... witnessed great progress in adaptivecontrolof nonlinear systems due to great demands from industrial applications In this thesis, robust adaptivecontrolof uncertain nonlinear systems has been investigated ... study ofadaptive neural controlof 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 systemsand a class of nonlinear time-delay systems with unknown virtual control coefficients/functions The behavior of this class ofcontrol laws...
... fundamental considerations and investigations of the adaptivecontrol problem for high order nonlinear systems with constraints 1.1.2 AdaptiveControland Backstepping Adaptivecontrol has witnessed ... for adaptivecontrol that overcame the structural and growth restrictions Specifically, the marriage ofadaptivecontroland backstepping, i.e adaptive backstepping, yields a means of applying adaptive ... Control Design, AdaptiveControland Backstepping, Controlof Constrained Systems, as well as Controlof Microelectromechanical Systems (MEMs) In each part, the related works and background knowledge...
... Mikell P Groover: Automation, Production Systems, and Computer Integrated Manufacturing Printice-Hall, 1987 Yoram Koren: Computer Controlof 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...
... and S.B Kim, Modeling and Motion Controlof 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, Controlof Mechanical Systems With Rolling Constrains: Application to Dynamic Controlof ... Controlof 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...
... Concepts and Designs K.F Man, K.S Tang and S Kwong Neural Networks for Modelling andControlof Dynamic Systems M Nørgaard, O Ravn, N.K Poulsen and L.K Hansen Modelling andControlof Robot Manipulators ... and Director Professor Michael A Johnson, Professor ofControlSystemsand 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 ofSystemsand Signals Signals andsystems are basic notions ofsystemsandcontrol theory Therefore, we...
... methods 10 Controlof 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 andcontrolof linear ... the behavior of the furnace, and are classified as controland controlled variables, measured perturbations, and random perturbations as shown in 16 Controlof 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 Controlof Continuous...
... 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...
... 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...
... work on optimal control for a particular class ofsystems [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 controlofsystems 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...
... basics of 1-D and 2-D tone controlof 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...
... of Control, Automation, and Systems, Vol 1, No 1, 2003, pp 35-42 [2] R Fierro and F.L Lewis, Controlof a Non-holonomic Mobile Robot: Backstepping Kinematics into Dynamics,” in Proceedings of ... Motion Controlof 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 modeland the designed controllers And this works was done in CIMEC Lab., Pukyong National University, Pusan, Korea DYNAMIC MODEL...
... Sliding Modes, -modulators, and Generalized Proportional Integral Controlof Linear Systems Asian Journal ofControl 5, 467475 (2003) A Generalized PI Sliding Mode and PWM Control 213 13 Sira-Ram ... The controlof switched systems via PWM actuators constitutes a vast area ofapplications 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...
... Adaptive controller for 2D modeling overhead crane with the friction force model (Aschemann, 2000) was proposed by Ma, Fang & Zhang (2008) An adaptive tracking controlof 3-D overhead crane systems ... research interests include nonlinear controlof dynamical systems, robotics, and industrial applicationsofcontrol engineering Anh Huy Vo received the B.Eng degree and M.Eng degree both in mechanical ... interests include controlof infinite dimensional systems, nonlinear controlof dynamical systems, andcontrolof MEMs VCM2012 Quoc Toan Truong, Anh Huy Vo and Quoc Chi Nguyen ...
... 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 andadaptive boundary control input ... dynamic modelof 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 andcontrol ... boundary control method for suppressing the vibration of the systemsand eliminating the effects of the disturbances (iii) Investigate the stability of the flexible systems with the proposed boundary control...
... 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 adaptivecontrol 95 4.10 Adaptivecontrol 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 controlof flexible systems...
... 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 Controland (c) Proposed Controller with duty ratio correction 74 4.6 Block schematic of the chip...
... 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...
... for methane combustion and to gain a better understanding in the operation andcontrolof such systems In short, this work focuses on modeling, simulation andcontrolof 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...
... hence more demanding tasks with the modeling andcontrol design This calls for a more careful study of the dynamic characteristics of HDD servo mechanism and further exploration ofcontrol 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 controlandcontrolof interface, micro processor(s) for servo control, and etc An important performance indicator...
... C CMMSD Systems – Modeling andControl 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 modeland the internal states of the constraint, a modelreferenceadaptive 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...