http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Robust Multi-model Predictive Control Using LMIs
Sorin Olaru,Paola Falugi,Didier Dumur 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.1
This paper proposes a novel synthesis technique for robust predictive control of constrained nonlinear systems based on linear matrix inequalities (LMIs) formalism. Local discrete-time polytopic models are exploited for prediction of the system behavior. This design strategy can be applied to nonlinear systems provided a suitable embedding is available. The devised procedure guarantees constraint satisfaction and asymptotic stability. The proposed result extends previous works by handling less conservative input constraints and exploiting the different local descriptions of nonlinearity and uncertainty. The multi-model prediction together with the modified input constraints show significant improvements in terms of closed-loop performance and estimation of the feasibility domain.
Proportional-Derivative (PD) Controllers for Haptics subject to Distributed Time-Delays
Bogdan Liacu,Irinel-Constantin Mor?rescu,Silviu-Iulian Niculescu,Claude Andriot,Didier Dumur,Patrick Boucher,Frederic Colledani 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
This paper focuses on the stability analysis of Proportional-Derivative (PD) controllers for Multi-Input-Multi-Output (MIMO) systems affected by distributed time-delays. The time-delays will be approximated by the most common distributions (uniform and gamma with gap distributions). In order to provide practical guidelines for the design of PD controllers we describe the stability regions in the gains-parameter space using a geometric approach. Illustrative examples complete the presentation.
Some Remarks on the Fragility of Smith Predictors used in Haptics
Bogdan Liacu,Irinel-Constantin Mor?rescu,Claude Andriot,Silviu-Iulian Niculescu,Didier Dumur,Patrick Boucher,Frederic Colledani 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, we propose a method to study the fragility of Smith predictor-based controllers used in haptics. Using a geometric approach, we derive a simple approach to examine the fragility of Smith predictors for two cases - constant and uncertain delays. Illustrative examples complete the presentation.