New Approaches in Automation and Robotics part 1 docx

... P in terms of the realization matrices of 1 P ( 11 1 1 ,,, A BCD) and 2 P ( 222 2 ,,, A BCD) in controllable canonical form. Then we arrive at the non-minimal realization 11 21 2 21 21 2 ... Modeling and Simulation 17 3 Laura Celentano 11 . Models for Simulation and Control of Underwater Vehicles 19 7 Jorge Silva and Joao Sousa New Approaches...

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... CCCtyty 6 22 6 11 4 22 4 11 2 2 22 2 11 4 210 6o )6( 4 22 4 11 2 11 210 4o )4( 2 22 2 11 210 2o )2( 210 o k o (30) Because of y k (t o ) ≅ y(t o ) the evaluation of the corrector parameters C i and T i ... following system of non-linear equations: () () () ( ) K K K K K K K 10 10 3 24 2 42 6 2 26482 5 2 10 nn 10 22 10 11 884 2 2 2 462 4 2 8 nn 8 22 8 11 6642 3 2 6...

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... ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ − = 010 0 0 01 )( w wS , ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎣ ⎡ − − + = 010 01. 02.0 12 28.3 )( ww wV and finally [] )()( ~ )()( ~ 11 01 00 10 1 0 01 9. 311 910 1 10 0 5.050 )( 11 1 1 11 tyqHdtyqF q qq tu ref −− − − −− −+ ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ − ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ − ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎣ ⎡ +−− − − = • ... P1: a) α 1 = 1. 0, α 2 = 1. 5, β 1 = β 2 = ∞, b) α 1 =...

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... pressure and the time derivative of the density results in M ij Mij Mij pnRT ρ = ⋅⋅ ⋅  . (15 ) New Approaches in Automation and Robotics 48 3 .1 Training of NN1, NN2, and NN3 a) Training ... prototype system. 0 5 10 15 -1 -0.5 0 0.5 1 x 10 -3 t [s] e x [m] BS FB SM 0 5 10 15 -1 -0.5 0 0.5 1 1.5 x 10 -3 t [s] e z [m] BS FB SM Fig. 12 ....

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... all terms ε [n] (X k +1 ) for n> ;1, one can easily obtain the following expression of ε(X k +1 ). () ( ) [] [] () [] [] [] () [] 4 14 3 13 2 12 111 1 2 1 2 11 13 11 21 1 . . +++++ − ++++ ++ + +++− ⎥ ⎦ ⎤ ⎢ ⎣ ⎡ ⊗+⊗+⊗⊗ +⊗+⊗+ = kkkkk knnkknk knnk k XFXFXFXFX XIIXXIXF XIIXFF X ε ... ⎪ ⎪ ⎪ ⎩ ⎪ ⎪ ⎪ ⎨ ⎧ ⎟ ⎠ ⎞ ⎜ ⎝ ⎛ −== −== == ∑ − = − − − 1 1 1 1 1 1 22 1 1 1 22 1...

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... Active Experiment 14 3 R A 2 A 4 A 6 A 8 C 0 C 1 C 2 T d1 T d2 1 -0 .18 9 0 .13 7 -0.207 0.547 1. 773 0. 21 -0.983 1. 139 0.686 2 -0 .13 1 0.0 61 -0.058 -0.0 91 1.878 0.2 51 -1. 129 0.89 0.54 3 ... 15 P 2 : (O 2 ,O 3 ), O 4 , (O 1 , O 5 ) 3, 1, 1, 2, 3 10 4½, 1 , 1 , 3, 4½ 15 P 3 : O 2 , (O 1 ,O 3 ,O 4 ),O 5 2, 1, 2, 2, 3 10 3, 1, 3, 3, 5 15 P 4 :...

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... relatively low-gain controller. In the LHG (low -and- high gain) design a low gain feedback law is first designed in such a way New Approaches in Automation and Robotics 226 Ying, H. (19 99). "Analytical ... 1N,2,1i , EE i1i −=⊂ + L (9) New Approaches in Automation and Robotics 228 that the actuator does not saturate in magnitude and the cl...

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... ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ −+−+− −++− −+− −−−+ −−+ −− = ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎥ ⎦ ⎤ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎢ ⎣ ⎡ −−−− −− − = )1( )1( )1( )1( )1( )( )1( )1( )1( )1( )1 ()( 11 11 0 011 00 01 111 1 0 011 00 01 min min min max max max int kuHku kuku kuku kuHku kuku kuku UandA u u constra M M L MOMMM L L L OMMM L L (16 and 17 ) ... feeding conveyors, etc...

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... (13 ) and (14 ) we obtain, ( ) ( ) ( ) ** pp zt Axt But=+ & (16 ) ( ) ( ) ( ) ** dp p yt Cxt Dut=+ & (17 ) where * 11 12 21p AJ JNJ=+ (18 ) * 13 12 23p B JJNJ=+ (19 ) * 31 ... ΜΗΧΑΝΗΣ R58 21 19 22 R7 209 RVA 13 R58 14 13 14 RX ΗΜΙΑΥΤΟΜΑΤΗ ΠΟΡΕΙΑ 220V RVA 12 R 7 2 1 t 56 55 t Machine trajectory Automatic routing Reciprocating time Fig. 21. Sample...

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... (γ x =0.5 -1. 0) -0 .15 -0 .1 -0.05 0 0.05 0 .1 0 .15 0.2 1 6 11 16 21 Iterations γy(mm) 1. 5 1. 4 1. 3 1. 2 1. 1 org Fig. 8. Variation of γ y by iteration (γ y =1. 1 -1. 5) -0 .1 -0.05 0 0.05 0 .1 0 .15 1 6 11 16 ... -0.7 -0.6 -0.5 -0.4 -0.3 -0.2 -0 .1 0 0 .1 0.2 0.3 1 6 11 16 21 Iterations γx(mm) 1. 5 1. 4 1. 3 1. 2 1. 1 org Fig. 6. Variation of γ x...

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