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    Wyświetlanie 1-3 z 3
    Tytuł:
    Adaptive backstepping tracking control for an over-actuated DP marine vessel with inertia uncertainties
    Autorzy:
    Witkowska, A.
    Śmierzchalski, R.
    Powiązania:
    https://bibliotekanauki.pl/articles/331460.pdf
    Data publikacji:
    2018
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    over actuated control
    adaptive control
    Lyapunov function
    control allocation
    MIMO system
    sterowanie adaptacyjne
    funkcja Lapunowa
    system MIMO
    Opis:
    Designing a tracking control system for an over-actuated dynamic positioning marine vessel in the case of insufficient information on environmental disturbances, hydrodynamic damping, Coriolis forces and vessel inertia characteristics is considered. The designed adaptive MIMO backstepping control law with control allocation is based on Lyapunov control theory for cascaded systems to guarantee stabilization of the marine vessel position and heading. Forces and torque computed from the adaptive control law are allocated to individual thrusters by employing the quadratic programming method in combination with the cascaded generalized inverse algorithm, the weighted least squares algorithm and the minimal least squares algorithm. The effectiveness of the proposed control scheme is demonstrated by simulations involving a redundant set of actuators. The evaluation criteria include energy consumption, robustness, as well accuracy of tracking during typical vessel operation.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2018, 28, 4; 679-693
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hybrid synchronization and parameter estimation of a complex chaotic network of permanent magnet synchronous motors using adaptive integral sliding mode control
    Autorzy:
    Siddique, Nazam
    Rehman, Fazal U.
    Powiązania:
    https://bibliotekanauki.pl/articles/2173614.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    chaotic systems
    hybrid synchronization
    HS
    complex chaotic permanent magnet synchronous motor
    adaptive integral sliding mode control
    ISMC
    Lyapunov function
    systemy chaotyczne
    synchronizacja hybrydowa
    złożony chaotyczny silnik synchroniczny z magnesami trwałymi
    adaptacyjne zintegrowane sterowanie trybem przesuwu
    funkcja Lapunowa
    Opis:
    The synchronisation of a complex chaotic network of permanent magnet synchronous motor systems has increasing practical importance in the field of electrical engineering. This article presents the control design method for the hybrid synchronization and parameter estimation of ring-connected complex chaotic network of permanent magnet synchronous motor systems. The design of the desired control law is a challenging task for control engineers due to parametric uncertainties and chaotic responses to some specific parameter values. Controllers are designed based on the adaptive integral sliding mode control to ensure hybrid synchronization and estimation of uncertain terms. To apply the adaptive ISMC, firstly the error system is converted to a unique system consisting of a nominal part along with the unknown terms which are computed adaptively. The stabilizing controller incorporating nominal control and compensator control is designed for the error system. The compensator controller, as well as the adopted laws, are designed to get the first derivative of the Lyapunov equation strictly negative. To give an illustration, the proposed technique is applied to 4-coupled motor systems yielding the convergence of error dynamics to zero, estimation of uncertain parameters, and hybrid synchronization of system states. The usefulness of the proposed method has also been tested through computer simulations and found to be valid.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; art. no. e137056
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hybrid synchronization and parameter estimation of a complex chaotic network of permanent magnet synchronous motors using adaptive integral sliding mode control
    Autorzy:
    Siddique, Nazam
    Rehman, Fazal U.
    Powiązania:
    https://bibliotekanauki.pl/articles/2128164.pdf
    Data publikacji:
    2021
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    chaotic systems
    hybrid synchronization
    HS
    complex chaotic permanent magnet synchronous motor
    adaptive integral sliding mode control
    ISMC
    Lyapunov function
    systemy chaotyczne
    synchronizacja hybrydowa
    złożony chaotyczny silnik synchroniczny z magnesami trwałymi
    adaptacyjne zintegrowane sterowanie trybem przesuwu
    funkcja Lapunowa
    Opis:
    The synchronisation of a complex chaotic network of permanent magnet synchronous motor systems has increasing practical importance in the field of electrical engineering. This article presents the control design method for the hybrid synchronization and parameter estimation of ring-connected complex chaotic network of permanent magnet synchronous motor systems. The design of the desired control law is a challenging task for control engineers due to parametric uncertainties and chaotic responses to some specific parameter values. Controllers are designed based on the adaptive integral sliding mode control to ensure hybrid synchronization and estimation of uncertain terms. To apply the adaptive ISMC, firstly the error system is converted to a unique system consisting of a nominal part along with the unknown terms which are computed adaptively. The stabilizing controller incorporating nominal control and compensator control is designed for the error system. The compensator controller, as well as the adopted laws, are designed to get the first derivative of the Lyapunov equation strictly negative. To give an illustration, the proposed technique is applied to 4-coupled motor systems yielding the convergence of error dynamics to zero, estimation of uncertain parameters, and hybrid synchronization of system states. The usefulness of the proposed method has also been tested through computer simulations and found to be valid.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2021, 69, 3; e137056, 1--9
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-3 z 3

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