adaptive control design for uncertain

... attention is concentrated on the analysis and design of two learning-type control strategies: adaptive control (AC) and iterative learning control (ILC), for dynamic systems with repetitiveness. In ... transformation is introduced such that the final state control problems are formulated in the phase plane to facilitate spatial ILC design and analysis. Then, a dual-loop ILC scheme is designed for ... controlled variables, the design of adaptive control systems is oriented firstly toward the elimination of the effect of parameter disturbances upon the performance of the control

Ngày tải lên: 11/09/2015, 10:15

... problem for this particular robot may be solved by applying the dierent control laws, as outlined above for dierent modes The conditions for exiting the modes have been dened as well For each ... Conclusion We have developed a hybrid control scheme for a path-tracking four-wheel steered mobile robot, and shown how it can be analyzed for stability The basis for controller development is standard ... a transition condition and a new control mode is introduced Specialized controllers are developed for such modes With the control automaton completed, we found for each mode, Lyapunovlike functions,

Ngày tải lên: 22/03/2014, 11:20

... Linearization-based Control Design for a Wheeled Mobile Robot, in Proc of the 6th International... the actual Lyapunov function, which can be considered a form of `robustness' ... normal mode path tracking controller is designed according to feedback linearization methods Other modes are introduced systematically, where the model has singularities For each such case a. ... 1 1 2 1 2 [...]... steered mobile robot, and shown how it can be analyzed for stability The basis for controller development is standard non-slipping and pure rolling conditions, which

Ngày tải lên: 27/06/2014, 18:20

... suspension control design for vehicles Active automotive suspensions? ?Design I Savaresi, Sergio M 629.2’43–dc22 Library of Congress Control Number: 2010925093 ISBN: 978-0-08-096678-6 For information ... Semi-Active Suspension Control Design for Vehicles Semi-Active Suspension Control Design for Vehicles S.M Savaresi C Poussot-Vassal C Spelta O Sename L ... Comfort: 1-Sensor-Mix algorithm, 125 characteristics, 71 controller parametrization, 152–154 normalized performance criteria, 102–103 optimal performance, 100, 102 performance index, 161 “Comfort

Ngày tải lên: 26/10/2017, 15:57

... to design the controller, in which only one simple NN is employed for approximating uncertain nonlinearities, and thus the complexity of controller design has been reduced With the proposed control ... unfortunately, the designed controller may severely degrade the system performance or even lead to its instability So far, much attention has been paid to controllers design for nonlinear systems ... Problem formulation and preliminaries are provided in the section ‘‘Problem formulation and preliminaries.’’ Controller design and stability analysis are given in sections ‘‘Controller design? ??’

Ngày tải lên: 08/11/2022, 15:00

... Commercial adaptive controllers . Problems with PID . Advantages of adaptive control . Disadvantages of adaptive control . The ideal adaptive controller ... Techniques for Adaptive Control Techniques for Adaptive Control Edited by Vance J. VanDoren, Ph.D., P.E. Consulting Editor, Control Engineering Magazine, Oak Brook, ... MFA control system MFA cascade control system . Feedforward MFA control Nonlinear MFA control . Robust MFA control . MFA control

Ngày tải lên: 12/12/2013, 22:42

... bounded. 4. Neuroadaptive control for discrete-time nonlinear nonnegative uncertain systems In this section, we consider the problem of characterizing neuroadaptive feedback control laws for discrete-time ... neuroadaptive control framework for adaptive set-point regulation of nonlinear uncertain nonnegative and compartmental systems. In Section 5, we extend the results of Section 4 to the case where control ... proposed neuro control architecture is modular in the sense that if a nominal linear design model is available, the neuroadaptive controller can be augmented to the nominal design to account for system

Ngày tải lên: 22/06/2014, 11:20

... and J W Modestino (1) Typically, for a uniform MPSK signaling scheme, we would expect Rc ≤ (2) Rc to optimize the performance However, for the adaptive nonuniform modulation/coding scheme considered ... with M = 2m , for example, for 8-PSK, M = 8, and m = For the information in the enhancement layer (i.e., the encoder output component sent using the fine modulation of the nonuniform MPSK constellation) ... in Figure 10 for AWGN channel For lower values of ES /NI (e.g., ES /NI ≤ dB), as the adaptive modulation scheme reverts to a single-layer uniform QPSK scheme, the 2-layer system performs essentially

Ngày tải lên: 22/06/2014, 19:20

... a new collapse control design method for high-rise steel building structures. The basic concept of the present collapse control design methods is to save human lives. Therefore, the method ... protection Vertical load Collapse control design Removal of columns Fig. 2 Image of Collapse Control Design Fig. 3 Outline of Recommended Flow of Collapse Control Design Core Core Core Core ... Basic design Valuation for damaged and lost members Use of fire resistant steel, SN steel End Collapse control design Conventional design Conventional fire resistant and structual desin Detail design

Ngày tải lên: 28/06/2014, 13:49

... two-wheeled mobile platform. The kinematic modeling and the constraints for both the platform and the manipulator are discussed. Based on these modeling, an adaptive control algorithm for the welding ... candidate Lyapunov function is also introduced for proving the stability of system upon the adaptive algorithm. For increasing the flexibility of system, the control of system with unknown parameter ... mounted on a platform with two independent driving wheels. Thus, this mobile manipulator was used only for the horizontal fillet welding paths. In this paper, an adaptive controller is applied

Ngày tải lên: 22/07/2014, 02:20

... DESIGN OF MEDIUM ACCESS CONTROL TECHNIQUES FOR COOPERATIVE WIRELESS NETWORKS WANG YU NATIONAL UNIVERSITY OF SINGAPORE 2014 DESIGN OF MEDIUM ACCESS CONTROL TECHNIQUES FOR COOPERATIVE ... that cooperative algorithms outperform non-cooperative algorithms significantly. Third, we investigate cooperation in designing the medium access control protocol for distributed multi-channel ... Medium Access Control Figure 1.2: System model for centralized networks Figure 1.3: System model for distributed networks 4 1.1 Cooperative Medium Access Control well-organized...

Ngày tải lên: 09/09/2015, 09:59

... 107 Cascaded Dual Frame Controller Design 110 4.1 PI Controller Design Based on Traditional Method 111 4.2 PI Controller Design Based on Singular Perturbations Method ... ANALYSIS, DESIGN AND IMPLEMENTATION OF HIGH PERFORMANCE CONTROL SCHEMES FOR THREE PHASE PWM AC-DC VOLTAGE SOURCE CONVERTER XINHUI WU NATIONAL UNIVERSITY OF SINGAPORE 2008 ANALYSIS, DESIGN AND ... Based Repetitive Controller 6.1 158 Design of a Plug-in Digital Frequency Domain Based Repetitive Controller 160 6.2 FDRC for Supply Current Harmonics Control

Ngày tải lên: 11/09/2015, 16:02

... experiments for the proposed hybrid control using supervisory control were provided The performances of the hybrid control. .. conditions This motivates the design of nonlinear control ... control are 1) At actuator level (low level): hybrid control for changes of environmental from calm to extreme seas, 2) At plant control level (high level): hybrid control for ... hybrid control in marine control system will be explored 1.2 Literature Review 1.2.1 Hybrid Control and Supervisory Control Gain scheduling... conventional controllers for normal

Ngày tải lên: 16/09/2015, 08:30

... impossible for uncertain systems The only general way of pursuing stability analysis and control design for uncertain systems. .. for the same problem In Chapter 5, an adaptive control ... Summary In this thesis, robust adaptive control is investigated for uncertain nonlinear systems. The main purpose of the thesis is to develop adaptive control strategies for several classes of general ... control coefficients or high-frequency gain, adaptive control of such systems becomes much more difficult. In this thesis, controller design incorporated by the Nussbaum-type gains is presented for

Ngày tải lên: 17/09/2015, 17:20

... sending critical information In this thesis, a framework of adaptive data streaming for small scale remote. .. PC-based platform for test, measurement and control The PXI runs ... mostly designed for big scale systems such as Supervisory Control And Data Acquisition (SCADA) systems This framework aims... data for small scale remote monitoring and control ... time, car information is at the same priority level as the heartbeats. If a heartbeat request is set before it, and there are no additional resources for the car information, the car information

Ngày tải lên: 26/09/2015, 11:07

... hierarchical control architecture where it demonstrates deliberative behavior at the high-level mission control while performing reactively for the low-level vehicle control. The control architecture ... of related works in design, and the development of control and software architectures for mobile robot and AUVs. Chapter 3 presents the novel control architecture developed for the AUV’s C2 system. ... developments for the control system. Early efforts spotted in this area are reported in [24]. In the paper, Rodseth applied Object-Oriented software development principle in building the control system for

Ngày tải lên: 04/10/2015, 10:26

... response for small exogenous signals (reference commands and disturbances). One way to design controllers for systems with bounded controls, would be to solve an optimal control ... methodology is introduced to design control systems with multiple saturations for stable open loop plants. The idea is to design a linear control system ignoring the saturations ... system There are well developed methods for defining performance criteria and for designing linear closed loop systems which meet the performance requirements. It would then...

Ngày tải lên: 18/02/2014, 10:20

... exercises in a consistent way, with different performance profiles considering the performance adaptive nature of the controller architec- ture. For clarity sake, in the present preliminary/ feasibility ... kinematics, with no further transformations required, allowing to actuate the robot to control feedback to a specific human joint, for example to constr ain the forearm rotation du ring wrist rehabilitation, ... 1. The control architecture integrates the wrist controller with a bi-dimensi ona l visual virtual reality environment ( VR) for showing to the subjects the actual joint rotation transformation...

Ngày tải lên: 19/06/2014, 08:20

... bandwidth for the BRUs with expired unicast polling timer, then for the BRUswhichUPIshave been set for; (2) if there are data PDU to be sent out, the SS sets UPI for BRU based on Equations 19 and 20 for ... we perform mathematical analysis for the PA from following viewpoin ts: connection-level QoS performance, queuing performance, and BR efficiency enhancement. 4.1 Connection-level QoS performance ... admission control and QoS for 802.16 wireless MAN, in Proc of Wireless Telecomm Symp,60–66 (April 2005) 6. D Niyato, E Hossain, Joint bandwidth allocation and connection admission control for polling...

Ngày tải lên: 21/06/2014, 00:20

... a new fuzzy adaptive exponential synchronization controller for uncertain time-delayed chaotic systems based on Takagi-Sugeno T-S fuzzy model. This synchronization controller is designed based ... synchronization controller is designed and an analytic expression of the controller with its adaptive laws of parameters is shown. By the proposed scheme, the closed-loop error system is adaptively exponentially ... techniques for handling chaos synchronization have been developed, such as variable structure control 4, OGY method 5, observer-based control 6, active control 7, backstepping design technique...

Ngày tải lên: 21/06/2014, 07:20