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Wyszukujesz frazę "finite-time control" wg kryterium: Temat


Wyświetlanie 1-11 z 11
Tytuł:
Optimal sliding control of mobile manipulators
Autorzy:
Galicki, M.
Powiązania:
https://bibliotekanauki.pl/articles/201159.pdf
Data publikacji:
2019
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
mobile manipulator
trajectory tracking
finite time control
Opis:
The paper adresses optimal control problem of mobile manipulators. Dynamic equations of those mechanisms are assuemd herein to be uncertain. Moreover, unbounded disturbances act on the mobile manipulator whose end-effector tracks a desired (reference) trajectory given in a task (Certesian) space. A compytionally efficient class of two-stage cascaded (hierarchchical) control algotithms based on both the transpose Jacobian matrix and transpose actuation matrix, has been proposed. The offered control laws involve to kinds of non-singular terminal sliding mode (TSM) manifolds, which were also introduced in the paper. The proposed class of cooperating sub-controllers is shown to be finite time stable be fulfilment of practically reasonable assumptions. The performance of the proposed control strategies is illustated on an exemplary mobile manipulator whose end-effector tracks desired trajectory.
Źródło:
Bulletin of the Polish Academy of Sciences. Technical Sciences; 2019, 67, 4; 777-788
0239-7528
Pojawia się w:
Bulletin of the Polish Academy of Sciences. Technical Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite-time SDRE control of F16 aircraft dynamics
Autorzy:
Chodnicki, Marcin
Pietruszewski, Paweł
Wesołowski, Mariusz
Stępień, Sławomir
Powiązania:
https://bibliotekanauki.pl/articles/2175113.pdf
Data publikacji:
2022
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
aircraft modelling
state-dependent Riccati equations
finite-time optimal control
Opis:
This paper proposes a finite-time horizon suboptimal control strategy based on state-dependent Riccati equation (SDRE) to control of F16 multirole aircraft. Flight stabilizer control of super maneuverable aircraft is modelled and simulated. For aircraft modelling purpose a full 6 DOF model is considered and described by nonlinear state-space approach. Also a stable state-dependent parametrization (SDP) necessary for solution of the SDRE control problem is proposed. Solution of the SDRE control problem with adequate defined weighting matrices in performance index shows possibility of fast and optimal aircraft control in finite-time. The method in this form can be used for stabilization of aircraft flight and aerodynamics.
Źródło:
Archives of Control Sciences; 2022, 32, 3; 557--576
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust task space trajectory tracking control of robotic manipulators
Autorzy:
Galicki, M.
Powiązania:
https://bibliotekanauki.pl/articles/265028.pdf
Data publikacji:
2016
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
metody Lapunowa
redukcja drgań
manipulatory
redundant manipulator
task space trajectory cracking
finite-time control
Lyapunov stability
vibration reduction
Opis:
This work deals with the problem of the accurate task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the end-effector. Furthermore, the movement is to be accomplished in such a way as to reduce both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we propose a class of chattering-free robust controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
Źródło:
International Journal of Applied Mechanics and Engineering; 2016, 21, 3; 547-568
1734-4492
2353-9003
Pojawia się w:
International Journal of Applied Mechanics and Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A new approach to robust finite-time H∞ control of continuous-time Markov jump systems
Autorzy:
Yan, S.
Shen, M.
Fei, S.
Zhang, G.
Powiązania:
https://bibliotekanauki.pl/articles/206785.pdf
Data publikacji:
2015
Wydawca:
Polska Akademia Nauk. Instytut Badań Systemowych PAN
Tematy:
Markov jump systems
partly known transition probabilities
rob ust finite-time H∞control
Opis:
This paper studies the robust finite-time H∞ state feedback control problem of continuous-time Markov jump systems (MJSs) subject to norm bounded uncertainties. Transition probabilities are allowed to be known, uncertain with known bounds or unknown. Based on the continuous transition probability property and the developed slack variable technique, Lyapunov variables are separatek from unknown transition probabilities and system matrices. With these separations, a relaxed method for robust finite-time H∞ controller design is proposed in terms of linear matrix inequalities (LMIs). Numerical examples are given to illustrate the effectiveness of and the benefit from the proposed method.
Źródło:
Control and Cybernetics; 2015, 44, 2; 211-231
0324-8569
Pojawia się w:
Control and Cybernetics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Kinematically optimal robust control of redundant manipulators
Autorzy:
Galicki, M.
Powiązania:
https://bibliotekanauki.pl/articles/266099.pdf
Data publikacji:
2017
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
redundant robotic manipulator
task space trajectory tracking
robust optimal finite-time control
Lyapunov stability
manipulator
przestrzeń robocza manipulatora
Stabilność Lapunowa
Opis:
This work deals with the problem of the robust optimal task space trajectory tracking subject to finite-time convergence. Kinematic and dynamic equations of a redundant manipulator are assumed to be uncertain. Moreover, globally unbounded disturbances are allowed to act on the manipulator when tracking the trajectory by the endeffector. Furthermore, the movement is to be accomplished in such a way as to minimize both the manipulator torques and their oscillations thus eliminating the potential robot vibrations. Based on suitably defined task space non-singular terminal sliding vector variable and the Lyapunov stability theory, we derive a class of chattering-free robust kinematically optimal controllers, based on the estimation of transpose Jacobian, which seem to be effective in counteracting both uncertain kinematics and dynamics, unbounded disturbances and (possible) kinematic and/or algorithmic singularities met on the robot trajectory. The numerical simulations carried out for a redundant manipulator of a SCARA type consisting of the three revolute kinematic pairs and operating in a two-dimensional task space, illustrate performance of the proposed controllers as well as comparisons with other well known control schemes.
Źródło:
International Journal of Applied Mechanics and Engineering; 2017, 22, 4; 839-865
1734-4492
2353-9003
Pojawia się w:
International Journal of Applied Mechanics and Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite-time adaptive modified function projective multi-lag generalized compound synchronization for multiple uncertain chaotic systems
Autorzy:
Li, Q.
Liu, S.
Chen, Y.
Powiązania:
https://bibliotekanauki.pl/articles/331032.pdf
Data publikacji:
2018
Wydawca:
Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:
finite-time adaptive control
unknown parameter
chaotic system
sterowanie adaptacyjne
parametr nieznany
układ chaotyczny
Opis:
In this paper, for multiple different chaotic systems with fully unknown parameters, a novel synchronization scheme called ‘modified function projective multi-lag generalized compound synchronization’ is put forward. As an advantage of the new method, not only the addition and subtraction, but also the multiplication of multiple chaotic systems are taken into consideration. This makes the signal hidden channels more abundant and the signal hidden methods more flexible. By virtue of finite-time stability theory and an adaptive control technique, a finite-time adaptive control scheme is established to realize the finite-time synchronization and to properly evaluate the unknown parameters. A detailed theoretical derivation and a specific numerical simulation demonstrate the feasibility and validity of the advanced scheme.
Źródło:
International Journal of Applied Mathematics and Computer Science; 2018, 28, 4; 613-624
1641-876X
2083-8492
Pojawia się w:
International Journal of Applied Mathematics and Computer Science
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Finite-time integral sliding mode control for chaotic permanent magnet synchronous motor systems
Autorzy:
Chibani, A.
Daaou, B.
Gouichiche, A.
Safa, A.
Messlem, Y.
Powiązania:
https://bibliotekanauki.pl/articles/140698.pdf
Data publikacji:
2017
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
chaos control
control chaotic Permanent Magnet Synchronous Motor
finite-time
sliding mode
Opis:
In this paper, an integral finite-time sliding mode control scheme is presented for controlling a chaotic permanent magnet synchronous motor (PMSM). The controller can stabilize the system output tracking error to zero in a finite time. Using Lyapunov’s stability theory, the stability of the proposed scheme is verified. Numerical simulation results are presented to present the effectiveness of the proposed approach.
Źródło:
Archives of Electrical Engineering; 2017, 66, 2; 229-239
1427-4221
2300-2506
Pojawia się w:
Archives of Electrical Engineering
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Spacecraft attitude fault tolerant control based on multi-objective optimization
Autorzy:
Moradi, Rouzbeh
Alikhani, Alireza
Fathi Jegarkandi, Mohsen
Powiązania:
https://bibliotekanauki.pl/articles/1839618.pdf
Data publikacji:
2020
Wydawca:
Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
Tematy:
active fault-tolerant control
spacecraft attitude control
finite time convergence
Pareto-optimal set
Opis:
An active fault tolerant controller is designed for the attitude control of a faulty spacecraft. Feedback linearization and Lyapunov’s direct method are used to solve angular velocity equations and to ensure convergence of the system outputs to reference inputs, respectively. In order to ensure finite time convergence, final time constraints are proposed. Three con- structive objective functions are considered as performance measures and optimized using multi-objective optimization. The results show that the outputs converge to the reference attitudes, even for severe actuator faults/failures.
Źródło:
Journal of Theoretical and Applied Mechanics; 2020, 58, 4; 983-996
1429-2955
Pojawia się w:
Journal of Theoretical and Applied Mechanics
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Robust Trajectory Tracking Control of Space Manipulators in Extended Task Space
Sterowanie odporne śledzeniem trajektorii manipulatora kosmicznego w rozszerzonej przestrzeni zadaniowej
Autorzy:
Banaszkiewicz, Marek
Węgrzyn, Marek
Basmadji, Fatina L.
Galicki, Mirosław
Powiązania:
https://bibliotekanauki.pl/articles/2174239.pdf
Data publikacji:
2022
Wydawca:
Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:
space manipulator
trajectory tracking
unstructured disturbance forces
robust finite-time task space control
Lyapunov stability
manipulator kosmiczny
śledzenie trajektorii
nieustrukturyzowane siły zakłócające
odporne skończone czasowo sterowanie w przestrzeni zadaniowej
stabilność Lyapunova
Opis:
This study provides a new class of controllers for freeflying space manipulators subject to unknown undesirable disturbing forces exerted on the end-effector. Based on suitably defined taskspace non-singular terminal sliding manifold and the Lyapunov stability theory, we derive a class of estimated extended transposed Jacobian controllers which seem to be effective in counteracting the unstructured disturbing forces. The numerical computations which are carried out for a space manipulator consisting of a spacecraft propelled by eight thrusters and holonomic manipulator of three revolute kinematic pairs, illustrate the performance of the proposed controller.
W pracy zaproponowano nową klasę sterowników dla manipulatorów kosmicznych przy uwzględnieniu nieznanych, niepożądanych sił zakłócających wywieranych na koniec efektora. W oparciu o odpowiednio zdefiniowane nieosobliwą, końcową rozmaitość ślizgową i teorię stabilności Lapunowa wyprowadzono klasę rozszerzonych estymowanych transponowanych sterowników Jakobianowych, ktore wydają się być efektywne w przeciwdziałaniu nieustrukturyzowanych sił zakłócających. Podejście zilustrowano również obliczeniami numerycznymi dla manipulatora kosmicznego składającego się z bazy napędzanej przez osiem pędników typu cold-gas i manipulatora holonomicznego o trzech parach kinematycznych obrotowych.
Źródło:
Pomiary Automatyka Robotyka; 2022, 26, 4; 27--35
1427-9126
Pojawia się w:
Pomiary Automatyka Robotyka
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
Event-triggered adaptive neural network trajectory tracking control for underactuated ships under uncertain disturbance
Autorzy:
Su, Wenxue
Zhang, Qiang
Liu, Yufeng
Powiązania:
https://bibliotekanauki.pl/articles/34611659.pdf
Data publikacji:
2023
Wydawca:
Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Tematy:
event-triggered control
underactuated marine surface vessels
adaptive neural network
trajectory tracking
finite-time
Opis:
An adaptive neural network (NN) event-triggered trajectory tracking control scheme based on finite time convergence is proposed to address the problem of trajectory tracking control of underdriven surface ships. In this scheme, both NNs and minimum learning parameters (MLPS) are applied. The internal and external uncertainties are approximated by NNs. To reduce the computational complexity, MLPs are used in the proposed controller. An event-triggered technique is then incorporated into the control design to synthesise an adaptive NN-based event-triggered controller with finite-time convergence. Lyapunov theory is applied to prove that all signals are bounded in the tracking system of underactuated vessels, and to show that Zeno behavior can be avoided. The validity of this control scheme is determined based on simulation results, and comparisons with some alternative schemes are presented.
Źródło:
Polish Maritime Research; 2023, 3; 119-131
1233-2585
Pojawia się w:
Polish Maritime Research
Dostawca treści:
Biblioteka Nauki
Artykuł
Tytuł:
A general unified approach to chaos synchronization in continuous-time systems (with or without equilibrium points) as well as in discrete-time systems
Autorzy:
Grassi, G
Ouannas, A.
Pham, V.-T.
Powiązania:
https://bibliotekanauki.pl/articles/949795.pdf
Data publikacji:
2018
Wydawca:
Polska Akademia Nauk. Czytelnia Czasopism PAN
Tematy:
chaos synchronization and control
scalar synchronizing signal
continuous-time system (with or without equilibrium points)
discrete-time systems
observer-based synchronization
dead beat control
synchronization in finite time
Opis:
By analyzing the issue of chaos synchronization, it can be noticed the lack of a general approach, which would enable any type of synchronization to be achieved. Similarly, there is the lack of a unified method for synchronizing both continuous-time and discrete-time systems via a scalar signal. This paper aims to bridge all these gaps by presenting a novel general unified framework to synchronize chaotic (hyperchaotic) systems via a scalar signal. By exploiting nonlinear observer design, the approach enables any type of synchronization defined to date to be achieved for both continuous-time and discrete-time systems. Referring to discrete-time systems, the method assures any type of dead beat synchronization (i.e., exact synchronization in finite time), thus providing additional value to the conceived framework. Finally, the topic of synchronizing special type of systems, such as those characterized by the absence of equilibrium points, is also discussed.
Źródło:
Archives of Control Sciences; 2018, 28, 1; 135-154
1230-2384
Pojawia się w:
Archives of Control Sciences
Dostawca treści:
Biblioteka Nauki
Artykuł
    Wyświetlanie 1-11 z 11

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