http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Predictor-Corrector Type Multi-Rate Sample Hold for Continuous Estimated Outputs
정주노,Silviu-Iulian Niculescu,Frederic Mazenc 제어·로봇·시스템학회 2012 International Journal of Control, Automation, and Vol.10 No.1
A novel predictor-corrector hold (PCH) that yields continuous estimates for all instances is proposed for multi-rate control systems. The principle, characteristic, and performance of the PCH are analyzed. Through a comparison with other conventional holds, the efficacy of the proposed PCH is validated.
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.
Bogdan Liacu,Cesar Mendez-Barrios,Silviu-Iulian Niculescu,Sorin Olaru 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper addresses the “rade-off” between transparency and stability of some specific bilateral teleoperation systems including communication time-delays. Using a geometric approach, we derive a simple method to study the fragility of the proposed controller for a general 4-channel architecture for bilateral teleoperation with time-delays such that the closed-loop stability as well as the transparency are guaranteed for the overall scheme. Illustrative examples complete the presentation.
Collision avoidance and path following for multi-agent dynamical systems
Ionela Prodan,Sorin Olaru,Cristina Stoica,Silviu-Iulian Niculescu 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper deals with collision avoidance problems while following an optimal trajectory for a group of agents operating in open space. The basic idea is to use the Model Predictive Control (MPC) technique to solve a realtime optimization problem with non-convex constraints over a finite time horizon. Both centralized and decentralized MPC formulations are presented. In a second stage it is shown that velocity constraints can be added to the collision avoidance restrictions in the optimization problem. Following a specified trajectory, the agents move in the same direction and end up eventually in a particular formation. A primer ingredient in the control design is the generation of a flat trajectory, planned in the physical open space. This allows the agents to maneuver successfully in a dynamic environment and to reach a common objective.
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.
Maximum friction estimation and longitudinal control for a full in-wheel electric motor vehicle
Marcel Stefan Geamanu,Arben Cela,Guenael LeSolliec,Hugues Mounier,Silviu-Iulian Niculescu 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10
The present paper describes a longitudinal control strategy in time-varying road surface adhesion conditions, for a vehicle equipped with 4 in-wheel electric motors. The controller task is to ensure two main functions : braking (achieving an ABS-like function, i.e., no wheel skid), and traction control (TCS-like function, i.e., low wheel slip) using the electric motor torques as the unique actuators signal sources. The torque of electric motors is available almost instantaneously. In addition, information about its values can be measured, starting from the current that passes through the motor, which means that advanced control techniques can be applied directly on the transmitted torque. In order to generate the appropriate anti-skid or anti-slip torque for each wheel, firstly, an estimation of the instantaneous friction between the wheel and the road has to be made. Next, the maximum friction between the wheel and the road is computed with the help of an algorithm based on Dugoff tire model, without prior knowledge of the road conditions. Ultimately, the control strategy will compute a maximum torque that is allowed to be transmitted at each wheel in order to achieve TCS and ABS functions, along with a given reference speed to track. The only variables required in this strategy are the wheel acceleration, the instantaneous torque generated by the electric motors and the chassis acceleration.
Road condition estimation and longitudinal control for electric vehicles
Marcel Stefan Geamanu,Arben Cela,Guenael LeSolliec,Hugues Mounier,Silviu-Iulian Niculescu 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
This paper presents a road condition estimator based on the wheel acceleration and a torque controller for a vehicle equipped with an electric motor. In the first step, the instantaneous friction coefficient and the maximum friction coefficient between the wheel and the road are estimated, without knowing a priori the road conditions. Next, a longitudinal controller is set up to ensure the two main functions : braking with anti-skidding function and traction control using the electric motor torque as a unique actuator. Unlike the torque generated by classic internal combustion engines, the torque of electric motors is available almost instantaneously. In addition, it can be measured on-line which means that advanced control techniques can be applied. The approach presented in this paper relies on recent algebraic techniques for numerical differentiation and diagnosis, and a feedback sliding mode control scheme to ensure the vehicle is operated at the maximum friction zone in both acceleration and braking phases, along with a given reference speed to track.