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    Wyświetlanie 1-12 z 12
    Tytuł:
    Closed-loop control algorithm for some class of nonholonomic systems using polar representation
    Autorzy:
    Pazderski, D.
    Szulczyński, P.
    Kozłowski, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/201607.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    polar coordinates
    nonholonomic system
    discontinuous stabilization at the origin
    Opis:
    This paper is focused on the convergence problem defined for some class of a two input affine nonholonomic driftless system with three-dimensional state. The problem is solved based on a polar transformation which is singular at the origin. The convergence is ensured using static-state feedback. The necessary conditions for construction of the algorithm are formally discussed. The solution, in general, is local, and the feasible domain is strictly related to the properties of the control system. In order to improve algorithm robustness a simple hybrid algorithm is formulated. The general theory is illustrated by two particular systems and the results of numerical simulations are provided.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 521-535
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Trajectory reproduction and trajectory tracking problem for the nonholonomic systems
    Autorzy:
    Ratajczak, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/200125.pdf
    Data publikacji:
    2016
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    nieholonomiczny układ
    śledzenie trajektorii
    trajectory reproduction
    trajectory tracking
    nonholonomic system
    Opis:
    This paper introduces a new algorithm of trajectory reproduction and trajectory tracking for nonholonomic systems. The endogenous configuration space approach is employed as a guideline in the algorithm derivation. The derivation uses a trajectory reproduction error, which is an integral of the difference between the resultant trajectory and the desired trajectory over the motion horizon. Such a definition of the error allows to solve both the trajectory reproduction as well as the trajectory tracking problem. Considerable attention in the paper has been paid to the implementation aspects of the algorithm. The nonparametric approach is used together with a higher order of the integration method. The algorithm efficiency is illustrated with computer simulations accomplished for two nonholonomic systems: the dynamics of the double pendulum with a passive joint, and the kinematics of the unicycle.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 63-70
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Small time local controllability of driftless nonholonomic systems in a task-space
    Autorzy:
    Duleba, Ignacy
    Mielczarek, Arkadiusz
    Powiązania:
    https://bibliotekanauki.pl/articles/229672.pdf
    Data publikacji:
    2019
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    nonholonomic system
    small time local controllability
    configuration space
    task-space
    Opis:
    In this paper a small time local controllability, naturally defined in a configuration space, is transferred into a task-space. It was given its analytical characterization and practical implcations. A special attention was put on singular configurations. Theoretical considerations were illustrated with two calculation examples. An extensive comparison of the proposed construction with the controllability defined in an endogenous configuration space approach was presented pointing out to their advantages and disadvantages.
    Źródło:
    Archives of Control Sciences; 2019, 29, 3; 423-436
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults
    Autorzy:
    Srebro, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/115515.pdf
    Data publikacji:
    2011
    Wydawca:
    Fundacja na Rzecz Młodych Naukowców
    Tematy:
    fuzzy controller
    mobile robot
    nonholonomic system
    trajectory tracking
    fault tolerance
    Opis:
    This paper presents a self-tuning fuzzy PD controller designed to improve a control strategy for a wheeled mobile robot. The dynamic model of a two-wheeled mobile robot was implemented in Matlab/Simulink environment. In this paper the trajectory tracking problem for a mobile robot in the presence of positioning system faults is considered in detail. Mamdani fuzzy reasoning is used to tune the value of proportional gain Kp and derivative gain Kd of a PD controller. A few simulations comparing the classical PD controller with self-tuning fuzzy PD are reported to show advantage of the designed self-tuning controller.
    Źródło:
    Challenges of Modern Technology; 2011, 2, 4; 11-20
    2082-2863
    2353-4419
    Pojawia się w:
    Challenges of Modern Technology
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control of a unicycle-like robot with trailers using transverse function approach
    Autorzy:
    Pazderski, D.
    Kozłowski, K.
    Waśkowicz, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/201599.pdf
    Data publikacji:
    2012
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    transverse functions
    vehicle with trailers
    nonholonomic system
    control motion task
    Lie group
    Opis:
    The paper presents the application of a smooth kinematic algorithm to control multi-body vehicle which consists of the unicyclelike tractor with three trailers. The controller takes advantage of the transverse functions and properties of the IV-order two input chained system. The derivation of the algorithm is presented in details. In order to improve the performance of the controller in the real application a selected tuning techniques are discussed. The properties of the closed-loop control system are examined based on results of numerical simulations concerning the point stabilization and trajectory tracking tasks.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2012, 60, 3; 557-579
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    A robust smooth controller for a unicycle-like robot
    Autorzy:
    Pazderski, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/229667.pdf
    Data publikacji:
    2018
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    transverse functions
    nonholonomic system
    control motion task
    Lie group
    navigation vector fields
    smooth feedbacks
    Opis:
    In this paper, a stabilizer dedicated for a unicycle-like robot is considered. The proposed smooth control law ensures the global boundedness of position and orientation trajectories to a neighbourhood of the desired point with an arbitrarily selected radius and it is robust to bounded additive measurement noises. The controller consists of a smooth hybrid navigation algorithm and a smooth feedback based on the transverse function approach. The stability proof, simulation and experimental results illustrating properties of the algorithm are discussed.
    Źródło:
    Archives of Control Sciences; 2018, 28, 1; 155-183
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Control of a planar robot in the flight phase using transverse function approach
    Autorzy:
    Pazderski, D.
    Kozłowski, K.
    Powiązania:
    https://bibliotekanauki.pl/articles/201212.pdf
    Data publikacji:
    2015
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    transverse functions
    hopping robot
    space manipulator
    nonholonomic system
    control motion task
    systems on Lie groups
    skaczący robot
    manipulator przestrzenny
    nieholonomiczny układ
    Opis:
    This paper deals with stabilization and tracking control problems defined with respect to a planar mechanical structure similar to Raibert’s robot. The proposed control solution is based on formal analysis of the control system on a Lie group. In order to take advantage of Lie group theory a dynamic extension of the robot kinematics is introduced. To cope with non-zero angular momentum the controller based on transverse functions is employed. Properties of the closed-loop control system are investigated based on simulations including practical stabilization at neighborhood of a constant point or a reference trajectory.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2015, 63, 3; 759-770
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Uniform horizontal projectile motion
    Rovnoměrný vodorovný VRH
    Autorzy:
    Swaczyna, P.
    Volný, P.
    Powiązania:
    https://bibliotekanauki.pl/articles/113045.pdf
    Data publikacji:
    2017
    Wydawca:
    STE GROUP
    Tematy:
    nonholonomic mechanical system
    reduced equation of motion
    deformed equation of motion
    Chetaev constraint force
    horizontal projectile motion
    kinematic parameters
    nieholonomiczny układ mechaniczny
    równanie ruchu
    poziomy ruch pocisku
    parametry kinematyczne
    Opis:
    In the paper we present the modification of the classical horizontal projectile motion in the homogeneous gravitational field called uniform horizontal projectile motion. The particle passing in the homogeneous gravitational field is treated as a mechanical system subjected to a nonholonomic nonlinear constraint which keeps the magnitude of the instantaneous velocity of the particle constant during the motion. We present the comparison of the kinematic parameters of both motions (classical and uniform horizontal projectile motions) under the same initial conditions. The presented problem can serve as a suitable topic for an elementary course of theoretical mechanics on the university level.
    V clánku prezentujeme modifikaci klasického vodorovného vrhu v homogenním gravitacním poli na rovnomerný vodorovný vrh. Cástice pohybující se v homogenním gravitacním poli je chápána jako mechanický systém podrobený neholonomní nelineární vazbe, která udržuje konstantní velikost okamžité rychlosti cástice behem pohybu. Prezentujeme srovnání kinematických parametru obou pohybu (klasického i rovnomerného vodorovného vrhu) vzhledem ke stejným pocátecním podmínkám. Prezentovaný problém muže sloužit jako vhodné téma k elementárnímu kurzu teoretické mechaniky na vysokoškolské úrovni.
    Źródło:
    Systemy Wspomagania w Inżynierii Produkcji; 2017, 6, 4; 314-324
    2391-9361
    Pojawia się w:
    Systemy Wspomagania w Inżynierii Produkcji
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Implementation of factitious force method for control of 5R manipulator with skid-steering platform REX
    Autorzy:
    Mazur, A.
    Cholewiński, M.
    Powiązania:
    https://bibliotekanauki.pl/articles/202350.pdf
    Data publikacji:
    2016
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    underactuated system
    nonholonomic constraint
    kinematics
    dynamics
    kinematyka
    dynamika
    ograniczenia nieholonomiczne
    Opis:
    In the paper implementation of the factitious force concept for a controlling complex mobile manipulator has been presented. As the nonholonomic constraint only lack of longitudinal slippage of wheels has been chosen - in skid-steering platforms lateral slippage is necessary to change orientation of such a platform. From a control theory point of view such a system is dynamically underactuated. As a solution to a underactuation problem a method of factitious force has been proposed. This method assumes extension on the dynamics level, in the form of an additional control inputs uv, which values are equal to zero equivalently. For a mobile manipulator, consisting of platform REX and 5R robotic onboard arm, a cascaded control law has been proposed. A simulation study was conducted for a mathematical model of a considered object with real values of physical parameters, i.e. lengths, masses, inertia moments etc. obtained from the 3D model. Results obtained in simulations have shown a proper action of the control system and convergence of tracking errors, occurring in a platform and in joints of a manipulator, to zero.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 1; 71-80
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Model matematyczny generatora wiatrowego z wariatorem przy asymetrycznym obciążeniu R-L
    Mathematical model of electric power generator with variator driven by wind turbine and loaded by unbalanced three-phase circuit RL
    Autorzy:
    Czaban, A.
    Lis, M.
    Klatow, K.
    Sosnowski, J.
    Gastołek, A.
    Powiązania:
    https://bibliotekanauki.pl/articles/1367333.pdf
    Data publikacji:
    2016
    Wydawca:
    Sieć Badawcza Łukasiewicz - Instytut Napędów i Maszyn Elektrycznych Komel
    Tematy:
    zasada Hamiltona
    Euler-Lagrange’a system
    zespół elektryczny
    system nieholonomiczny
    Hamilton’s principle
    Euler-Lagrange’s system
    electrical set
    nonholonomic systems
    Opis:
    In the paper a general mathematical model of an electric power system is formulated. The system consists of asynchronous generator, variator an unbalanced three-phase resistive-inductive load circuit. State equations in Cauchy’s standard form are given. A numerical analysis of transient processes, occurring in the investigated object, was carried out. The flexibility of motion transmission in electromechanical system is taken into account. The energy approaches for were used in order to formulate the differential equations.
    W pracy, sformułowano ogólny model matematyczny zespołu elektroenergetycznego składającego się z generatora asynchronicznego, wariatora oraz asymetrycznego obciążenia RL. Równania stanu zapisano w postaci normalnej Caushego. Przeprowadzono analizę numeryczną procesów nieustalonych zachodzących w badanym obiekcie. Układ elektromechaniczny uwzględnia podatność transmisji ruchu. Do sformowania różniczkowych równań stanu wykorzystano podejścia energetyczne dla układów nieholonomicznych.
    Źródło:
    Maszyny Elektryczne: zeszyty problemowe; 2016, 2, 110; 103--109
    0239-3646
    2084-5618
    Pojawia się w:
    Maszyny Elektryczne: zeszyty problemowe
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Sub-optimal motion planning of one-chained, two-input nonholonomic systems
    Autorzy:
    Duleba, Ignacy
    Karcz-Duleba, Iwona
    Powiązania:
    https://bibliotekanauki.pl/articles/27311446.pdf
    Data publikacji:
    2023
    Wydawca:
    Polska Akademia Nauk. Czasopisma i Monografie PAN
    Tematy:
    nonholonomic systems
    optimization
    algorithm
    Lie-algebraic methods
    chained-form
    forma łańcuchowa
    optymalizacja
    algorytm
    system nieholonomiczny
    metoda Lie algebraiczna
    Opis:
    In this paper three algorithms of motion planning for two-input, one-chained nonholonomic systems are presented. The classical Murray-Sastry algorithm is compared with two original algorithms aimed at optimizing energy of controls. Based on the generalized Campbell- Baker-Hausdorff-Dynkin formula applied to the systems, some observations are made concerning the optimal relationship between amplitudes and phases of harmonic controls. The observations help to optimize a selection of controls and to design new algorithms for planning a sub- optimal trajectory between given boundary configurations. It was also shown that for those particular systems the generalized C-B-H-D formula is valid not only locally (as in a typical case) but also globally. Simulations performed on the five-dimensional chain system facilitate distinguishing the proposed algorithms from the Murray-Sastry algorithm and to illustrate their features. Systems in a chained form are important from a practical point of view as they are canonical for a class of systems transformable into this form. The most prominent among them are mobile robots with or without trailers.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2023, 71, 3; art. no. e145684
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Application of transverse functions to control differentially driven wheeled robots using velocity fields
    Autorzy:
    Pazderski, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/200419.pdf
    Data publikacji:
    2016
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    transverse functions
    nonholonomic systems
    systems on Lie groups
    potential function
    velocity fields
    pola prędkości
    funkcja transwersalna
    system nieholonomiczny
    grupa Liego
    funkcja potencjalna
    Opis:
    This paper deals with control of a nonholonomic unicycle-like robot in a cluttered environment with static obstacles. The proposed solution is based on a combination of a universal motion controller taking advantage of transverse functions with a navigation velocity field determining a path in a free task space. The motion controller is used to imitate an omnidirectional planar kinematics such that nonholonomic constraints become hidden for a navigation layer. Then it is possible to generate vector fields which govern motion of the omnidirectional frame. The controller using the transverse function is discussed in depth. In particular, a possible parametrization of this function is considered and analysis of an augmented dynamics is provided for different motion patterns. Next, construction of obstacles and potential design for star-like shapes are presented. The navigation algorithm is verified experimentally and the results are discussed.
    Źródło:
    Bulletin of the Polish Academy of Sciences. Technical Sciences; 2016, 64, 4; 831-851
    0239-7528
    Pojawia się w:
    Bulletin of the Polish Academy of Sciences. Technical Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-12 z 12

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