Sökning: "Institutionen för reglerteknik"

Visar resultat 1 - 5 av 231 avhandlingar innehållade orden Institutionen för reglerteknik.

  1. 1. Minimum-time sliding mode control of robot manipulators

    Författare :Boyko Iliev; Ivan Kalaykov; Krzysztof Kozlowski; Örebro universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; minimum-time sliding mode control; sliding mode control; maximum-slope sliding lines; Takagi-Sugeno fuzzy systems; robot manipulators; reglerteknik; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Sammanfattning : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. LÄS MER

  3. 2. Digital reglering av klimatprocesser

    Författare :Lars Jensen; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Uppvärmning; Ventilation; Reglerteknik; Datorstyrning; Digital teknik; Air conditioning; Mathematical models; Experimentation; Temperature control; Humidity control; Computer simulations; uppvärmning; ventilation; reglerteknik; digital teknik; datorstyrning;

    Sammanfattning : Results from a research project supported by the Swedish Council for Building Research are reported. The main task was to improve climate control technology. The work was focused on digital control. It was split up into three main tasks: model building, design of regulators, and fullscale experiments. LÄS MER

  4. 3. Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control

    Författare :Pedro La Hera; Anton Shiriaev; Ambarish Goswami; Umeå universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Underactuated mechanical systems; mechanical systems with impacts; trajectory planning; periodic trajectories; orbital stabilization; walking robots; virtual holonomic constraints; transverse linearization; Automatic control; Reglerteknik; Automatic Control; reglerteknik;

    Sammanfattning : Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. LÄS MER

  5. 4. Model Reduction for Linear Time-Varying Systems

    Författare :Henrik Sandberg; Anders Rantzer; Sanjay Lall; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automation; robotics; control engineering; Performance limitations; Convergence analysis; Frequency-domain analysis; Error bounds; Time-varying systems; Model reduction; Linear systems; Automatiska system; robotteknik; reglerteknik; Model reduction;

    Sammanfattning : The thesis treats model reduction for linear time-varying systems. Time-varying models appear in many fields, including power systems, chemical engineering, aeronautics, and computational science. They can also be used for approximation of time-invariant nonlinear models. Model reduction is a topic that deals with simplification of complex models. LÄS MER

  7. 5. Minimum-time sliding mode control of robot manipulators

    Författare :Boyko Iliev; Örebro universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Sammanfattning : .... LÄS MER