Wyniki wyszukiwania - Biblioteka Nauki

1

Extremals in the problem of minimum time obstacle avoidance for a 2D double integrator system

100%

Osmolovskii N. P. , Figura A. , Koska M. , Wojtowicz M.

Control and Cybernetics

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2015

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tom Vol. 44, no. 2

185--209

EN

This paper provides an analysis of time optimal control problem of motion of a material point in the plane outside the given circle, without friction. The point is controlled by a force whose absolute value is limited by one. The closure of exterior of the circle plays the role of the state constraint. The analysis of the problem is based on the minimum principle.

2

Sliding mode control of the third order system with state constraints

86%

Bartoszewicz A. , Nowacka A.

Systems Science

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2004

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tom Vol. 30, no 2

35-44

EN

In this paper, a new sliding mode control algorithm for the third order, nonlinear system subject to velocity and acceleration constraints is considered. The algorithm guarantees fast transient behaviour, zero steady state error and insensitivity of the system with respect to matched model uncertainty and external disturbance from the very beginning of the control process. For that purpose, the algorithm employs a time varying switching plane selected in such a way that at the initial time the representative point of the system belongs to the plane. Afterwards, the plane moves in a finite time towards the origin of the coordinate frame and then remains fixed. A proper choice of the plane parameters ensures non-oscillatory system response and the minimisation of the integral of the absolute value of the system position error.

3

Odporność nieliniowych, złożonych algorytmów sterowania serwonapędami z silnikami z magnesami trwałymi na czynniki związane z implementacją w układach rzeczywistych

72%

Jastrzębski M. , Zawiślak R.

Przegląd Elektrotechniczny

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2023

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tom R. 99, nr 4

63--69

PL

Współczesne serwonapędy bezpośrednie z silnikami z magnesami trwałymi są sterowane przez nieliniowe, złożone algorytmy sterowania. Algorytmy te są wyprowadzane przy upraszczających założeniach, których nie można dotrzymać przy implementacji w układach rzeczywistych. Liczne czynniki dotyczące realizacji sterowania, pomiarów sygnałów, niepełnego modelowania silnika i maszyny roboczej pojawiają się na etapie implementacji i mogą wpływać destrukcyjnie na jakość regulacji osiąganą w układzie rzeczywistym. W artykule dokonano analizy takich czynników i oceniono istotność ich wpływu na pracę układu, w którym sterowanie wyznaczono metodami adaptacyjnego sterowania nieliniowego ze zmiennymi w czasie barierowymi funkcjami Lapunowa. Badania dotyczą serwonapędu z silnikiem liniowym z magnesami trwałymi. Wyniki przedstawiono w licznych symulacjach i poprzez eksperymenty przeprowadzone w układzie rzeczywistym.

EN

In the article, using the example of nonlinear adaptive control with the limitation of state variables in a finite time, the authors show the influence of factors considered as "deteriorating" the control on the accuracy of tracking a given trajectory. Based on an accurate model of a linear drive with a permanent magnet synchronous motor, the destructive effect of unmodulated additional dynamics and non-linearities in the control algorithm was analysed. The analysis of the obtained results made it possible to apply remedies and evaluate their effectiveness. The article presents simulations, and tests carried out on a real system.

4

Dynamic adjustment neural network-based cooperative control for vehicle platoons with state constraints

72%

Wang P. , Gao M. , Li J. , Zhang A.

International Journal of Applied Mathematics and Computer Science

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2024

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tom Vol. 34, no. 2

211--224

EN

This paper addresses the challenge of managing state constraints in vehicle platoons, including maintaining safe distances and aligning velocities, which are key factors that contribute to performance degradation in platoon control. Traditional platoon control strategies, which rely on a constant time-headway policy, often lead to deteriorated performance and even instability, primarily during dynamic traffic conditions involving vehicle acceleration and deceleration. The underlying issue is the inadequacy of these methods to adapt to variable time-delays and to accurately modulate the spacing and speed among vehicles. To address these challenges, we propose a dynamic adjustment neural network (DANN) based cooperative control scheme. The proposed strategy employs neural networks to continuously learn and adjust to time varying conditions, thus enabling precise control of each vehicle’s state within the platoon. By integrating a DANN into the platoon control system, we ensure that both velocity and inter-vehicular spacing adapt in response to real-time traffic dynamics. The efficacy of our proposed control approach is validated using both Lyapunov stability theory and numeric simulation, which confirms substantial gains in stability and velocity tracking of the vehicle platoon.

5

Extremals of the time optimal control problem for a material point moving along a straight line in the presence of friction and limitation on the velocity

58%

Osmolovskii N. P. , Figura A. , Kośka M. , Wójtowicz M.

Control and Cybernetics

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2017

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tom Vol. 46, no. 4

305--324

EN

This paper provides an analysis of the time optimal control problem for a material point moving along a straight line in the presence of strength of resistance to movement (friction) and subject to constraint on the velocity. The point is controlled by a limited traction or braking force. The analysis of the problem is based on the maximum principle for state constraints in the Dubovitskii-Milyutin form, see Dubovitskii and Milyutin (1965), and the necessary second-order optimality condition for bang-bang controls, see Milyutin and Osmolovskii (1998).