model reference adaptive control of piecewise affine systems and applications

... witnessed great progress in adaptive control of nonlinear systems due to great demands from industrial applications In this thesis, robust adaptive control of uncertain nonlinear systems has been investigated ... study of adaptive neural control of uncertain nonlinear systems with unknown nonlinearities, and a great deal of progress has been made both in theory and practical applications The idea of employing ... for a class of perturbed strict-feedback nonlinear systems and a class of nonlinear time-delay systems with unknown virtual control coefficients/functions The behavior of this class of control laws...

Ngày tải lên: 17/09/2015, 17:20

... fundamental considerations and investigations of the adaptive control problem for high order nonlinear systems with constraints 1.1.2 Adaptive Control and Backstepping Adaptive control has witnessed ... for adaptive control that overcame the structural and growth restrictions Specifically, the marriage of adaptive control and backstepping, i.e adaptive backstepping, yields a means of applying adaptive ... Control Design, Adaptive Control and Backstepping, Control of Constrained Systems, as well as Control of Microelectromechanical Systems (MEMs) In each part, the related works and background knowledge...

Ngày tải lên: 11/09/2015, 16:01

... Mikell P Groover: Automation, Production Systems, and Computer Integrated Manufacturing Printice-Hall, 1987 Yoram Koren: Computer Control of Manufacturing Systems McGraw-Hill, 1983 Japanese National ... thành loại: (1) điều khiển thích nghi tối u (Adaptive Control With Optimization - ACO) (2) điều khiển thích nghi theo điều kiện giới hạn (Adaptive Control With Constraints - ACC) Hệ ACO điều khiển ... On-line giá trị lực cắt, chuyển thành tín hiệu điện áp để cung cấp cho điều khiển (AC Controller) - Chức AC Controller đợc thực nhờ PC, có cắm card thu nhận xử lý tín hiệu PCL-812 PG hãng Advantech...

Ngày tải lên: 10/12/2013, 13:16

... and S.B Kim, Modeling and Motion Control of Mobile Robot for Lattice Type of Welding Line, KSME International Journal, Vol 16, No 1, pp 83-93, 2002 [5] B.O Kam, Y.B Jeon and S.B Kim, Motion Control ... Proc of the 34th Conf on Decision & Control, pp 38053810, USA, Dec 1995 [17] N Sarkar, X Yun and V Kumar, Control of Mechanical Systems With Rolling Constrains: Application to Dynamic Control of ... Control of a Two-Wheeled Mobile Robot, Proc of the 1999 IEEE Int Conf on Systems, Man, and Cybernetics, Vol V, pp 690-696, 1999 [12] A Tayebi and A Rachid, Backstepping-based Discon-tinuous Adaptive...

Ngày tải lên: 10/12/2013, 13:16

... Concepts and Designs K.F Man, K.S Tang and S Kwong Neural Networks for Modelling and Control of Dynamic Systems M Nørgaard, O Ravn, N.K Poulsen and L.K Hansen Modelling and Control of Robot Manipulators ... and Director Professor Michael A Johnson, Professor of Control Systems and Deputy Director Industrial Control Centre, Department of Electronic and Electrical Engineering, University of Strathclyde, ... information engineers at the University of Veszpr´m, Hungary since 2003 e TLFeBook Basic Notions of Systems and Signals Signals and systems are basic notions of systems and control theory Therefore, we...

Ngày tải lên: 01/01/2014, 18:38

... methods 10 Control of Continuous Linear Systems In summary, the objective of this book is to provide the reader with a sound understanding of the foundations of the modelling and control of linear ... the behavior of the furnace, and are classified as control and controlled variables, measured perturbations, and random perturbations as shown in 16 Control of Continuous Linear Systems Figure ... very simple and more economical, and it is easier to control it than to control a set consisting of a reactor, nine distillation columns, and many heat exchangers and pumps 14 Control of Continuous...

Ngày tải lên: 01/01/2014, 20:12

... locations of the sensors The time delay is taken with 1/500 and 1/800 of total duration time T Some of the controlled results are shown in table and Fig and In Fig and 7, thin and dotted lines are uncontrolled ... 2-dimensional vector The histories of components of E(t) are plotted in Fig and for each case of the location of sensor a) b) c) Fig The history of the 1st component of error term E(t), sensor locates ... proposed, such as LQR/LQG control [2,3], H2/H∞ control [4,5], sliding mode control [6], saturation control [7], reliability-based control [8], fuzzy control [9], neural control [10] In fact, it...

Ngày tải lên: 28/03/2014, 13:20

... locations of the sensors The time delay is taken with 1/500 and 1/800 of total duration time T Some of the controlled results are shown in table and Fig and In Fig and 7, thin and dotted lines are uncontrolled ... 2-dimensional vector The histories of components of E(t) are plotted in Fig and for each case of the location of sensor a) b) c) Fig The history of the 1st component of error term E(t), sensor locates ... proposed, such as LQR/LQG control [2,3], H2/H∞ control [4,5], sliding mode control [6], saturation control [7], reliability-based control [8], fuzzy control [9], neural control [10] In fact, it...

Ngày tải lên: 28/03/2014, 13:20

... work on optimal control for a particular class of systems [58] As a matter of fact, chained forms were introduced as a generalization of special first- and secondorder controllable systems for which ... the dimension of the accessibility distribution ∆C of the kinematic model (7.24) However, when dealing with the control of systems with generalized Pfaffian constraints, the presence of a drift term ... Laumond [40] has devised a cleverly organized proof of controllability and hence, of complete nonholonomy However, the degree of nonholonomy of the system is not strictly defined, since the relative...

Ngày tải lên: 01/04/2014, 00:20

... basics of 1-D and 2-D tone control of color management systems are discussed State variable representation of imaging systems, control- based 1-D and 2-D tone management, and spot color control ... printing of periodicals In offset printing presses, the press control system controls and monitors the ink, water, and print registration systems, and often robots are used to move parts in and out of ... Talman of Cornell University, Bob Webber of Fermi National Accelerator Laboratory, and Professor Kai Yeung of the University of Texas at Arlington for injecting the seeds of physics and controls...

Ngày tải lên: 05/06/2014, 12:01

... of Control, Automation, and Systems, Vol 1, No 1, 2003, pp 35-42 [2] R Fierro and F.L Lewis, Control of a Non-holonomic Mobile Robot: Backstepping Kinematics into Dynamics,” in Proceedings of ... Motion Control of Nonholonomic Mobile Robots,” IEEE Transaction on Robotics and Automation, Vol 15, No 3, 1999, pp 578-587 [7] M S Kim and J H Shin, and J J Lee, “Design of a Robust Adaptive Controller ... simulation and experimental results show the effectiveness of the system model and the designed controllers And this works was done in CIMEC Lab., Pukyong National University, Pusan, Korea DYNAMIC MODEL...

Ngày tải lên: 06/04/2015, 10:36

... Sliding Modes, -modulators, and Generalized Proportional Integral Control of Linear Systems Asian Journal of Control 5, 467475 (2003) A Generalized PI Sliding Mode and PWM Control 213 13 Sira-Ram ... The control of switched systems via PWM actuators constitutes a vast area of applications with a sucient number of theoretical contributions The reader is invited to browse the book by Gelig and ... output feedback controller design method for a special class of switched fractional order systems, known as the benchmark model (see Poinot and Trigeassou [8] and, also, Melchior, Poty and Oustaloup...

Ngày tải lên: 01/07/2015, 09:18

... Adaptive controller for 2D modeling overhead crane with the friction force model (Aschemann, 2000) was proposed by Ma, Fang & Zhang (2008) An adaptive tracking control of 3-D overhead crane systems ... research interests include nonlinear control of dynamical systems, robotics, and industrial applications of control engineering Anh Huy Vo received the B.Eng degree and M.Eng degree both in mechanical ... interests include control of infinite dimensional systems, nonlinear control of dynamical systems, and control of MEMs VCM2012 Quoc Toan Truong, Anh Huy Vo and Quoc Chi Nguyen ...

Ngày tải lên: 16/08/2015, 15:47

... string with model- based boundary control 38 3.4 Displacement of the nonuniform string with adaptive boundary control 38 3.5 Model- based boundary control input and adaptive boundary control input ... dynamic model of the flexible structures, and some inequalities will be applied to analyze the stability of the systems throughout this thesis In Chapter 3, we start with the study of modeling and control ... boundary control method for suppressing the vibration of the systems and eliminating the effects of the disturbances (iii) Investigate the stability of the flexible systems with the proposed boundary control...

Ngày tải lên: 09/09/2015, 18:48

... cable with model based boundary control 93 xi List of Figures 4.6 Boundary position of the cable with model based control 93 4.7 Model- based control input u1 (t) and u2 (t) ... 4.8 Position of the cable with robust adaptive boundary control 94 4.9 Boundary position of the cable with robust adaptive control 95 4.10 Adaptive control input u1 (t) and u2 (t) ... string and beam systems, is presented Background knowledge of flexible 1.1 Background and Motivation systems is given first, and then the recent researches on boundary control of flexible systems...

Ngày tải lên: 10/09/2015, 15:52

... schematic of (a) Analog PWM controller and (b) Digital PWM controller microprocessor and the other generic advantages of digital control, it is a challenge to deliver the performance required of the ... performance of the proposed scheme during a step change in current reference (a) Closed loop bandwidth of 50kHz (b) Closed loop bandwidth of 100kHz 160 8.5 Discharging of output capacitor ... performance of three dierent control methods: (a) Analog control; (b)Conventional Digital Control and (c) Proposed Controller with duty ratio correction 74 4.6 Block schematic of the chip...

Ngày tải lên: 11/09/2015, 10:06

... with the great fortune of having the companionship of several distinct individuals Like Frodo Baggins and the fellowship of the Ring, or Dorothy and her companions in the land of Oz, my own adventures ... the level of agent actions This often involves the explicit collaboration of movements and positioning of individual robots for specific applications such as surveillance, scouting and coverage ... Cooperative BackOff Adaptive Scheme is composed of a combination of basis tasks, i.e Ti ⊂ B, and is written as Ti = Ti L B = {bk ( k ) : for k = 1, , nb and Ti (k) = 0} (2.1) with Ti ∈ R1×nb and its...

Ngày tải lên: 12/09/2015, 08:19

... for methane combustion and to gain a better understanding in the operation and control of such systems In short, this work focuses on modeling, simulation and control of Reverse Flow Reactors ... Prof Rangaiah, Prof Jim Yang Lee and Prof M P Srinivasan for giving me an opportunity to teach undergraduate iii modules Their feedback and the achievements of Prof Laksh and Prof Nandakumar in teaching ... spite of their busy schedule Also, many fruitful discussions and group seminars with Prof Sirish Shah, Prof Nandakumar and Prof Biao Huang furnished me an excellent exposure in various fields of...

Ngày tải lên: 14/09/2015, 12:30

... hence more demanding tasks with the modeling and control design This calls for a more careful study of the dynamic characteristics of HDD servo mechanism and further exploration of control design ... characteristics of the servo systems with RPT control 137 6.7 Open loop frequency characteristics of the servo systems with CNF control 138 List of Figures ix 6.8 Open loop frequency characteristics of the ... motor and VCM, read/write electronics and servo demodulator, controller chip for timing control and control of interface, micro processor(s) for servo control, and etc An important performance indicator...

Ngày tải lên: 15/09/2015, 22:15

... C CMMSD Systems – Modeling and Control 145 C.1 Dynamic Modeling and Problem Formulation 145 v Contents C.2 Adaptive Output Feedback Control 148 D Proof of Lemma ... contact and noncontact motions Considering the difficulties in obtaining the dynamic model and the internal states of the constraint, a model reference adaptive controller (MRAC) and an adaptive ... impedance controllers are designed with the model- based computed torque method which requires exact dynamic models of the robot and the constraint To handle uncertainties, adaptive control, robust control...

Ngày tải lên: 16/09/2015, 17:12