Temat: awaria siłownika - 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

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Skocz do pozycji: 2.

Tytuł:: Motion tracking of a rigid-flexible link robotic system in an underactuated control mode
Autorzy:: Jarzębowska, Elżbieta
Augustynek, Krzysztof
Urbaś, Andrzej
Powiązania:: https://bibliotekanauki.pl/articles/27311387.pdf
Data publikacji:: 2023
Wydawca:: Polska Akademia Nauk. Czasopisma i Monografie PAN
Tematy:: manipulator
actuator failure
optimization
computational procedure for constrained dynamics
method CoPCoD
awaria siłownika
optymalizacja
metoda CoPCoD
procedura obliczeniowa dla dynamiki z ograniczeniami
Opis:: The paper presents its contribution to tracking control design of mechanical systems in underactuated mode conditions, i.e. when the number of actuators is less than the number of possible control inputs. Fully actuated mechanical systems are quite well-researched and controller designs are well-developed for them as well. However, due to costs, weight, design, and performance regimes or due to an actuator failure, the underactuated control mode is required in applications. With the aid of the computational procedure for constrained dynamics (CoPCoD), the constrained dynamics, i.e. the reference motion dynamics, and tracking control in an underactuated mode are designed for an example of a three-link planar manipulator model with rigid and flexible links. A dynamic optimization problem is formulated in the paper to obtain optimal time courses of manipulator joint coordinates in underactuated mode conditions in order to apply them to a manipulator driving links controller.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e144620
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Iterative learning fault-tolerant control for the networked control systems with initial state disturbance
Autorzy:: Xingjian, Fu
Qianjun, Zhao
Powiązania:: https://bibliotekanauki.pl/articles/2173682.pdf
Data publikacji:: 2022
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:: networked control systems
initial state disturbance
iterative learning
actuator failure
fault-tolerant control
sieciowe systemy sterowania
zakłócenie stanu początkowego
uczenie iteracyjne
awaria siłownika
kontrola odporna na awarie
Opis:: The iterative learning fault-tolerant control strategies with non-strict repetitive initial state disturbances are studied for the linear discrete networked control systems (NCSs) and the nonlinear discrete NCSs. In order to reduce the influence of the initial state disturbance in iteration, for the linear NCSs, considering the external disturbance and actuator failure, the iterative learning fault-tolerant control strategy with impulse function is proposed. For the nonlinear NCSs, the external disturbance, packet loss and actuator failure are considered, the iterative learning fault-tolerant control strategy with random Bernoulli sequence is provided. Finally, the proposed control strategies are used for simulation research for the linear NCSs and the nonlinear NCSs. The results show that both strategies can reduce the influence of the initial state disturbance on the tracking effect, which verifies the effectiveness of the given method.
Źródło:: Bulletin of the Polish Academy of Sciences. Technical Sciences; 2022, 70, 3; art. no. e140934
0239-7528
Pojawia się w:: Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:: Biblioteka Nauki

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