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    Wyświetlanie 1-7 z 7
    Tytuł:
    Hybrid motion control for multiple mobile robot systems
    Autorzy:
    Roszkowska, E.
    Powiązania:
    https://bibliotekanauki.pl/articles/229433.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    multi-robot system
    hybrid control
    Opis:
    This article presents a hybrid control system for a group of mobile robots. The components of this system are the supervisory controller(s), employing a discrete, event-driven model of concurrent robot processes, and robot motion controllers, employing a continuous time model with event-switched modes. The missions of the robots are specified by a sequence of to-be visited points, and the developed methodology ensures in a formal way their correct accomplishment.
    Źródło:
    Archives of Control Sciences; 2018, 28, 2; 189-200
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Hybrid position control technique of induction motor drive
    Autorzy:
    Júnior, A. B. S.
    Diniz, E. C. de
    Honório, D. A.
    Barreto, L. H. S. C.
    Reis, L. L. N. dos
    Powiązania:
    https://bibliotekanauki.pl/articles/206685.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    vector control
    predictive control
    hybrid control
    fuzzy logic
    Opis:
    This paper presents the study and implementation of a new vector control strategy using a hybrid control technique applied to the mechanical position loop aiming to obtain a system that acts in the fractional horsepower motor driver running at near zero frequency. For this purpose, some control techniques are employed to check which one has the best performance regarding this type of application. The use of three control techniques is considered: the Proportional-Integral-Derivative (PID) controller with fixed gain; the Generalized Predictive Control (GPC) controller; and a hybrid controller. The last one behaves as both PID and GPC using fuzzy logic in order to achieve improved system performance. Simulation and experimental results are shown and discussed to demonstrate the merits of the proposed approach.
    Źródło:
    Control and Cybernetics; 2013, 42, 4; 754-772
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Performance analysis between a hybrid force/position and conventional controllers for a wrist exoskeleton
    Autorzy:
    Avilés, Valeria
    Avilés, Oscar F.
    Aponte, Jorge
    Caldas, Oscar I.
    Mauledoux, Mauricio F.
    Powiązania:
    https://bibliotekanauki.pl/articles/2134891.pdf
    Data publikacji:
    2022
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    exoskeleton
    hybrid control
    force
    performance
    position
    Opis:
    This study analyses the performances of various path controlling strategies for a 3-degrees of freedom wrist exoskeleton, by comparing key indicators, such as rise time, steady-state error, and implementation difficulty. A model was built to describe both system’s kinematics and dynamics, as well as 3 different controllers (PID, PD+, and a hybrid force/position controller) that were designed to allow each joint to perform smooth motions within anatomic ranges. The corresponding simulation was run and assessed via Matlab (version 2020a). In addition to the performance comparison, remarkable characteristics could be identified among controllers. PD+ showed higher response speed than the other controllers (about 4 times), and PID was reinforced as the technique with the easiest implementation due to the smallest matrices. The study also allowed to greater potential of the hybrid controller to interact with its environment, i.e., the robotic device.
    Źródło:
    Archives of Control Sciences; 2022, 32, 2; 409--427
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust control system design in frequency domain
    Autorzy:
    Veselý, V
    Osuský, J
    Powiązania:
    https://bibliotekanauki.pl/articles/964036.pdf
    Data publikacji:
    2013
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    hybrid control
    equivalent subsystem method
    PI controller
    Opis:
    In this paper two robust control methods for hybrid system are presented. Both methods are usefull for SISO and MIMO systems. Controller design procedure is developed in frequency domain. Equivalent subsystem method is used for controller design in this paper. Stability condition of proposed methods bases on small gain theory and uses additive and inverse additive model type. Two tank water system is presented in the paper and serves as a numerical example to compare effectiveness of described methods.
    Źródło:
    Archives of Control Sciences; 2013, 23, 1; 61-78
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Modified position-force control for a manipulator geometrically constrained by round obstacles
    Autorzy:
    Mazur, Alicja
    Kaczmarek, Mirela
    Ratajczak, Joanna
    Domski, Wojciech
    Powiązania:
    https://bibliotekanauki.pl/articles/950745.pdf
    Data publikacji:
    2019
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    manipulator
    position-force control
    principle of orthogonalisation
    hybrid control
    Opis:
    This paper addresses the problem of position-force control for robot manipulators under geometric endpoint constraints defined as round obstacles. Considerations are based on hybrid position-force control and use modified Arimoto algorithm with the principle of ”orthogonalisation”. To achieve so-called joint space orthogonalisation, where motion signals are orthogonal to force vectors and the direction selection is performed in the joint space, projection matrix is utilized. The convergence of tracting and force errors is proved.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2019, 13, 2; 60-67
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Disturbance observer-assisted hybrid control for autonomous manipulation in a robotic backhoe
    Autorzy:
    CS, Meera
    Gupta, Mukul Kumar
    Santhakumar, Mohan
    Powiązania:
    https://bibliotekanauki.pl/articles/139958.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    disturbance observer
    robotic backhoe
    autonomous excavation
    hybrid control
    obserwator zakłóceń
    koparka zrobotyzowana
    koparka autonomiczna
    kontrola hybrydowa
    Opis:
    Automation of earth moving machineries is a widely studied problem. This paper focusses on one of the main challenges in automation of the earth moving industry, estimation of loading torque acting on the machinery. Loading torque acting on the excavation machinery is a very significant aspect in terms of both machine and operator safety. In this study, a disturbance observer-assisted control system for the estimation of loading torque acting on a robotic backhoe during excavation process is presented. The proposed observer does not use any acceleration measurements, rather, is proposed as a function of joint velocity. Numerical simulations are performed to demonstrate the effectiveness of the proposed control scheme in tracking the reaction torques for a given dig cycle. Co-simulation experiments demonstrate robust performance and accurate tracking of the proposed control in both disturbance torque and position tracking. Further, the performance and sensitivity of the proposed control are also analyzed through the help of performance error quantifiers, the root-mean-square (RMS) values of the position and disturbance tracking errors.
    Źródło:
    Archive of Mechanical Engineering; 2019, LXVI, 2; 153-169
    0004-0738
    Pojawia się w:
    Archive of Mechanical Engineering
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Speed control of doubly fed induction motor using backstepping control with interval type-2 fuzzy controller
    Autorzy:
    Herizi, Abdelghafour
    Rouabhi, Riyadh
    Zemmit, Abderrahim
    Powiązania:
    https://bibliotekanauki.pl/articles/2232527.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Polskie Towarzystwo Diagnostyki Technicznej PAN
    Tematy:
    double fed induction motor
    type-2 fuzzy logic
    backstepping control
    hybrid control
    robust
    silnik indukcyjny
    logika rozmyta typu 2
    kontrola wsteczna
    sterowanie hybrydowe
    Opis:
    The control of the doubly-fed induction motor is a complex operation because of this motor characterised by a non-linear multivariable dynamics, having settings that change over time and a significant link between the mechanical component and magnetic behavior (flux) (speed and couple). This article then proposes a new strategy of a robust control of this motor, which is decoupled due to the stator flux’s direction. The proposed control is integrated with the backstepping control which based on Lyapunov theory; this approach consists in constructively designing a control law of nonlinear systems by considering some state variables as being virtual commands, and the important branch of artificial intelligence type-2 fuzzy logic. The hybrid control backstepping-fuzzy logic consists in replacing the regulators applied to the backstepping control by regulators based on type-2 fuzzy logic. This control will be evaluated by numerous simulations where there is a parametric and non-parametric variation.
    Źródło:
    Diagnostyka; 2023, 24, 3; art. no. 2023301
    1641-6414
    2449-5220
    Pojawia się w:
    Diagnostyka
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-7 z 7

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