model reference adaptive control ppt

... 2 loại: (1) điều khiÓn thÝch nghi tèi −u (Adaptive Control With Optimization - ACO) và (2) điều khiển thích nghi theo điều kiện giới hạn (Adaptive Control With Constraints - ACC). Hệ ACO điều ... còn có thể gây nên sự cố kỹ thuật. Trong công nghệ cắt gọt kim loại, điều khiển thích nghi (Adaptive Control - AC) đợc hiểu là hệ thống có khả năng thờng xuyên giám sát sự thay đổi của các thông ... giá trị lực cắt, chuyển thành tín hiệu điện áp để cung cấp cho bộ điều khiển (AC Controller). - Chức năng AC Controller đợc thực hiện nhờ một PC, có cắm card thu nhận và xử lý tín hiệu PCL-812...

Ngày tải lên: 10/12/2013, 13:16

... Abstract: This paper proposes an adaptive control method of partially known system and shows its application result to control of a two-wheeled welding mobile robot. The controlled system is designed ... Lee, K.T. Song, C.H. Lee and C.C. Teng, “Tracking Control of Unicycle-Modeled Mobile Robots Using a Saturation Feedback Controller”, IEEE Trans. on Control Systems Technology, Vol. 9, No. 2, pp. ... “Backstepping-based Discon-tinuous Adaptive Control Design for the Stabilization of Nonholonomic Mobile Robots with Matched Uncertainties”, Proc. of the 36 th Conf. on Decision & Control, California...

Ngày tải lên: 10/12/2013, 13:16

... PID control for comparison: In order to compare the control performance of the proposed control strategy with the PID controller , we choose 11 2 0 ( ) 22 13 t vt e edt e=− + − ∫ Adaptive control ... (Fig. 9g). Thus, the adaptive system with adaptive NEKF work properly. Adaptive Control 232 hysteresis, the traditional nonlinear identification methods such as neural modeling technique ... The control response of the proposed method From Fig.7, it is known that the control performance of the proposed controller has achieved good control response. Also, Fig.8 illustrates the control...

Ngày tải lên: 21/06/2014, 19:20

... 2.2 Adaptive Controller Design In this subsection, an adaptive nonlinear control will be presented to solve the tracking control problem. Fig. 2. An Adaptive Self-tuning Controller ... parameters. Dynamic Model of Overhead Crane In this section, an adaptive control scheme will be developed for the position tracking of an overhead crane system. On the Adaptive Tracking Control of ... Hence we design the adaptive controller and update rule of control parameter as: p T dppdpd Yrk θτ ˆ ⋅+⋅= (44) ), ˆ ( ˆ ˆ pdpp rYrojP p ⋅⋅= βθθ θ & (45) Adaptive Control 274 ...

Ngày tải lên: 21/06/2014, 19:20

... In model- reference techniques two models are considered; one contains the parameters to be determined (adaptive model) and the other is free or independent from those parameters (reference model) . ... important model aspects such as (Balaguer and Vilanova, 2006a): ã The reasons why the model is invalidate. ã How to improve the model. ã The model usefulness degree. 2. In control design, undermodelling ... used in a model are continuous signals, the model is a continuous time model; which is described by differential equations. If the signals used in a model are sampled signals, the model is a...

Ngày tải lên: 21/06/2014, 19:20

... time and the control signal versus time. 5. Neuroadaptive control for discrete-time nonlinear nonnegative uncertain systems with nonnegative control As discussed in the introduction, control source ... neuroadaptive control has been applied to numerous engineering problems, neuroadaptive methods have not been widely considered for problems involving systems with nonnegative state and control ... Appendix A. A block diagram showing the neuroadaptive control architecture given in Theorem 4.1 is shown in Figure 1. It is important to note that the adaptive control law 4.15 and 4.17 does not...

Ngày tải lên: 22/06/2014, 11:20

... 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 ... parameter adaptive control update law was used for solving this problem. The simulation results show the quick convergence to zero of the tracking errors and the good system response of model in ... upon the adaptive algorithm. For increasing the flexibility of system, the control of system with unknown parameter such as the arc length of the torch is considered, and an update control law...

Ngày tải lên: 22/07/2014, 02:20

Ngày tải lên: 10/08/2014, 21:22

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Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 10/08/2014, 21:22

Ngày tải lên: 09/12/2013, 21:15

... leaving the accounting details for Chapter 11. AAA access control provides much greater scalability and functional- ity than the basic access control methods discussed in Chapter 3. AAA can use local router ... steps for enabling AAA are: 1. Turn on AAA with the aaa new -model command. 2. Configure security protocol information if using an access control server (ACS). 3. Define methods that specify the ... configured to use smart cards or token-based access control. A word of warning, however: due to the way that HTTP performs authentication, token-based access control cannot be used. AAA Security Checklist This...

Ngày tải lên: 11/12/2013, 13:15

Ngày tải lên: 12/12/2013, 22:42