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Author: Amal Choukchou-Braham
Publisher: Springer Science & Business Media
ISBN: 3319026364
Category : Technology & Engineering
Languages : en
Pages : 148
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Book Description
This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems
Author: Amal Choukchou-Braham
Publisher: Springer Science & Business Media
ISBN: 3319026364
Category : Technology & Engineering
Languages : en
Pages : 148
Get Book Here
Book Description
This monograph provides readers with tools for the analysis, and control of systems with fewer control inputs than degrees of freedom to be controlled, i.e., underactuated systems. The text deals with the consequences of a lack of a general theory that would allow methodical treatment of such systems and the ad hoc approach to control design that often results, imposing a level of organization whenever the latter is lacking. The authors take as their starting point the construction of a graphical characterization or control flow diagram reflecting the transmission of generalized forces through the degrees of freedom. Underactuated systems are classified according to the three main structures by which this is found to happen—chain, tree, and isolated vertex—and control design procedures proposed. The procedure is applied to several well-known examples of underactuated systems: acrobot; pendubot; Tora system; ball and beam; inertia wheel; and robotic arm with elastic joint. The text is illustrated with MATLABsup®/sup/Simulink® simulations that demonstrate the effectiveness of the methods detailed./ppReaders interested in aircraft, vehicle control or various forms of walking robot will be able to learn from iUnderactuated Mechanical Systems
Author: Danil Prokhorov
Publisher: Springer
ISBN: 3540792570
Category : Technology & Engineering
Languages : en
Pages : 288
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Book Description
What is computational intelligence (CI)? Traditionally, CI is understood as a collection of methods from the ?elds of neural networks (NN), fuzzy logic and evolutionary computation. Various de?nitions and opinions exist, but what belongs to CI is still being debated; see, e.g., [1–3]. More recently there has been a proposal to de?ne the CI not in terms of the tools but in terms of challenging problems to be solved [4]. With this edited volume I have made an attempt to give a representative sample of contemporary CI activities in automotive applications to illustrate the state of the art. While CI researchand achievements in some specialized ?elds described (see, e.g., [5, 6]), this is the ?rst volume of its kind dedicated to automotive technology. As if re?ecting the general lack of consensus on what constitutes the ?eld of CI, this volume 1 illustrates automotive applications of not only neural and fuzzy computations which are considered to be the “standard” CI topics, but also others, such as decision trees, graphicalmodels, Support Vector Machines (SVM), multi-agent systems, etc. This book is neither an introductory text, nor a comprehensive overview of all CI research in this area. Hopefully, as a broad and representative sample of CI activities in automotive applications, it will be worth reading for both professionals and students. When the details appear insu?cient, the reader is encouraged to consult other relevant sources provided by the chapter authors.
Author: B. Zhelyazova
Publisher: Elsevier
ISBN: 0080460119
Category : Mathematics
Languages : en
Pages : 1009
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Book Description
This dictionary contains 13,000 terms with more than 4,000 cross-references used in the following fields: automation, technology of management and regulation, computing machine and data processing, computer control, automation of industry, laser technology, theory of information and theory of signals, theory of algorithms and programming, philosophical bases of cybernetics, cybernetics and mathematical methods.Automation pertains to the theory, art, or technique of making a machine, a process or a device more fully automatic. Computers and information processing equipment play a large role in the automation of a process because of the inherent ability of a computer to develop decision that will, in effect, control or govern the process from the information received by the computer concerning the status of the process. Thus automation pertains to both the theory, and techniques of using automatic systems in industrial applications and the processes of investigation, design and conversion to automatic methods. Automatic control, automatic materials handling, automatic testing, automatic packaging, for continuous as well as batch processing, are all considered parts of the overall or completely automatic process.The Dictionary consists of two parts, Basic Table and Indexes. In the first part the English terms are listed alphabetically, numbered consecutively and followed by its German, French and Russian equivalents. English synonyms appear as cross-references to the main entries in their proper alphabetical order. The second part of the Dictionary, the Indexes, contains separate alphabetical indexes of the German, French and Russian terms. The reference number(s) with each term stands for the number of the English term(s) in the basic table.Elsevier's Dictionary of Automatic Technics will be a valuable tool for specialists, scientists, students and everyone who takes interest in the problems of investigation devoted to the design, development, and applications of methods and techniques for rendering a process of group of machines self-actuating, self-moving, or self-controlling.
Author: Jean-Paul Louis
Publisher: John Wiley & Sons
ISBN: 1118603192
Category : Technology & Engineering
Languages : en
Pages : 303
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Book Description
Classical synchronous motors are the most effective device to drive industrial production systems and robots with precision and rapidity. However, numerous applications require efficient controls in non-conventional situations. Firstly, this is the case with synchronous motors supplied by thyristor line-commutated inverters, or with synchronous motors with faults on one or several phases. Secondly, many drive systems use non-conventional motors such as polyphase (more than three phases) synchronous motors, synchronous motors with double excitation, permanent magnet linear synchronous motors, synchronous and switched reluctance motors, stepping motors and piezoelectric motors. This book presents efficient controls to improve the use of these non-conventional motors. Contents 1. Self-controlled Synchronous Motor: Principles of Function and Simplified Control Model, Francis Labrique and François Baudart. 2. Self-controlled Synchronous Motor: Dynamic Model Including the Behavior of Damper Windings and Commutation Overlap, Ernest Matagne. 3. Synchronous Machines in Degraded Mode, Damien Flieller, Ngac Ky Nguyen, Hervé Schwab and Guy Sturtzer. 4. Control of the Double-star Synchronous Machine Supplied by PWM Inverters, Mohamed Fouad Benkhoris. 5. Vectorial Modeling and Control of Multiphase Machines with Non-salient Poles Supplied by an Inverter, Xavier Kestelyn and Éric Semail. 6. Hybrid Excitation Synchronous Machines, Nicolas Patin and Lionel Vido. 7. Advanced Control of the Linear Synchronous Motor, Ghislain Remy and Pierre-Jean Barre. 8. Variable Reluctance Machines: Modeling and Control, Mickael Hilairet, Thierry Lubin and Abdelmounaïm Tounzi. 9. Control of the Stepping Motor, Bruno Robert and Moez Feki . 10. Control of Piezoelectric Actuators, Frédéric Giraud and Betty Lemaire-Semail.
Author: Tao Zheng
Publisher: BoD – Books on Demand
ISBN: 9533072989
Category : Technology & Engineering
Languages : en
Pages : 434
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Book Description
Model Predictive Control (MPC) refers to a class of control algorithms in which a dynamic process model is used to predict and optimize process performance. From lower request of modeling accuracy and robustness to complicated process plants, MPC has been widely accepted in many practical fields. As the guide for researchers and engineers all over the world concerned with the latest developments of MPC, the purpose of "Advanced Model Predictive Control" is to show the readers the recent achievements in this area. The first part of this exciting book will help you comprehend the frontiers in theoretical research of MPC, such as Fast MPC, Nonlinear MPC, Distributed MPC, Multi-Dimensional MPC and Fuzzy-Neural MPC. In the second part, several excellent applications of MPC in modern industry are proposed and efficient commercial software for MPC is introduced. Because of its special industrial origin, we believe that MPC will remain energetic in the future.
Author: CORRIOU Jean-Pierre
Publisher: Lavoisier
ISBN: 2743064714
Category :
Languages : en
Pages : 786
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Book Description
Cette troisième édition a été enrichie par l'introduction de nouveaux exemples et de méthodes récentes. En un volume unique, le livre propose une synthèse progressive et approfondie des principales méthodes de commande exposées sous forme théorique et illustrées sur des exemples variés de procédés : réacteurs chimiques, biologiques, de polymérisation, craqueur catalytique, colonne de distillation. Les six parties couvrent la modélisation et la commande continue monovariable, la commande multivariable par fonction de transfert, l'identification et la commande en temps discret, la commande optimale et prédictive multivariable, la commande non linéaire et les observateurs d'état. Cet ouvrage s'adresse aussi bien aux étudiants de 2e et 3e cycle qu'aux chercheurs, enseignants et ingénieurs.
Author: A. Bensoussan
Publisher: Springer
ISBN: 3540398562
Category : Technology & Engineering
Languages : en
Pages : 895
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Book Description
INRIA, Institut National de Recherche en Informatique et en Automatique
Author: International Federation of Automatic Control
Publisher:
ISBN:
Category : Automatic control
Languages : en
Pages : 566
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Book Description
Author: Paloma Moya Arranz
Publisher:
ISBN:
Category :
Languages : en
Pages : 144
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Book Description
La présente thèse réalise une analyse des nouvelles techniques de commande adaptative non linéaire pour éliminer les principales restrictions des actuelles synthèses. Dans ce cadre théorique le travail est abordé à travers trois problématiques de première importance: les paramétrisations non linéaires, la commande adaptative des systèmes port-controlled Hamiltonian et le problème de détectabilité.Dû aux complexités des systèmes paramètrisés non-linéairement, la recherche des lois de commande adaptative pour plantes non--linéaires générales est difficile, et normalement aboutit à des schémas conservatifs. De ce fait, le travail présent considère la classe de systèmes de réaction ou les non-linéarities apparaissent sous la forme de quotients des polynômes à la sortie du procès avec des paramètres inconnus. Le concept de système de réactions fait référence a une ample classe de systèmes dynamiques non--linéaires qui on été utilisés longtemps en tant qu'outils pratiques pour une meilleure compréhension des problèmes de génie en divers champs tels que le génie chimique, biomédical, biotechnologie, écologie, etc.Contributions de la Thèse1.Analyse et contrôle non linéaire robuste des systèmes de réaction.2.Commande adaptative d'une classe de systèmes non-linéaires avec paramétrisations non linéaires3.Au delà du problème de détectabilité dans la commande adaptative4.Commande adaptative non--linéaire des systèmes hamiltoniens.
Author:
Publisher: European Control Association
ISBN: 9782866012823
Category :
Languages : en
Pages : 644
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Book Description
Proceedings of the European Control Conference 1991, July 2-5, 1991, Grenoble, France
