Temat: nonlinear control - Prolib Integro

Skocz do pozycji: 1.

Tytuł:: Position/force control of manipulator in contact with flexible environment
Autorzy:: Gierlak, Piotr
Tematy:: robotics
robot control
nonlinear control systems; Pokaż więcej
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Powiązania:: https://bibliotekanauki.pl/articles/386967.pdf Link otwiera się w nowym oknie
Opis:: The paper presents the issue position/force control of a manipulator in contact with the flexible environment. It consists of the realisation of manipulator end-effector motion on the environment surface with the simultaneous appliance of desired pressure on the surface. The paper considers the case of a flexible environment when its deformation occurs under the pressure, which has a significant influence on the control purpose realisation. The article presents the model of the controlled system and the problem of tracking control with the use of neural networks. The control algorithm includes contact surface flexibility in order to improve control quality. The article presents the results of numerical simulations, which indicate the correctness of the applied control law.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: The ship control system for trajectory tracking experiments with physical model of tanker
Autorzy:: Morawski, L.
Vinh, N. C.
Pomirski, J.
Rak, A.
Tematy:: nonlinear control
ship control
track-keeping; Pokaż więcej
Wydawca:: Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
Powiązania:: https://bibliotekanauki.pl/articles/258464.pdf Link otwiera się w nowym oknie
Opis:: This paper presents a cascade system which stabilizes the transverse deviation of the ship in relation to the set path. The ship’s path is determined as a broken line with specified coordinates of way points. Three controllers are used in the system. The primary controller is the trajectory controller. It generates the set value of heading for the course control system or angular velocity for the turning control system. The course control system is used on the straight line of the set trajectory while the turning controller is used during a change of the set trajectory segment. The characteristics of the nonlinear controllers are selected in such a way that the properties of the control system with the rate of turn controller are modelled by the first-order inertia, while the system with the course keeping controller is modelled by a second-order linear term. The presented control system was tested in Matlab-Simulink environment. The results of tests performed on a lake are presented and discussed.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Neural control of a robotic manipulator in contact with a flexible and uncertain environment
Autorzy:: Gierlak, Piotr
Tematy:: robotics
robot control
nonlinear control systems; Pokaż więcej
Wydawca:: Politechnika Białostocka. Oficyna Wydawnicza Politechniki Białostockiej
Powiązania:: https://bibliotekanauki.pl/articles/2233648.pdf Link otwiera się w nowym oknie
Opis:: This article presents the synthesis of a neural motion control system of a robot caused by disturbances of constraints limiting the movement, which are the result of flexibility and disturbances of the contact surface. A synthesis of the control law is presented, in which the knowledge of the robot's dynamics and the parameters of a susceptible environment is not required. Moreover, the stability of the system is guaranteed in the case of an inaccurately known surface of the environment. This was achieved by introducing an additional module to the control law in directions normal to the surface of the environment. This additional term can be interpreted as the virtual viscotic resistance and spring force acting on the robot. This approach ensured the self-regulation of the robot’s interaction force with the compliant environment, limiting the impact of the geometrical inaccuracy of the environment.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 4.

Tytuł:: Adaptive, nonlinear state transformation-based control of motion in presence of hard constraints
Autorzy:: Kabziński, J.
Mosiołek, P.
Tematy:: motion control
nonlinear control
adaptive control
state constraints; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/201256.pdf Link otwiera się w nowym oknie
Opis:: The paper describes a nonlinear controller design technique applied to a servo drive in the presence of hard state constraints. The approach presented is based on nonlinear state-space transformation and adaptive backstepping. It allows us to impose hard constraints on the state variables directly and to achieve asymptotic tracking of any reference trajectory inside the constraints, despite unknown plant parameters. Two control schemes (with and without integral action) are derived, investigated and then compared. Several examples demonstrate the main features of the design procedure and prove that it may be applied in case of motion control problems in electric drive automation.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 5.

Tytuł:: Global linearization of nonlinear systems - A survey
Autorzy:: Čelikovský, Sergej
Tematy:: exact linearization
nonlinear control
global linearization; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Instytut Matematyczny PAN
Powiązania:: https://bibliotekanauki.pl/articles/1359660.pdf Link otwiera się w nowym oknie
Opis:: A survey of the global linearization problem is presented. Known results are divided into two groups: results for general affine nonlinear systems and for bilinear systems. In the latter case stronger results are available. A comparision of various linearizing transformations is performed. Numerous illustrative examples are included.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 6.

Tytuł:: Realization of nonlinear composite systems
Autorzy:: Mullari, T.
Kotta, U.
Nomm, S.
Tonso, M.
Tematy:: nonlinear control systems
realization
composite systems; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Instytut Badań Systemowych PAN
Powiązania:: https://bibliotekanauki.pl/articles/969986.pdf Link otwiera się w nowym oknie
Opis:: The paper studies the realization problem for series and parallel connections of nonlinear single-input single-output systems, described by higher order differential equations. Necessary and sufficient conditions are given for the existence of the classical state space realization in both cases. It is proved that post- and parallel compensators are of no help in overcoming non-realizability. Results are illustrated by an example.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 7.

Tytuł:: Efficient MPC algorithms with variable trajectories of parameters weighting predicted control errors
Autorzy:: Nebeluk, Robert
Marusak, Piotr
Tematy:: model predictive control
nonlinear systems
nonlinear models
nonlinear control
simulation
optimization; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/230077.pdf Link otwiera się w nowym oknie
Opis:: Model predictive control (MPC) algorithms brought increase of the control system performance in many applications thanks to relatively easily solving issues that are hard to solve without these algorithms. The paper is focused on investigating how to further improve the control system performance using a trajectory of parameters weighting predicted control errors in the performance function of the optimization problem. Different shapes of trajectories are proposed and their influence on control systems is tested. Additionally, experiments checking the influence of disturbances and of modeling uncertainty on control system performance are conducted. The case studies were done in control systems of three control plants: a linear non-minimumphase plant, a nonlinear polymerization reactor and a nonlinear thin film evaporator. Three types of MPC algorithms were used during research: linear DMC, nonlinear DMC with successive linearization (NDMC–SL), nonlinear DMC with nonlinear prediction and linearization (NDMC–NPL). Results of conducted experiments are presented in greater detail for the control system of the polymerization reactor, whereas for the other two control systems only the most interesting results are presented, for the sake of brevity. The experiments in the control system of the linear plant were done as preliminary experiments with the modified optimization problem. In the case of control system of the thin film evaporator the researched mechanisms were used in the control system of a MIMO plant showing possibilities of improving the control system performance.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 8.

Tytuł:: Expert system approach in designing knowladge-based controller
Autorzy:: Ptasznik, P.
Tematy:: nonlinear control
expert systems
reasoning
Al; Pokaż więcej
Wydawca:: Politechnika Wrocławska. Oficyna Wydawnicza Politechniki Wrocławskiej
Powiązania:: https://bibliotekanauki.pl/articles/1813975.pdf Link otwiera się w nowym oknie
Opis:: In this article the knowledge-based control approach will be proposed for nonlinear systems. Firstly some basic concepts from the artificial intelligence will be defined, then the expert system design process will be introduced and finally a practical example will be discussed. The principle of this method is to support the controller with the human-like reasoning to determine the appropriate control mode and to estimate unknown parameters. Note that this is the heuristic approach, hence neither optimal steering, nor stability is guaranteed.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 9.

Tytuł:: Sterowanie nieliniowe backstepping wahadła odwróconego z napędem inercyjnym
Non-Linear Backstepping Control for an Inertia Wheel Pendulum
Autorzy:: Owczarkowski, A.
Bachman, P.
Gośliński, J.
Owczarek, P.
Regulski, R.
Tematy:: sterowanie nieliniowe
backstepping
LQR
IWP
nonlinear control; Pokaż więcej
Wydawca:: Sieć Badawcza Łukasiewicz - Instytut Elektrotechniki
Powiązania:: https://bibliotekanauki.pl/articles/159172.pdf Link otwiera się w nowym oknie
Opis:: W artykule przedstawiono działanie nieliniowego algorytmu sterowania backstepping użytego do stabilizacji wahadła odwróconego IWP (Inertia Wheel Pendulum). Analizowanym obiektem jest konstrukcja umocowana na dwóch kołach i posiadająca silnik napędzający koło zamachowe. To czyni z niej nieliniowy układ o dwóch stopniach swobody (kąt odchylenia od pionu i kąt obrotu koła) i jednym wymuszeniu (moment siły na wale silnika). Jako punkt pracy obrano niestabilną pozycję pionową. W oparciu o teorię stabilności Lapunowa, analitycznie wyznaczono prawo sterowania. Dla porównania wyznaczono również sterowanie liniowo-kwadratowe LQR (Linear Quadratic Regulator). Wykonano testy symulacyjne obu algorytmów wykazując, że w wielu sytuacjach sterowanie backstepping pozwala uzyskać lepsze rezultaty niż sterowanie LQR.
This article describes the non-linear backstepping control algorithm used to stabilize the inverted pendulum IWP (Inertia Wheel Pendulum). The analysed object is a construction mounted on two wheels with an electric motor accelerating the flywheel. This is the non-linear system with two degrees of freedom (the angle of inclination and rotation of the wheel) and one actuator (torque on the motor shaft). The vertical position is the unstable operating point. The Lyapunov stability theory allowed to formulate the control law analyticity. The result is compared with the linear-quadratic control LQR (Linear Quadratic Regulator). The simulation tests showed differences of both algorithms and benefits of using backstepping.
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 10.

Tytuł:: Anti-synchronization in different new chaotic systems via active nonlinear control
Autorzy:: Khan, A.
Prasad, R. P.
Tematy:: new chaotic system
anti-synchronization
active nonlinear control; Pokaż więcej
Wydawca:: Polska Akademia Nauk. Czytelnia Czasopism PAN
Powiązania:: https://bibliotekanauki.pl/articles/229711.pdf Link otwiera się w nowym oknie
Opis:: In this paper, we discuss anti-synchronization between two identical new chaotic systems and anti-synchronization between another two identical new chaotic systems by active nonlinear control. The sufficient conditions for achieving the anti-synchronization of two new chaotic systems are derived based on Lyapunov stability theory. Numerical simulations are provided for illustration and verification of the proposed method.
Dostawca treści:: Biblioteka Nauki

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