Temat: discontinuous control - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Different kinematic controllers stabilizing nonholonomic mobile manipulators of (nh, nh) type about desired configuration
Autorzy:: Mazur, A.
Płaskonka, J.
Powiązania:: https://bibliotekanauki.pl/articles/384796.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: nonholonomic systems
point stabilization
discontinuous control
Opis:: In the paper, a problem of selection of kinematic control algorithm for nonholonomic manipulator has been considered. For a nonholonomic manipulating arm, two kinematic algorithms - Astolfi algorithm (working in closed-loop) and Nakamura, Chung and Sordalen algorithm (working in open loop of control) have been compared. Simulation results have shown that influence of the dynamics on the behavior of mobile manipulator of (nh, nh) type is huge. It means that only kinematic control algorithms using feedback in the control loop are sufficiently robust to apply them in practical applications. Then, for the nonholonomic wheeled mobile platform, Astolfi algorithm, which belongs to discontinuous class of kinematic algorithms, has also been compared to a discontinuous algorithm proposed by Zhang & Hirschorn.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 3; 41-48
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Stability analysis of sliding-mode feedback control
Autorzy:: Clarke, F. H.
Vinter, R. B.
Powiązania:: https://bibliotekanauki.pl/articles/970887.pdf
Data publikacji:: 2009
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:: sliding-mode control
discontinuous control
Lyapunov functions
stabilization
robustness
Opis:: This paper provides new analytic tools leading to the first rigorous stability and robustness analysis of sliding-mode feedback controllers. Unrestrictive conditions are given, under which these controllers are stabilizing in the presence of large disturbances, conditions invoke the existence of two Lyapunov-type functions, the first associated with passage to the sliding set in finite time, and the second with convergence to the desired state. In this approach, account is taken, from the outset, of implementational constraints. We provide a framework for establishing stability and robustness of the closed-loop system, for a variety of implementation schemes. We illustrate our results by means of two examples of the type frequently encountered in the sliding-mode literature.
Źródło:: Control and Cybernetics; 2009, 38, 4A; 1169-1192
0324-8569
Pojawia się w:: Control and Cybernetics
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Comparative study of stabilization controls of a forklift vehicle
Autorzy:: Widyotriatmo, Augie
Powiązania:: https://bibliotekanauki.pl/articles/970586.pdf
Data publikacji:: 2019
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Tematy:: autonomous vehicle
stabilization control
time varying based control
discontinuous control
navigation variables based control
Opis:: This paper presents the control designs for an autonomous forklift vehicle that drive the vehicle from an initial configuration to a final one. Three stabilization controls, which are chained-form time-varying control, sigma-transformed discontinuous control, and navigation-variables-based discontinuous control, for a forklift vehicle are compared by simulations. The sigma-transformed and navigation-variables-based discontinuous controls provide fast convergence motions from an initial to a final configuration, while the time-varying-based control provides oscillatory motion and slow convergence. The sigma-transformed discontinuous control has a set of discontinuous points in which, from a practical point of view, the control signals can blow up if a vehicle enters the set. The navigation-variables-based control, which also has a discontinuous point at the final configuration, does not produce blown up control signals since its boundedness nature. Discussion on the implementation of control algorithm is elucidated for the three stabilization controls for the forklift vehicle.
Źródło:: Acta Mechanica et Automatica; 2019, 13, 3; 181-188
1898-4088
2300-5319
Pojawia się w:: Acta Mechanica et Automatica
Dostawca treści:: Biblioteka Nauki

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