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    Wyświetlanie 1-6 z 6
    Tytuł:
    Robust Performance of Sampled-data Adaptive Control. From Simulation to Experimental Results
    Autorzy:
    Horla, D.
    Powiązania:
    https://bibliotekanauki.pl/articles/950947.pdf
    Data publikacji:
    2015
    Wydawca:
    Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
    Tematy:
    adaptive control
    robustness
    sampled-data systems
    servo
    Opis:
    The paper considers robustness aspects of adaptive control in application to sampled-data systems with poleplacement controller subject to plant-model mismatch, in the sense of mistuning to model parameters with respect to their „true” values. The paper extends the results presented in author’s previous work respecting comparison of sampled-data and discrete-time control systems to experimental results obtained from the control system of a servo drive. Firstly, the adaptive sampleddata controller is introduced and is applied by means of simulation, secondly, it is implemented in real-time control system to extend robust performance issues to realworld control systems. Finally, the regions of robust performance are shown on parameter surface, i.e. visualisation of parameters? span for which there is no severe performance degradation in comparison to the best plantmodel matching, as a function of sampling interval.
    Źródło:
    Journal of Automation Mobile Robotics and Intelligent Systems; 2015, 9, 2; 3-8
    1897-8649
    2080-2145
    Pojawia się w:
    Journal of Automation Mobile Robotics and Intelligent Systems
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Testing of adaptive nonuniform sampling switch algorithm with real-time simulation-in-the-loop
    Autorzy:
    Janczak, J.
    Kondratiuk, M.
    Pawluszewicz, E.
    Powiązania:
    https://bibliotekanauki.pl/articles/206431.pdf
    Data publikacji:
    2016
    Wydawca:
    Polska Akademia Nauk. Instytut Badań Systemowych PAN
    Tematy:
    nonuniform sampling
    sampled-data control
    adaptive nonuniform sampling
    Opis:
    The study is motivated by the considerations concerning implementation of nonuniform sampling regarding the reallife objects. It is shown that nonuniform adaptive sampling switch algorithm can ensure a reduction in the number of taken samples and does not exert negative influence on the quality of the system control. Experiment was performed with 24VDC permanent magnet motor with encoder as a plant. Signals from the encoder were used for rotational speed calculations. The results of experiment are included.
    Źródło:
    Control and Cybernetics; 2016, 45, 3; 317-328
    0324-8569
    Pojawia się w:
    Control and Cybernetics
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Iterative learning control with sampled-data feedback for robot manipulators
    Autorzy:
    Delchev, K.
    Boiadjiev, G.
    Kawasaki, H.
    Mouri, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/229323.pdf
    Data publikacji:
    2014
    Wydawca:
    Polska Akademia Nauk. Czytelnia Czasopism PAN
    Tematy:
    sampled-data systems
    iterative learning control
    robot manipulators
    convergence analysis
    Opis:
    This paper deals with the improvement of the stability of sampled-data (SD) feedback control for nonlinear multiple-input multiple-output time varying systems, such as robotic manipulators, by incorporating an off-line model based nonlinear iterative learning controller. The proposed scheme of nonlinear iterative learning control (NILC) with SD feedback is applicable to a large class of robots because the sampled-data feedback is required for model based feedback controllers, especially for robotic manipulators with complicated dynamics (6 or 7 DOF, or more), while the feedforward control from the off-line iterative learning controller should be assumed as a continuous one. The robustness and convergence of the proposed NILC law with SD feedback is proven, and the derived sufficient condition for convergence is the same as the condition for a NILC with a continuous feedback control input. With respect to the presented NILC algorithm applied to a virtual PUMA 560 robot, simulation results are presented in order to verify convergence and applicability of the proposed learning controller with SD feedback controller attached.
    Źródło:
    Archives of Control Sciences; 2014, 24, 3; 299-319
    1230-2384
    Pojawia się w:
    Archives of Control Sciences
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Improving the stability of discretization zeros with the Taylor method using a generalization of the fractional-order hold
    Autorzy:
    Zeng, C.
    Liang, S.
    Zhang, Y.
    Zhong, J.
    Su, Y.
    Powiązania:
    https://bibliotekanauki.pl/articles/330136.pdf
    Data publikacji:
    2014
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    stability
    discretization zeros
    Taylor method
    signal reconstruction
    sampled data model
    stabilność
    dyskretyzacja
    metoda Taylora
    rekonstrukcja sygnału
    model danych
    Opis:
    Remarkable improvements in the stability properties of discrete system zeros may be achieved by using a new design of the fractional-order hold (FROH) circuit. This paper first analyzes asymptotic behaviors of the limiting zeros, as the sampling period T tends to zero, of the sampled-data models on the basis of the normal form representation for continuous-time systems with a new hold proposed. Further, we also give the approximate expression of limiting zeros of the resulting sampled-data system as power series with respect to a sampling period up to the third order term when the relative degree of the continuous-time system is equal to three, and the corresponding stability of the discretization zeros is discussed for fast sampling rates. Of particular interest are the stability conditions of sampling zeros in the case of a new FROH even though the relative degree of a continuous-time system is greater than two, whereas the conventional FROH fails to do so. An insightful interpretation of the obtained sampled-data model can be made in terms of minimal intersample ripple by design, where multirate sampled systems have a poor intersample behavior. Our results provide a more accurate approximation for asymptotic zeros, and certain known results on asymptotic behavior of limiting zeros are shown to be particular cases of the ideas presented here.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2014, 24, 4; 745-757
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Detection of human fall episodes based on coordinates of body tags and numerical differentiation
    Autorzy:
    Momot, M.
    Momot, A.
    Nowak, G.
    Seredynski, R.
    Jezewski, J.
    Kupka, T.
    Powiązania:
    https://bibliotekanauki.pl/articles/333630.pdf
    Data publikacji:
    2012
    Wydawca:
    Uniwersytet Śląski. Wydział Informatyki i Nauki o Materiałach. Instytut Informatyki. Zakład Systemów Komputerowych
    Tematy:
    otoczenie
    wspieranie życia
    dane nieregularne objęte próbą
    zróżniczkowanie numeryczne
    ambient
    assisted living
    fall detection
    irregular sampled data
    numerical differentiation
    Opis:
    This paper presents a new method for detection of changes in alignment of the human body, particularly the fall, on the basis of signals acquired from the position sensors placed on the body of the monitored person. The sensors are located on the cuffs, waist and chest. Transformation of data sequence collected from sensors is proposed in order to best distinguish between the collapse from the normal movement. It is based on nonlinear combination of the first two derivatives of the signals being read. Because data from the sensors is sent asynchronously, a numerical algorithm for unevenly sampled data differentiation is proposed. Derivative values are calculated in equidistant nodes through differentiation of a polynomial, which is adjusted by minimizing the mean square error. The developed method can be used in home care telemedicine systems, where it is necessary to long term monitor of multiple vital parameters of people under care.
    Źródło:
    Journal of Medical Informatics & Technologies; 2012, 21; 11-17
    1642-6037
    Pojawia się w:
    Journal of Medical Informatics & Technologies
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Robust stabilization using a sampled-data strategy of uncertain neutral state-delayed systems subject to input limitations
    Autorzy:
    El Fezazi, N.
    El Haoussi, F.
    Tissir, E. H.
    Alvarez, T.
    Tadeo, F.
    Powiązania:
    https://bibliotekanauki.pl/articles/330988.pdf
    Data publikacji:
    2018
    Wydawca:
    Uniwersytet Zielonogórski. Oficyna Wydawnicza
    Tematy:
    robust stabilization
    sampled data
    time-delay system
    input saturation
    admissible initial conditions
    LMI
    stabilizacja odporna
    dane próbkowane
    układ z opóźnieniem
    nasycenie wejściowe
    Opis:
    Stabilization of neutral systems with state delay is considered in the presence of uncertainty and input limitations in magnitude. The proposed solution is based on simultaneously characterizing a set of stabilizing controllers and the associated admissible initial conditions through the use of a free weighting matrix approach. From this mathematical characterization, state feedback gains that ensure a large set of admissible initial conditions are calculated by solving an optimization problem with LMI constraints. Some examples are presented to compare the results with previous approaches in the literature.
    Źródło:
    International Journal of Applied Mathematics and Computer Science; 2018, 28, 1; 111-122
    1641-876X
    2083-8492
    Pojawia się w:
    International Journal of Applied Mathematics and Computer Science
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-6 z 6

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