An RW inspired research trajectory: Modeling and (Modular and Hierarchical) Control Aspects
نویسندگان
چکیده
This note presents a local approach for the modular supervisory control of timed discrete-event systems. Our modular supervisors are designed over local models, which are obtained by aggregating only the subsystems affected by each control specification. We establish necessary and sufficient conditions for nonblocking optimal global behavior. We also present a comparative analysis of the computational advantages and limitations of the proposed strategy.
منابع مشابه
Trajectory tracking of under-actuated nonlinear dynamic robots: Adaptive fuzzy hierarchical terminal sliding-mode control
In recent years, underactuated nonlinear dynamic systems trajectory tracking, such as space robots and manipulators with structural flexibility, has become a major field of interest due to the complexity and high computational load of these systems. Hierarchical sliding mode control has been investigated recently for these systems; however, the instability phenomena will possibly occur, especia...
متن کاملAn Improved Modular Modeling for Analysis of Closed-Cycle Absorption Cooling Systems
A detailed modular modeling of an absorbent cooling system is presented in this paper. The model including the key components is described in terms of design parameters, inputs, control variables, and outputs. The model is used to simulate the operating conditions for estimating the behavior of individual components and system performance, and to conduct a sensitivity analysis based on the give...
متن کاملDynamic modeling and control of a 4 DOF robotic finger using adaptive-robust and adaptive-neural controllers
In this research, first, kinematic and dynamic equations of a 4-DOF 3-link robotic finger are derived using Denavit-Hartenberg convention and Lagrange’s formulation. To model the muscles, several springs and dampers are placed between the finger links. Then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...
متن کاملAn Adaptive-Robust Control Approach for Trajectory Tracking of two 5 DOF Cooperating Robot Manipulators Moving a Rigid Payload
In this paper, a dual system consisting of two 5 DOF (RRRRR) robot manipulators is considered as a cooperative robotic system used to manipulate a rigid payload on a desired trajectory between two desired initial and end positions/orientations. The forward and inverse kinematic problems are first solved for the dual arm system. Then, dynamics of the system and the relations between forces/momen...
متن کاملControl Logic for Automated Aerobatic Flight of a Miniature Helicopter
In this paper we describe the control logic that enabled a small-scale unmanned helicopter to execute a completely automatic aerobatic maneuver. The logic consists of steady-state trim trajectory controllers, used prior to, and upon the exit from the maneuver; and a maneuver logic inspired by human pilot strategies. Extensive flight tests with this control logic demonstrated smooth entry into t...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2017