Automation and Robotics

... trailer's kinematics θ i = (sin(θ i 1 − θ i )vi 1 − cos(θ i 1 − θ i )θ i 1 Di 1 L i vi = cos(θ i 1 − θ i )vi 1 + sin(θ i 1 − θ i )θ i 1 Di 1 10 Automation and Robotics Problem formulation Tracking ... 0.5 -0.5 -1 10 15 20 25 30 ω [rad/sec] 10 15 20 25 30 -2 Comp.Time [msec] Performance Index Fig Simulation results: control inputs 10 10 -1 -2 10 10 15 20 25 30 10 15...

Ngày tải lên: 10/08/2014, 22:24

... Wiley-Interscience; ISBN: 978-0471 325 9 32, New York Utkin, V.I (1977) A Survey: Variable Structure Systems with Sliding Modes, IEEE Transactions on Automatic Control , vol 22 , no 2, pp 21 2 -22 2, April 1977 Vetter, ... x for classical sliding mode control and (25 ) 28 Automation and Robotics M x ~ + ( 3M x Λ + C x )~ + ( 3M x Λ + 2C x )Λ~ + (M x Λ + C x )Λ 2~ = d x x x x (26...

Ngày tải lên: 10/08/2014, 22:24

... ⎢ 0[1 3] ⎣ ) F1 K F2⎤ ⎥ ⎥ ⎦ (9a) 50 Automation and Robotics R F is a 3 3 orthogonal rotation matrix determining the orientation of the {F2} CS with respect to the {F1} CS and F K F is a 3 1 translation ... form as − p1 − p2 p0 p3 − p3 p0 − p2 ⎡ p0 ⎢p p⋅q = ⎢ ⎢ p2 ⎢ ⎣ p3 p1 − p3 ⎤ p2 ⎥ ⎥⋅q = P⋅q − p1 ⎥ ⎥ p0 ⎦ or ⎡ p0 ⎢p q⋅ p = ⎢ ⎢ p2 ⎢ ⎣ p3 − p1 − p2 p0 − p3 p2 p3 p0 − p1 − p3 ⎤ − p...

Ngày tải lên: 10/08/2014, 22:24

... ] (41 ) Closed-Loop Feedback Systems in Automation and Robotics, Adaptive and Partial Stabilization ηu = −ν (ς ) ( ) ˆ − S T − M −1 h − kM −1 ( X d − e − X ) − X d − μ ' μ + μ ' ς − e3 , 85 (42 ) ... Astron Khim., 4, 9-16 Rumyantsev, V V (1970) On the optimal stabilization of controlled systems, J Appl Maths Mechs, 3, 34, 44 0 -45 6 Rumyantsev, V V and Oziraner, A S (1987) The Stab...

Ngày tải lên: 10/08/2014, 22:24

... Accumulative strategy T1 1 .5 T2 1 .5 T3 3 T4 1 .5 T5 1 .5 T6 1 .5 T7 1 .5 T8 1 .5 Table LOS values for Fig .5 102 Automation and Robotics This example shows how counting and accumulative strategy algorithms ... Counting strategy LOS value Accumulative strategy T1 1 .5 T2 1 .5 T3 4 T4 T5 1 .5 T6 1 .5 T7 1 .5 T8 1 .5 T9 1 .5 T10 1 .5 T11 1 .5 T12 1 .5 T13 1 .5 T14 1...

Ngày tải lên: 10/08/2014, 22:24

... A2 5.875 (±0.1 166 ) 1.395 (±0. 960 9) 0.25 96 (±0.4 368 ) -0.3017 (±0.1248) A3 -5.3 06 (±0. 16) -1.598 (±0 .64 74) 0.8884 (±0.31 16) 0.0144 (±0. 068 4) A4 2 .66 7 (±0.1132) -1.392 (±0.4393) 0.55 96 (±0.1175) A5 ... ARX-4 A1 -2.519 (±0.035 16) -3.111(±0.01927) A2 2. 167 (±0. 066 46) 4.1 76( ±0.050 36) A3 -0 .61 57(±0.03421) -2.882(±0.04939) A4 0.8708(±0.01815) A5 ARX-5 ARMAX-3 ARMAX-4 -3....

Ngày tải lên: 10/08/2014, 22:24

... 9,88 ± 5,02 2, 57 7, 17 ± 8,04 GSNLS - 9,13 9, 27 ± 0,04 2, 57 5,22 ± 6,64 ACO 9,13 9,26 ± 0,18 2, 57 2,66 ± 0,18 ACO 9,13 9,24 ± 0, 07 2, 57 2,66 ± 0,13 ACO 10 9,13 9,26 ± 0,05 2, 57 2, 67 ± 0,11 ACO 20 ... 9,88 ± 5,02 2, 57 7, 17 ± 8,04 GSNLS - 9,13 9, 27 ± 0,04 2, 57 5,22 ± 6,64 ACO 9,13 9,26 ± 0,18 2, 57 2,66 ± 0,18 ACO 9,13 9,24 ± 0, 07 2, 57 2,66 ± 0,13 ACO 10 9,13 9,26...

Ngày tải lên: 10/08/2014, 22:24

... the meaning of the the definition 18  188 Automation and Robotics The system is reachable and observable because the matrix PBQ −1 has n = monomial −1 columns, and the matrix VCP has n = monomial ... York 190 Automation and Robotics Moshrefi-Torbati M & Hammond K (19 98) Physical and geometrical interpretation of fractional operators, J Franklin Inst., Vol 335B, no 6, 19...

Ngày tải lên: 10/08/2014, 22:24

... control of uncertain nonlinear systems (Utkin, 199 2; Slotine & Li, 199 1; Edwards & Spurgeon, 199 8) The classical applications of SMC (such as robotics, electrical machines etc.) were extended ... (Slotine & Li, 199 1; Edwards & Spurgeon, 199 8) Vibrational control (VC) is a non-classical open-loop control method proposed by Bellman, Bentsman and Meerkov (Meerkov, 198 0; Bellman et al.,...

Ngày tải lên: 10/08/2014, 22:24

... International Conference on Methods and Models in Automation and Robotics MMAR 2007, pp 77-84, ISBN 978-83-751803-2-9, Szczecin, Poland, August 2007 222 Automation and Robotics Selişteanu, D.; Petre, ... -60 10 Time [sec] 15 Fig Real and estimated arm angle velocity for flexible beam experiment 20 238 Automation and Robotics Real (measured) arm angle Estimated arm angl...

Ngày tải lên: 10/08/2014, 22:24

... support system (see Fig 1.): 246 • • • • • Automation and Robotics Problem-specific constraint which correspond to particular features of operations and resources The system should possess data ... problem include: • Temporal and precedence constraints which define the possible values for the start and end times of operations and the relations between the start and end time of...

Ngày tải lên: 10/08/2014, 22:24

... Conference on Methods and Models in Automation and Robotics (MMAR), Szczecin, Poland Tsai, L.-W (1999) Robot analysis: the mechanics of serial and parallel manipulators John Wiley and Sons, Inc., USA ... time they 274 Automation and Robotics change Apart from the difference between these forces, a good agreement in the vibrations’ behaviour of both systems, frequency, amplit...

Ngày tải lên: 10/08/2014, 22:24

... Simulation and Optimization 313 Fig.8 Deployment of units and their structural (graph GD) representation (left-hand side) and terrain covering (growth) and its structural (GT) representation (right-hand ... U2×T×K_Veh×K_Meteo×K_YearS×K_DayS→[0,1] Fig.5 Road-railroad network (left-hand side) and its graph model G2 (right-hand side) (5) 304 Automation and Robotics Description o...

Ngày tải lên: 10/08/2014, 22:24