:
2010
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
system nieliniowy
sterowanie rozmyte
sprzężenie zwrotne
nonlinear system
adaptive fuzzy control
backstepping
small-gain approach
K-filters
Opis:
In this paper, an adaptive fuzzy robust output feedback control approach is proposed for a class of single input single output (SISO) strict-feedback nonlinear systems without measurements of states. The nonlinear systems addressed in this paper are assumed to possess unstructured uncertainties, unmodeled dynamics and dynamic disturbances, where the unstructured uncertainties are not linearly parameterized, and no prior knowledge of their bounds is available. In recursive design, fuzzy logic systems are used to approximate unstructured uncertainties, and K-filters are designed to estimate unmeasured states. By combining backstepping design and a small-gain theorem, a stable adaptive fuzzy output feedback control scheme is developed. It is proven that the proposed adaptive fuzzy control approach can guarantee the all the signals in the closed-loop system are uniformly ultimately bounded, and the output of the controlled system converges to a small neighborhood of the origin. The effectiveness of the proposed approach is illustrated by a simulation example and some comparisons.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2010, 20, 4; 637-653
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:
Soft computing in model-based predictive control
Autorzy:
Tatjewski, P.
Ławryńczuk, M.
Powiązania:
https://bibliotekanauki.pl/articles/908473.pdf
Data publikacji:
2006
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
sterowanie procesami
sterowanie predykcyjne
system nieliniowy
system rozmyty
sieć neuronowa
process control
model predictive control
nonlinear systems
fuzzy systems
neural networks
Opis:
The application of fuzzy reasoning techniques and neural network structures to model-based predictive control (MPC) is studied. First, basic structures of MPC algorithms are reviewed. Then, applications of fuzzy systems of the Takagi-Sugeno type in explicit and numerical nonlinear MPC algorithms are presented. Next, many techniques using neural network modeling to improve structural or computational properties of MPC algorithms are presented and discussed, from a neural network model of a process in standard MPC structures to modeling parts or entire MPC controllers with neural networks. Finally, a simulation example and conclusions are given.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2006, 16, 1; 7-26
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:
Analysis of an Isope-Type Dual Algorithm for Optimizing Control and Nonlinear Optimization
Autorzy:
Tadej, W.
Tatjewski, P.
Powiązania:
https://bibliotekanauki.pl/articles/908338.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
optymalizacja nieliniowa
sterowanie optymalizujące
nonlinear optimization
optimizing control
duality
condition number
Opis:
First results concerning important theoretical properties of the dual ISOPE (Integrated System Optimization and Parameter Estimation) algorithm are presented. The algorithm applies to on-line set-point optimization in control structures with uncertainty in process models and disturbance estimates, as well as to difficult nonlinear constrained optimization problems. Properties of the conditioned (dualized) set of problem constraints are investigated, showing its structure and feasibility properties important for applications. Convergence conditions for a simplified version of the algorithm are derived, indicating a practically important threshold value of the right-hand side of the conditioning constraint. Results of simulations are given confirming the theoretical results and illustrating properties of the algorithms.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 2; 429-457
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Fundamental limitations of the decay of generalized energy in controlled (discrete-time) nonlinear systems subject to state and input constraints
Autorzy:
Selek, István
Ikonen, Enso
Powiązania:
https://bibliotekanauki.pl/articles/330074.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
decay rate maximization
Lyapunov function
nonlinear control system
rozkład wykładniczy
funkcja Lapunowa
układ sterowania nieliniowy
Opis:
This paper is devoted to the analysis of fundamental limitations regarding closed-loop control performance of discrete-time nonlinear systems subject to hard constraints (which are nonlinear in state and manipulated input variables). The control performance for the problem of interest is quantified by the decline (decay) of the generalized energy of the controlled system. The paper develops (upper and lower) barriers bounding the decay of the system’s generalized energy, which can be achieved over a set of asymptotically stabilizing feedback laws. The corresponding problem is treated without the loss of generality, resulting in a theoretical framework that provides a solid basis for practical implementations. To enhance understanding, the main results are illustrated in a simple example.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2019, 29, 4; 629-639
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Automatic Control of Mechatronic Systems
Autorzy:
Schlacher, K.
Kugi, A.
Powiązania:
https://bibliotekanauki.pl/articles/908321.pdf
Data publikacji:
2001
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
mechatronika
geometria różniczkowa
sterowanie
mechatronic systems
differential geometry
nonlinear H_{infty}-control
passivity
input-output linearization
Opis:
This contribution deals with different concepts of nonlinear control for mechatronic systems. Since most physical systems are nonlinear in nature, it is quite obvious that an improvement in the performance of the closed loop can often be achieved only by means of control techniques that take the essential nonlinearities into consideration. Nevertheless, it can be observed that industry often hesitates to implement these nonlinear controllers, despite all advantages existing from the theoretical point of view. On the basis of three different applications, a PWM-controlled dc-to-dc converter, namely the Cuk-converter, the problem of hydraulic gap control in steel rolling, and the design of smart structures with piezolelectric sensor and actuator layers, we will demonstrate how one can overcome these problems by exploiting the physical structure of the mathematical models of the considered plants.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2001, 11, 1; 131-164
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust flat filtering control of a two degrees of freedom helicopter subject to tail rotor disturbances
Autorzy:
Sánchez-Meza, Victor-Gabriel
Lozano-Hernández, Yair
Gutiérrez-Frías, Octavio
Lozada-Castillo, Norma
Luviano-Juárez, Alberto
Powiązania:
https://bibliotekanauki.pl/articles/24200696.pdf
Data publikacji:
2023
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
flat filtering control
generalized proportional integral control
nonlinear system
tail rotor disturbance
two degrees of freedom helicopter
sterowanie całkujące
układ nieliniowy
zakłócenia wirnika
Opis:
This article deals with modelling and a flatness-based robust trajectory tracking scheme for a two degrees of freedom helicopter, which is subject to four types of tail rotor disturbances to validate the control scheme robustness. A mathematical model of the system, its differential flatness and a differential parametrization are obtained. The flat filtering control is designed for the system control with a partially known model, assuming the non-modelled dynamics and the external disturbances (specially the tail rotor ones) to be rejected by means of an extended state model (ultra-local model). Numerical and experimental assessments are carried out on a characterized prototype whose yaw angle (ψ), given by the z axis, is in free form, while the pitch angle (θ), which results from rotation about the y axis, is mechanically restricted. The proposed controller performance is tested through a set of experiments in trajectory tracking tasks with different disturbances in the tail rotor, showing robust behaviour for the different disturbances. Besides, a comparison study against a widely used controller of LQR type is carried out, in which the proposed controller achieves better results, as illustrated by a performance index.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2023, 33, 4; 521--535
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
LMI-based robust control of uncertain nonlinear systems via polytopes of polynomials
Autorzy:
Sánchez, Marcelino
Bernal, Miguel
Powiązania:
https://bibliotekanauki.pl/articles/330548.pdf
Data publikacji:
2019
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
robust control
uncertain system
nonlinear system
linear parameter-varying systems
LMIs
sterowanie odporne
układ niepewny
układ nieliniowy
układ liniowy niestacjonarny
Opis:
This investigation is concerned with robust analysis and control of uncertain nonlinear systems with parametric uncertainties. In contrast to the methodologies from the field of linear parameter varying systems, which employ convex structures of the state space representation in order to perform analysis and design, the proposed approach makes use of a polytopic form of a generalisation of the characteristic polynomial, which proves to outperform former results on the subject. Moreover, the derived conditions have the advantage of being cast as linear matrix inequalities under mild assumptions.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2019, 29, 2; 275-283
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A modified filter SQP method as a tool for optimal control of nonlinear systems with spatio-temporal dynamics
Autorzy:
Rafajłowicz, E.
Styczeń, K.
Rafajłowicz, W.
Powiązania:
https://bibliotekanauki.pl/articles/331421.pdf
Data publikacji:
2012
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
programowanie nieliniowe
sterowanie optymalne
równanie różniczkowe cząstkowe
filter approach
nonlinear programming
optimal control
partial differential equations
Opis:
Our aim is to adapt Fletcher's filter approach to solve optimal control problems for systems described by nonlinear Partial Differential Equations (PDEs) with state constraints. To this end, we propose a number of modifications of the filter approach, which are well suited for our purposes. Then, we discuss possible ways of cooperation between the filter method and a PDE solver, and one of them is selected and tested.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2012, 22, 2; 313-326
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
How to compensate a spreading disturbance for a class of nonlinear systems
Autorzy:
Quaraai, Y.
Bernoussi, A. S.
El Jai, A.
Powiązania:
https://bibliotekanauki.pl/articles/907943.pdf
Data publikacji:
2008
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
zaburzenia
sterowanie
system nieliniowy
system rozproszony
distributed nonlinear systems
disturbance
spreadability
remediability
control
Opis:
We consider a system which is assumed to be affected by an expanding disturbance which occurs at the initial time. The compensation of the disturbance is accomplished by extending the concept of remediability to a class of nonlinear systems. The results are implemented and illustrated with a nonlinear distributed model.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2008, 18, 2; 171-187
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Wyświetlanie 1-15 z 48

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