Sökning: "time-optimal control"

Visar resultat 1 - 5 av 17 avhandlingar innehållade orden time-optimal control.

  1. 1. Anti-windup and Control of Systems with Multiple Input Saturations : Tools, Solutions and Case Studies

    Författare :Jonas Öhr; Mikael Sternad; Anders Ahlén; Tore Hägglund; Uppsala universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; Anti-windup compensator; saturating actuator; amplitude limiter; rate limiter; path anti-windup; double integrator; time-optimal control; container crane; spreader; hydraulic cylinder; Reglerteknik; Automatic control; Reglerteknik;

    Sammanfattning : Control of linear systems with saturating actuators are considered and anti-windup compensators for multiple-input multiple-output systems, and robust, almost time-optimal controllers for double integrators with input amplitude saturations, are proposed.Windup effects are defined and anti-windup compensators aiming at minimizing the windup effects are proposed. LÄS MER

  3. 2. 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

  4. 3. Analysis and Design of Hybrid Control Systems

    Författare :Jörgen Malmborg; Institutionen för reglerteknik; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Lyapunov theory; Mode switching; Multi-controllers; PID control; Simulation; Higher order sliding; Hybrid control; Sliding modes; Automation; robotics; control engineering; Automatiska system; robotteknik; reglerteknik;

    Sammanfattning : Different aspects of hybrid control systems are treated: analysis, simulation, design and implementation. A systematic methodology using extended Lyapunov theory for design of hybrid systems is developed. The methodology is based on conventional control designs in separate regions together with a switching strategy. LÄS MER

  5. 4. Time-Optimal Cooperative Path Tracking for Multi-Robot Systems

    Författare :Hamed Haghshenas; Anders Hansson; Mikael Norrlöf; Anders Robertsson; Linköpings universitet; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY;

    Sammanfattning : Robotic systems are nowadays the key technology in a wide variety of applications. The increasing demand for performance of robotic systems is often met by employing a team of cooperating robots for a specific task. LÄS MER

  7. 5. Modelling, control and stability analysis of hybrid systems

    Författare :Stefan Pettersson; Chalmers tekniska högskola; []
    Nyckelord :TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; linear matrix inequalities; exponential stability; hybrid modelling; stability; time-optimal control design; nonlinear systems; hybrid systems; integrator processes; hybrid controller; LMIs;

    Sammanfattning : .... LÄS MER