model predictive control of a flexible robot

robust adaptive model predictive control of nonlinear systems

Ngày tải lên : 27/07/2014, 23:44

... cases to ﬁnd an appropriate approach yielding a satisfactory balance between computational complexity, and conservatism of the error calculations For example, the framework of min-max feedback-MPC ... 462 – 471 Tang, Y (1996) Simple robust adaptive control for a class of non-linear systems: an adaptive signal synthesis approach, International Journal of Adaptive Control and Signal Processing ... inﬁnite tail of the cost accumulation using a penalty surface derived from either a local solution of the Dynamic Programming surface, or an appropriate approximation of that surface As such,...

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báo cáo hóa học:" Force-feedback interaction with a neural oscillator model: for shared human-robot control of a virtual percussion instrument" doc

Ngày tải lên : 21/06/2014, 17:20

... Force–feedback interaction with a neural oscillator model: for shared human robot control of a virtual percussion instrument Edgar Berdahl∗ (edgar.berdahl@imag.fr), Claude Cadoz (claude.cadoz@imag.fr) and ... Using a mechanical analog parameterization, we derive a force–feedback model structure that enables a human to share control of a virtual percussion instrument with a “robotic” neural oscillator ... For example, Ajay Kapur has designed a robotic drummer that automatically plays along with real human performers, such as sitar players [4] Similarly, researchers at the Georgia Institute of Technology...

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Báo cáo hóa học: " Research Article A Robust Structural PGN Model for Control of Cell-Cycle Progression Stabilized by Negative Feedbacks" pdf

Ngày tải lên : 22/06/2014, 19:20

... for variable x j at time t − in the driving function of variable xi If variable x j is an activator of variable xi , then a ji = 1; if variable x j is an inhibitor of variable x j , then a ji ... with what is observed in nature Axiom (iv) means that the system has a main trajectory, that is, one that is much more probable than the others Axiom (v) means that genes act as a nonlinear gate ... that is, in time intervals Axiom (ii) imposes that all states are reachable, that is, noise may lead the system to any state It is a quite general model that reﬂects our lack of knowledge about...

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development and control of a holonomic mobile robot for mobile manipulatoion tasks

Ngày tải lên : 26/10/2014, 14:32

... (1993, May) Structural properties and classiﬁcation of kinematic and dynamic models of wheeled mobile robots In Proc IEEE International Conference on Robotics and Automation, Atlanta, GA, pp 462–469 ... work of all the individuals stable platform for mobile manipulation there, especially Anthony del Balso, Rich Legrand, We have also described a new approach for a mod- Jim Slater and John Slater ... and Asada 1994) More recently, a velocity controlled, powered caster prototype robot was demonstrated (Wada and Mori 1996) A dynamically-controlled, holonomic mobile robot is particularly desirable...

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Design and implementation of model predictive control approaches

Ngày tải lên : 09/09/2015, 10:18

... However, most of the approaches make the assumption that state variables are measurable, while only output variables are measurable in practice Thus the application of all above state feedback controllers ... The analysis and control of physical systems are often centered around mathematical models State space model has become the most popular framework under which system theory and various control ... dead time models, such as FOPDT, IPDT and SOPDT, are often adopted as system models for monovariable plants in process industry[85] Practical applications demonstrate that they are simple and accurate...

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Control of a macro mini robotic manipulator

Ngày tải lên : 03/10/2015, 21:56

... introduced by Sharon and Hogan [2] as a general means of improving a robot s controlled dynamic behavior The Macro manipulator carries the Micro manipulator to the nearby area of a task, where the ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control of Macro and Mini manipulators ... appropriate controller design, offers a possible solution to a wide range of applications that require fast, and precise manipulation over a large workspace [2] There are several advantages offered...

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Control of a macro mini robotic manipulator

Ngày tải lên : 04/10/2015, 07:58

... introduced by Sharon and Hogan [2] as a general means of improving a robot s controlled dynamic behavior The Macro manipulator carries the Micro manipulator to the nearby area of a task, where the ... computational/software models of the Macro and the Mini manipulators separately, analyzing their kinematics, dynamics; Simulating trajectory tracking / position control of Macro and Mini manipulators ... appropriate controller design, offers a possible solution to a wide range of applications that require fast, and precise manipulation over a large workspace [2] There are several advantages offered...

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Design and control of a small size humanoid robot

Ngày tải lên : 04/10/2015, 10:25

... the actuators require The advantage of planning in Cartesian space is that path planning is on parameters with resultant of motions of many actuators, instead of going down to plan the paths of ... learning and (5) divide-and-conquer 2.2.1 Model- based approach In model- based approach, mathematical models derived from laws of physics are used to generate control algorithm Approximations are ... complexity of a humanoid robot, walking stably is a challenging task Even human beings need months to learn how to walk Bipedal walking control has been the focus for many researchers And many approaches...

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Design and control of a soccer playing humanoid robot

Ngày tải lên : 04/10/2015, 10:25

... repetitive and hazardous tasks can be dated back to the era of ancient Greek and Egyptian with their automata More recently, Leonardo da Vinci, a talented and famous Italian artist and engineer ... humanoid robot, which is capable of walking stably and performing some basic soccer playing skills such as approaching a ball and kicking it toward a goal, defending a goal, avoiding obstacles ... commercial robots such as ASIMO, Qrio, HOAP, HRP, and H7 However, it is still far away from the final goal that aims at making humanoid robot a companion of human in factory, outdoor, at home...

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Development of DMC controllers for temperature control of a room deploying the displacement ventilation HVAC system

Ngày tải lên : 05/09/2013, 16:11

... [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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Model Predictive Control for small applications for small applications

Ngày tải lên : 01/10/2013, 13:49

... Advantages of Model Predictive Control – Automatically compensate for process interaction, measurable load disturbances and constraints using MPC function block – Difficult process dynamics ... Inc Slide 12 - MPC – Small Applications Multi-variable Control Made Easy Multi-variable Example: Control loop with one disturbance and one constraint MPC Traditional Approach ©2006 Fisher-Rosemount ... dynamics may be effectively addressed e.g deadtime dominant – Allow production to be increased by automatically adjusting throughput to maintain a process at its input operating constraint ©2006...

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Sensor-based navigation of a mobile robot in an indoor environment

Ngày tải lên : 23/10/2013, 15:15

... elementary behavior of wall-following type including the creation of transition sub-goals develop a second strategy S2 As a matter of fact, the idea is to anticipate in order to avoid a potential ... This means that the rough and manual tuning of the parameters of the fuzzy controller is replaced by a fine local automatic tuning and Table Angular speed coefficient rules Table Linguistic table ... navigation of a mobile robot in partially known environment such as inside an of ce or a flat In such cases, a plan of the evolution zone of the robot containing most of its fixed features can be...

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A park like transformation for the study and the control of a nonsinusoidal brushless DC motor

Ngày tải lên : 03/01/2014, 19:44

... 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 ... advantages as the Park transformation A Mathematical Model of the BDCM We suppose that the motor has the following typical features : - The airgap length is constant and large since the magnets are...

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Tài liệu ime Control of a Three Phase 4 Wire PWM Inverter with Variable DC Link Voltage and Battery Storage for PV Application doc

Ngày tải lên : 19/01/2014, 02:20

... 1, January 1991, pp 62-72 [2] Takao Kawabata, Takeshi Miyashita and Yushin Yamamoto, "Dead Beat Control of threePhase PWM Inverter", IEEE Transactions on Power Electronics, Vol 5, No 1, January ... that it does not affect the output voltage References [1] Takao Kawabata, Takeshi Miyashita and Yushin Yamamoto, "Digital Control of three-Phase Inverter with LC Filter", IEEE Transactions on Power ... c controllable dc link volta as indica in the ri age ated ight hand sub b diagram d Figure capacitor v voltage of the output filt with unbalanced load and controlled DC lin ter d o nk vo oltage...

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Tài liệu supervised tactical mobility behavior modeling and control of multi agent robotic vehicles doc

Ngày tải lên : 13/02/2014, 08:20

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Nonlinear Model Predictive Control: Theory and Algorithms (repost)

Ngày tải lên : 11/06/2014, 08:23

... Identification Tohru Katayama Digital Control Systems Ioan D Landau and Gianluca Zito Multivariable Computer-controlled Systems Efim N Rosenwasser and Bernhard P Lampe Dissipative Systems Analysis and ... Graichen, Peter Hokayem, Achim Ilchmann, Andreas Kugi, Daniel Limón, Jan Lunze, Lalo Magni, Manfred Morari, Davide Raimondo, Sa a Rakovi´ , Jörg Rambau, Jim Rawlc ings, Markus Reble, Oana Serea ... Vidyasagar Constrained Control and Estimation Graham C Goodwin, Maria M Seron and José A De Doná Randomized Algorithms for Analysis and Control of Uncertain Systems Roberto Tempo, Giuseppe Calafiore...

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báo cáo hóa học: "Principal components analysis based control of a multi-dof underactuated prosthetic hand" docx

Ngày tải lên : 19/06/2014, 08:20

... control method had been firstly tested onto a virtual-reality model of a 15 DoFs hand [40] Simulations of hand movement were performed employing a real human hand PCs matrix available from Santello ... Ferrata 1, 27100 Pavia, Italy 2ARTS Lab, Scuola Superiore Sant’Anna, V.le Piaggio 34, 56025 Pontedera (PI), Italy 3EUCENTRE Foundation, Via Ferrata 1, 27100 Pavia, Italy Page 12 of 13 Authors’ contributions ... signal As a matter of fact, increasing the number of DoFs (i e dexterity) means either that the system should take care of carrying out the grasp with some level of automatism, as in the SAMS...

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Advanced Model Predictive Control Part 1 docx

Ngày tải lên : 19/06/2014, 19:20

... Management of Hybrid Electric Vehicles Sajjad Fekri and Francis Assadian Chapter Fast Nonlinear Model Predictive Control using Second Order Volterra Models Based Multi-agent Approach 29 Bennasr ... Suhairi Abdul Sata and Norashid Aziz Chapter 14 Using Model Predictive Control for Local Navigation of Mobile Robots Lluís Pacheco, Xavier Cufí and Ningsu Luo 291 Chapter 15 Model Predictive Control ... China Part New Theory of Model Predictive Control Fast Model Predictive Control and its Application to Energy Management of Hybrid Electric Vehicles Sajjad Fekri and Francis Assadian Automotive...

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Advanced Model Predictive Control Part 2 pptx

Ngày tải lên : 19/06/2014, 19:20

... main reasons for its application in the industry is that it can take account of physical and operational constraints In classical model predictive control (MPC), the control action at each time ... square of the control signal, SSΔU the sum of the square of the change of the control signal and N is the number of samples The values are summarized in Table1, shows that the MAMPC achieving control ... Proceedings of the European Control Conference, Karlshruhe, Germany Haber R and Bars R and Engel L(1999b) Sub-optimal Nonlinear Predictive and Adaptive Control based on the Parametric Volterra Model, Applied...

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