adaptive control of a gantry system
Fuzzy Control of a Gantry Crane System
... “Fuzzy control of an overhead crane performance comparison with classic control , Control Engineering Practice, Vol.3, No.12, 1995, pp.1687-1696 J Yi, Naoyoshi Yubazaki, and Kaoru Hirota, “Anti-swing ... fuzzification A/ D Fig A framework of a Fuzzy Control System References (can be available upon requirement) • • • DE-6 Gourp 672 (Spring 2004) report: Control of the Crane Project 2004 A Benhidjeb and G.L ... Proposal for Control Theory – Master of Science in Information Technology Fall 2004, Control Laboratory, Aalborg University Esbjerg • • Modeling and Matlab/Simulink simulation Experimental tests...
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Tài liệu Điều khiển thích ứng hệ thống xác định một phần ( Adaptive control of partially known system) ppt
... Using a Saturation Feedback Controller, IEEE Trans on Control Systems Technology, Vol 9, No 2, pp 305-318, March 2001 [10]T Fukao, H Nakagawa and N Adachi, Adaptive Tracking Control of a Nonholonomic ... 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 Mobile Robots, The Int Journal of ... 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 Control Design for the Stabilization of Nonholonomic...
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Proceedings VCM 2012 40 nonlinear adaptive control of a 3d overhead crane
... Raja Ismail, M .A Ahmad, M.S Ramli, F.R.M Rashidi, Nonlinear Dynamic Modeling and Analysis of a 3-D Overhead Gantry Crane System with Payload Variation, ems, pp.350354, 2009 Third UKSim European ... sa a Caa (15) where τ a M am q rm M aa q Cam q rm Caa q G a (q) We can be expressed τ m and τ a as in term of a known matrix ω m , ω a and ... Sway angle q (t ) Sway angle f(t ) In this paper, a 5-DOF dynamic model of the 3D overhead crane was developed under the effects of friction forces and the unknown parameters A nonlinear adaptive...
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Robust adaptive control of uncertain nonlinear systems
... Definition A controller, consisting of an adaptation law (2.30), a feedback law (2.31), and an internal model (2.32) is called a universal adaptive tracking controller for the class of systems Σ and ... 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 ... following intermediate control law and parameter adaptation law as z1 a, 1 ˆT z1 − a, 1 Fa,1 − pa,1 a, 1 tanh( ˆ ) 4k1 ˆ = Γθ1 (Fa,1 z1 − σθ1 a, 1 ) z1 a, 1 = γp1 z1 a, 1 tanh( ) − σp1 pa,1 ˆ α1 = −c1...
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Design and control of a teleoperation system for humanoid walking
... user a full information for the hardware and software interface The humanoid robot weighs 6kg and stands 48cm tall It has a total of 20 Degree of Freedom (DOF) - DOF each leg and DOF each arm ... fire disaster area, or radiation in the nuclear plant, etc Taking advantage of the advancement in bipedal walking control, several humanoid robots, namely the Honda Asimo (Hirai, 1998) and Sony Qrio ... human joints The slave robot must then have the same kinematic equations as the human arm One advantage of this approach is that it is relatively easy to design an exoskeleton that can track...
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Development of DMC controllers for temperature control of a room deploying the displacement ventilation HVAC system
... [19] Hasnain, S.M., Alawaji, S.H., A1 -Ibrahim, A and Smiai, M.S (1999), Application of Thermal Energy Storage in Saudi Arabia International Journal of Energy Research, vol 23, pp 117-124 [20] Zaheer-uddin, ... department of Mechanical Engineering and Materials Science at Washington University in St Louis, MO, USA He is a Fellow of ASME, AIAA, IEEE, and SAE E-mail address: rka@wustl.edu Huijun Gao received ... was created to simulate the temperature of the exterior wall of the room This temperature curve simulated the exterior surface and was assumed to be at a constant value of 320K A 3-D Cartesian...
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Tài liệu Báo cáo khoa học: Control of the coagulation system by serpins Getting by with a little help from glycosaminoglycans pptx
... Calcium enhances heparin catalysis of the antithrombin-Factor Xa reaction by a template mechanism: Evidence that calcium alleviates Gla domain antagonism of heparin binding to Factor Xa J Biol ... Heparin cofactor II activation by dermatan sulfate Ann N Y Acad Sci 556, 116–122 60 Maimone MM & Tollefsen DM (1990) Structure of a dermatan sulfate hexasaccharide that binds to heparin cofactor ... to GAGs (Table 1) However, the GAG specificity of HC-II is much less discriminating than that of AT While both heparin ⁄ heparan sulfate and dermatan sulfate GAGs are physiological activators of...
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Báo cáo " A combination of the identification algorithm and the modal superposition method for feedback active control of incomplete measured systems " doc
... modeled as a vertical cantilever beam as showed in Fig Fig Model of a cantilever beam subjected to base acceleration The characteristics of the beam are taken from [12] The beam has a square cross-section ... Conference on Mathematics, Mechanics, and Informatics, Hanoi, 7/10/2006, on the occasion of 50th Anniversary of Department of Mathematics, Mechanics and Informatics, Vietnam National University, Hanoi ... separation of variables, the governing partial differential equation of the beam is represented by a system of infinite ordinary differential equations After that, the system of infinite equations...
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Báo cáo " A combination of the identification algorithm and the modal superposition method for feedback active control of incomplete measured systems" doc
... modeled as a vertical cantilever beam as showed in Fig Fig Model of a cantilever beam subjected to base acceleration The characteristics of the beam are taken from [12] The beam has a square cross-section ... Conference on Mathematics, Mechanics, and Informatics, Hanoi, 7/10/2006, on the occasion of 50th Anniversary of Department of Mathematics, Mechanics and Informatics, Vietnam National University, Hanoi ... separation of variables, the governing partial differential equation of the beam is represented by a system of infinite ordinary differential equations After that, the system of infinite equations...
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A Generalized PI Sliding Mode and PWM Control of Switched Fractional Systems
... magnitude 10 is allowed to aect the controlled signals A PWM Modulation GPI Control Approach The control of switched systems via PWM actuators constitutes a vast area of applications with a sucient ... output variable y may be addressed as the at output of the system (See Fliess et al [1] and, also, Sira-Ram and Agrawal [14]) rez 204 3.1 H.S Ram rez and V.F Battle Problem Formulation Given a desired ... Approach Notice that, in our particular case, the variable y fractionally dierentially parameterizes the inputs of the system This means that the average input av as well as the average switch position...
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Adaptive control of uncertain constrained nonlinear systems
... marriage of adaptive control and backstepping, i.e adaptive backstepping, yields a means of applying adaptive control to parametric-uncertain systems with non-matching conditions [94, 114] As ... [94, 114] As a result, adaptive backstepping can be applied to a large class of nonlinear systems in parametric strict feedback form or pure feedback form The advantage of adaptive backstepping ... four parts, namely Lyapunov Based Control Design, Adaptive Control and Backstepping, Control of Constrained Systems, as well as Control of Microelectromechanical Systems (MEMs) In each part, the...
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Optimal Tracking with Sway Suppression Control for a Gantry Crane System
... proposed 632 M .A Ahmad, R.M.T Raja Ismail, M.S Ramli, N.M Abdul Ghani and M .A Zawawi control schemes, initially a LQR controller is developed for cart position control of gantry crane system This ... Implementation and Result In this investigation, hybrid control schemes for tracking capability and sway angle suppression of the gantry crane system are examined Initially, a Linear Quadratic Regulator ... and anti-swaying control of a gantry crane system A nonlinear overhead gantry crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation To study...
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Active Sway Suppression Techniques of a Gantry Crane System
... angle measurement of the real gantry crane system, in particular, is not an easy task since there is a hoisting mechanism This paper presents investigations of anti-sway angle control approach in ... specifications and input force Finally, a comparative assessment of the impact of each controller on the system performance is presented and discussed Gantry Crane System The two-dimensional gantry ... loop system Active Sway Suppression Techniques of a Gantry Crane System 329 (2) Disturbance cancellation The capability of the controller to achieved steady state conditions at zero sway angles...
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List the components of a radio system
... – Advantages • Can carry up to three times the amount of data as TDMA • Transmissions are much harder to eavesdrop on • A would-be eavesdropper must also know the exact chip in which the transmission ... the signal • Attenuation – A loss of signal strength • Multipath distortion – As a radio signal is transmitted, the electromagnetic waves spread out 24 Signal Strength (continued) 25 Radio Frequency ... • List the components of a radio system • Describe how different factors affect the design of a radio system • Explain the radio frequency spectrum Components of a Radio System • Components include:...
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Exergoeconomic optimization and improvement of a cogeneration system modeled in a process simulator using direct search and evolutionary methods
... exergoeconomic analysis of the system at each iteration and on several qualitative and quantitative objective criteria, a hierarchical classification of the system components, and the associated subsets of ... Nelder and Mead A global analysis of Tables and reveals an important outcome: the method of Powell systematically leads to the smallest values of the objective function and of the number of simulator ... mathematical optimization Table Results obtained with the genetic algorithm Decision variable Case Case EIS EIS Alternative Alternative Mathematical EIS optimization Alternative EIS Alternative Mathematical...
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Tài liệu Điều khiển thích nghi máy công cụ điều khiển số ( Adaptive Control of CNC Machine Tools) ppt
... tham khảo Mikell P Groover: Automation, Production Systems, and Computer Integrated Manufacturing Printice-Hall, 1987 Yoram Koren: Computer Control of Manufacturing Systems McGraw-Hill, 1983 Japanese ... McGraw-Hill, 1983 Japanese National Research Institute: Mechanical Engineering Laboratory Annual Report 1993/1994 R Kail, W Mahr: Piezoelectric Measuring Instruments and their Applications Messen und ... hệ AC 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...
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Analysis and control of nonlinear process systems
... Publication Data A catalogue record for this book is available from the British Library Library of Congress Cataloging-in-Publication Data Hangos, K M (Katalin M.) Analysis and control of nonlinear process ... state and the input signals, being algebraic equations We recall that any kind of system model is in fact a realization of the abstract system operator S (see Chapter 2) Note that a realization ... such as linear algebra and elementary calculus are assumed A solid knowledge of process modeling and control are advisable The advanced mathematical tools and notions we build upon are summarized...
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Control of continuous linear systems
... force-momentum balances are also considered: – Mass balances express the fact that the quantity of material entering the system minus the quantity of material leaving it is equal to the accumulation of material ... physical variables play different roles in the behavior of the furnace, and are classified as control and controlled variables, measured perturbations, and random perturbations as shown in 16 Control ... for manipulating a set of interconnected systems Of paramount concern in linear control theory is the transfer function, which leads to block diagrams Block diagrams agglomerate all the available...
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Reliability analysis of a power system based on the multi state system theory
... the system is above 22.8 Ah, the system is reliable, though the capacity of a battery is lower than 5700 mAh Suppose the capacity of the first branch is 5600 mAh and the capacity of other branches ... branches are all above 5800 mAh, the system is reliable because the required capacity is reached But when we analyze the system reliability using the traditional system reliability theory, the system ... Gendreau, “Tabu search for the redundancy allocation problem of homogenous series-parallel multistate systems,” Reliability Engineering and System Safety, 2008, Vol.93, No.8, pp.1257–1272 M Agarwal,...
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A park like transformation for the study and the control of a nonsinusoidal brushless DC motor
... self-inductance and the mutualinductance of the stator coils Since we assume a constant airgap and no saturation, L, and M, are constant ara arb , and arc the rotor fluxes induced in the stator phases are ... are surface mounted and have the same permeability as air As a result, the armature reaction is negligible The magnetic circuit has an important air part so that the effects of the saturation in ... linearization control to nonlinear systems [111, Indeed, the nonlinear feedback linearization scheme is based on a coordinate transformation and an input transformation as well But the main advantage...
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