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Registros recuperados: 22
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A Model Reference Based 2-DOF Robust Observer-Controller Design Methodology InTech
Salva Alcantara; Carles Pedret; Ramon Vilanova.
A new 2-DOF control configuration based on a right coprime factorization of the model of the plant has been presented. The approach has been introduced as an alternative to the commonly encountered strategy of setting the two controllers arbitrarily, with internal stability the only restriction, and parameterizing the controller in terms of the Youla parameters. An non-minimal-observer-based state feedback control scheme has been designed first to guarantee some levels of robust stability and output disturbance rejection by solving a constrained
Tipo: 1 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_model_reference_based_2-dof_robust_observer-controller_design_methodology
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A Smith Factorization Approach to Robust Minimum Variance Control of Nonsquare LTI MIMO Systems InTech
Wojciech P. Hunek; Krzysztof J. Latawiec.
The Smith factorization approach to the robust minimum variance control has been presented in this paper. The new method appears much better than others, designed by
Tipo: 21 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/a_smith_factorization_approach_to_robust_minimum_variance_control_of_nonsquare_lti_mimo_systems
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Advanced Torque Control InTech
C. Fritzsche; H.-P. Deunow.
In the chapter we discussed a control approach for torque control of gasoline engines. Because of several actuating variables and control requirements the process to be controlled is multivariable. The actuating variables are usually bounded and the effects on the engine torque are nonlinear. Hence direct use of the actuator variables for torque control generally produces plenty of problems. The two layer approach described in the chapter allows the application of standard control methods. The main idea of the control structure is to compensate or alleviate the nonlinearity behaviour by subordinate control circuits. All the physical actuating variables are substituted by setpoints of the subordinate systems. The torque controller so can be designed on base...
Tipo: 14 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/advanced_torque_control
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An Innovative Method for Robots Modeling and Simulation InTech
Laura Celentano.
In this chapter an innovative method for robots modeling and simulation, based on an appropriate mathematical formulation of the relative equations of motion and on a new
Tipo: 10 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/an_innovative_method_for_robots_modeling_and_simulation
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Bilinear Time Series in Signal Analysis InTech
Bielinska Ewa.
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Tipo: 7 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/bilinear_time_series_in_signal_analysis
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Design, Simulation and Development of Software Modules for the Control of Concrete Elements Production Plant InTech
Georgia Garani; George K. Adam.
Since most of the modern concrete elements production plants today are often faced with increasing market demands for further automation, as well as the growing international competition, computer-control systems, teleoperation and automation technology, modelling and simulation tools are some of the technologies and techniques used to acquire the desired functionality in operation control and quality in production. The last decade has seen computer technology applied more widely in industrial production, particularly in manufacturing processes not generally associated with high-technology. Often, such technology was not considered because it was difficult to model manufacturing processes using conventional mathematical modelling tools. Here, the operation...
Tipo: 15 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/design__simulation_and_development_of_software_modules_for_the_control_of_concrete_elements_producti
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Developments in the Control Loops Benchmarking InTech
Grzegorz Bialic; Marian B??achuta.
In the chapter some developments in the control performance assessment are provided. The solution based on quadratic performance criteria which taking control effort into account was proposed in return for popular MV measure. This further broke about the definition of trade-off curve using standard deviation of both control and error signals. The standard deviation parameter is preferred because better than variance characterize the signal
Tipo: 6 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/developments_in_the_control_loops_benchmarking
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Directional Change Issues in Multivariable State-Feedback Control InTech
Dariusz Horla.
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Tipo: 20 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/directional_change_issues_in_multivariable_state-feedback_control
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Fuzzy Stabilization of Fuzzy Control Systems InTech
Mohamed M. Elkhatib; John J. Soraghan.
This chapter presented a practical approach to stabilize fuzzy systems based on adaptive nonlinear feedback using a fuzzy stabilizer in the feedback loop. For this we needed to identify the nonlinearity range of the system. The fuzzy stabilizer is tuned so that the system nonlinearities lie in a bounded sector as delivered by using the circle criterion theory. Because of circle criterion’s graphical nature; the designer is given a physical feel for the system. The concept has been used to ensure stability of a car-like robot controller. In addition, the idea has been extended to stabilize MIMO systems based on the additively decomposition technique.
Tipo: 12 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/fuzzy_stabilization_of_fuzzy_control_systems
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Group Judgement with Ties. Distance-Based Methods InTech
Hanna Bury; Dariusz Wagner.
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Tipo: 9 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/group_judgement_with_ties__distance-based_methods
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Hypermobile Robots InTech
Grzegorz Granosik.
We have made an extended literature review in order to analyze methodologies used in designing and building hypermobile robots. We have also included our own experience in this field coming from Omnis project and recent Wheeeler development. The most important information of each hypermobile robot is summarized in Table 4.
Tipo: 17 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/hypermobile_robots
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Models for Simulation and Control of Underwater Vehicles InTech
Jorge Silva; Joao Sousa.
Tipo: 11 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/models_for_simulation_and_control_of_underwater_vehicles
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Models of Continuous-Time Linear Time-Varying Systems with Fully Adaptable System Modes InTech
Miguel Angel Gutierrez de Anda; Arturo Sarmiento Reyes; Roman Kaszynski; Jacek Piskorowski.
In this chapter, a strategy for the formulation of a LTV scalar dynamical system with predefined dynamic behaviour was presented. Moreover, a model of a second-order LTV system whose dynamic response is fully adaptable was presented. It was demonstrated that the proposed model has a exponentially asymptotically stable behaviour provided that a set of stability constraints are observed. Moreover, it was demonstrated that the obtained system is BIBO stable as well. Finally, it was shown via simulations that the response of the proposed model reaches with a smaller overshoot its steady-state response compared to the response of a LTV lowpass filter proposed previously.
Tipo: 19 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/models_of_continuous-time_linear_time-varying_systems_with_fully_adaptable_system_modes
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Networked Control Systems for Electrical Drives InTech
Baluta Gheorghe; Lazar Corneliu.
In this chapter, a remote control laboratory for electrical drive systems is presented. The laboratory allows the students to develop network based control systems using an architecture based on I/O devices, communication modules and server-client application implemented with Lookout and LabVIEW environment facilities and to operate on real electrical drive systems through Intranet and Internet. Three examples were presented demonstrating the potentiality of the networked control system laboratory to remotely control the electrical drive systems and to develop new network based control system structure. Work is in progress to upgrade the laboratory with new electrical drive systems: D.C. brushless servomotor electrical drives system.
Tipo: 5 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/networked_control_systems_for_electrical_drives
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Neural-Based Navigation Approach for a Bi-Steerable Mobile Robot InTech
Azouaoui Ouahiba; Ouadah Noureddine; Aouana Salem; Chabi Djeffer.
In the implemented neural-based navigation, the two intelligent behaviors necessary to the navigation, are acquired by learning using GBP algorithm. They enable Robucar to be more autonomous and intelligent in partially structured environments. Nevertheless, there are a number of issues that need to be further investigated. At first, the Robucar must be endowed with one or several actions to come back to eliminate a stop in a dead zone situation. Another interesting alternative is the use of a better localization not only based on odometry but by fusing data of other sensors such as laser scanner.
Tipo: 3 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/neural-based_navigation_approach_for_a_bi-steerable_mobile_robot
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Nonlinear Model-Based Control of a Parallel Robot Driven by Pneumatic Muscle Actuators InTech
Harald Aschemann; Dominik Schindele.
In this contribution, a cascaded trajectory control based on differential flatness is presented for a parallel robot with two degrees of freedom driven by pneumatic muscles. The modelling of this mechatronic system leads to a system of nonlinear differential equations of eighth order. For the characteristics of the pneumatic muscles polynomials serve as good approximations. The inner control loops of the cascade involve a flatness-based control of the internal muscle pressure with high bandwidth. For the outer control loop three different control approaches have been investigated leading to a decoupling of the crank angles and the mean pressures as controlled variables. Simulation results emphasize the excellent closed-loop performance with maximum...
Tipo: 2 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/nonlinear_model-based_control_of_a_parallel_robot_driven_by_pneumatic_muscle_actuators
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Nonparametric Identification of Nonlinear Dynamics of Systems Based on the Active Experiment InTech
Magdalena Bockowska; Adam Zuchowski.
The presented method can be useful in identification of the structure of a model of nonlinear dynamics of 1st and higher orders. The advantage of the proposed solution is its simplicity and possibility of evaluation of its accuracy. The application of the averaged differentiation with correction ensures one to evaluate an averaged signal and its derivatives close to their real values. A novelty is the proposed procedure of the correction of the averaged differentiation. The method allows to obtain a structure of the model of the nonlinear dynamics of 1st or 2nd order. The advantage of this identification is the fact that it can be used even if the measured signals are disturbed and the dynamics is nonlinear. In case of
Tipo: 8 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/nonparametric_identification_of_nonlinear_dynamics_of_systems_based_on_the_active_experiment
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On the Estimation of Asymptotic Stability Region of Nonlinear Polynomial Systems: Geometrical Approaches InTech
Anis Bacha; Houssem Jerbi; Naceur Benhadj Braiek.
An advanced discrete algebraic method has been developed to determine and enlarge the region of asymptotic stability for autonomous nonlinear polynomial discrete time systems. The exactness of the obtained RAS in this case constitutes the main advantage of the proposed approach. The proposed technique is proved theoretically and tested via numerical simulation on the discrete polynomial Van Der Pool model. The original discrete developed method is equivalent to the reversing trajectory method which used to determine the RAS for continuous systems. Further research will be focused on the development and the implementation of an optimal numerical tool which allows to reach the larger region of asymptotic stability for discrete nonlinear systems.
Tipo: 4 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/on_the_estimation_of_asymptotic_stability_region_of_nonlinear_polynomial_systems__geometrical_approa
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Operational Amplifiers and Active Filters: A Bond Graph Approach InTech
Gilberto Gonzalez; Roberto Tapia.
In this work an operational amplifier is shown in a bond graph model. The proposed bond graph takes account the input and output resistances, open loop gain, supply voltages, slew rate and frequency compensation of an operational amplifier. Therefore, an advantage of this model is to determine the performance of applications based on operational amplifiers considering the type of linear integrated circuit to obtain the internal parameters from the data sheets. Finally, open loop and closed loop configurations of the operational amplifier in the physical domain have been shown.
Tipo: 16 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/operational_amplifiers_and_active_filters__a_bond_graph_approach
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Switching Control in the Presence of Constraints and Unmodeled Dynamics InTech
Vojislav Filipovic.
In this paper the switching controller with low-and-high gain and alloved over-saturation for uncertain system is considered. The unmodeled dynamics satisfies matching conditions. Using picewise quadratic Lyapunov function it is proved the exponential stability of the closed loop system. It would be interesting to develop the theory for output case and for the descrete-time case. Also, extremely is important application of hybrid systems in distributed coordination problems (multiple robots, spacecraft and unmanned air vehicles).
Tipo: 13 Palavras-chave: New Approaches in Automation and Robotics.
Ano: 2008 URL: http://www.intechopen.com/articles/show/title/switching_control_in_the_presence_of__constraints_and_unmodeled_dynamics
Registros recuperados: 22
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