摘要:

AbstractThe equations of motion describing a robot's dynamics are coupled and non‐linear, making the design of an optimum controller difficult using classical techniques. In this work an explicit adaptive control law is proposed based on a discrete linear model for each link and on the minimization of a quadratic performance criterion for position error and total control effort. The system parameters are recursively estimated at each control step by use of least squares, with a typical sample time of 0.02 s. A computer simulation of the resulting scheme is performed to evaluate the controller. The simulation model, based on the first three links of an existing robot, includes detailed motor dynamics and treats the wrist assembly as a load mass. Simulated test paths requiring movement of the outer two links indicate that the controller adapts and that its behaviour is stable and convergen

ISSN:0143-2087    

DOI:10.1002/oca.4660100102

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

摘要:

AbstractA dynamical model is derived for the control of a rotary crane, which has a flexible joint and makes three kinds of motion (rotation, load hoisting and boom hoisting) simultaneously. The goal is to transfer a load to a desired place in such a way that at the end of the transfer the swing of the load decays as quickly as possible. A new open‐loop plus feedback control scheme is propose

ISSN:0143-2087    

DOI:10.1002/oca.4660100103

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

摘要:

AbstractNeighbouring extremals of dynamic optimization problems with a known parameter vector θ and an unknown parameter vector π are considered in this paper. The parameter vector π and the control are to be optimally determined to minimize a cost functional with a given θ. With some simplifications, the neighbouring extremal problem is reduced to one of solving a linear, time‐varying, two‐point boundary value problem with integral path equality constraints. A modified backward sweep method is used to solve this problem. Example problems are solved to illustrate the validity and usefulness of the solution te

ISSN:0143-2087    

DOI:10.1002/oca.4660100104

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

摘要:

AbstractA new approach to solve the problem of designing decentralized optimal controllers for large‐scale power systems is proposed. The control law that results from the design is a decentralized one; accordingly, each subsystem is controlled only by its own variables. In using the proposed scheme, the cost functional for each subsystem is minimized, and the interacting effects between the subsystems are not ignored in deriving the control strategy. As a result, the application of the control scheme proposed by this paper provides optimality even if the subsystems are very strongly coupled. Results of investigation into the decentralized optimal control of a 10‐machine system are satisfact

ISSN:0143-2087    

DOI:10.1002/oca.4660100105

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

摘要:

AbstractA robust control strategy has been designed for an aircraft during take‐off. The effects of different windshear intensities have been analysed for one‐ and two‐dimensional models. The robust control is designed to tolerate windshear regardless of its variations. The only information the control utilizes is the upper‐bound value of the allowable control ma

ISSN:0143-2087    

DOI:10.1002/oca.4660100106

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

摘要:

AbstractThe problem of controlling the dynamic response of a beam by means of boundary feedback is solved. The control is applied at one of the supports of the beam by means of a torque actuator in order to keep the maximum deflection within specified bounds. Since the location and time of the maximum deflection depend on the control itself, the feedback is determined by the solution of a min‐max problem. The theory is illustrated by a numerical example involving an impulsively loaded beam, and the effectiveness of the proposed control is studied numericall

ISSN:0143-2087    

DOI:10.1002/oca.4660100107

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

ISSN:0143-2087    

DOI:10.1002/oca.4660100109

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

ISSN:0143-2087    

DOI:10.1002/oca.4660100110

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY

ISSN:0143-2087    

DOI:10.1002/oca.4660100101

出版商:Wiley Subscription Services, Inc., A Wiley Company    

年代:1989

数据来源: WILEY