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

Artykuł

Zmień widok

na półce

Skocz do pozycji: 2.

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

Artykuł

Zmień widok

na półce

Informacja

Wyszukujesz frazę "multiple model control" wg kryterium: Temat

Źródło danych

Dostawca treści

Kolekcja

Rok wydania

Wydawca

Temat

Autor

Typ dokumentu

Język