an adaptive controller design for flexible

... Trang 1HANOI UNIVERSITY OF SCIENCE AND TECHNOLOGY MASTER THESIS Design an adaptive controller and a state observer based on neural network for the 4DOF parallel robot NGUYEN MANH CUONG ... approximating performance, as well as the influence of the neural network on the system performance The purpose of the controller design is to construct an adaptive controller based on RBFNN for the 4DOFPR ... kinematics and dynamics equations are described to serve as a premise for controller and observer design Then, an adaptive controller will be designed using the combination of the Backstepping controller

Ngày tải lên: 20/07/2022, 07:48

... Trang 1IIANOI UNIVERSITY OF SCIENCE AND TECIINOLOGY MASTER THESIS Design an adaptive controller and a state observer based on neural network for the 4DOF parallel robot NGUYEN MANII CUONG ... approximaling performane as the influence of the neural network on the system performance as well The purpose of the controller design is to construct an adaptive controller based on RBFNN for the ... kinematics and dynamics equations are described to serve as a premise for controller and observer design Then, an adaptive controller will be designed using the combination of the Backstepping controller

Ngày tải lên: 10/06/2025, 11:54

... Trang 1IIANOI UNIVERSITY OF SCIENCE AND TECIINOLOGY MASTER THESIS Design an adaptive controller and a state observer based on neural network for the 4DOF parallel robot NGUYEN MANII CUONG ... robot can perform tasks with heavy loads and toxic substances and can adapt to particular environmental conditions Thus, these advantages have signifieanily contributed to produclivity and qualily ... robot can perform tasks with heavy loads and toxic substances and can adapt to particular environmental conditions Thus, these advantages have signifieanily contributed to produclivity and qualily

Ngày tải lên: 21/06/2025, 02:49

... for the robot model and its properties as well as those for controller design are reviewed Then in Section III, main results for designing an NN-based adaptive controller and a conventional adaptive ... The adaptive controller for robots with an observer can guarantee the uniform ultimate bounds of the tracking errors and the observer errors as well as the bounds of the NN weights For performance ... results for designing such an observer-based adaptive controller for robots using multilayer NNs with sigmoidal activation functions For performance comparison with the conventional adaptive

Ngày tải lên: 27/06/2014, 18:20

... nu-merical performance in the next section Trang 64 VERIFICATION OF NUMERICAL PERFORMANCEWe now explore the behavior of the procedures in (9) and (5)-(6) via numerical simulations The performance metric ... Kirac and P P Vaidyanathan, “Theory and design of opti-mum FIR compaction filters,” IEEE Transactions on Signal Pro-cessing, vol 46, no 4, pp 903–919, 1998. [9] P Moulin and M K Mihcak, “Theory and ... is the 2D z-transform of {Wp,q(t) }and [·]N M here denotes truncation of its two-dimensional polynomial argument to the individual powers forz1andz2within the range [M, N]. We can illustrate

Ngày tải lên: 22/06/2014, 23:20

... Trang 1CONTROLLER DESIGN FOR DELAYPROCESSES LIU MIN NATIONAL UNIVERSITY OF SINGAPORE 2007 Trang 2ROBUST IDENTIFICATION AND CONTROLLER DESIGN FOR DELAYNATIONAL UNIVERSITY OF SINGAPORE 2007 Trang ... sincere thanks I would also like to express my thanks to Dr Zhang Yong, Dr Yang Xue-pingand Dr Bi Qiang for their comments, advice, and inspiration Special gratitudegoes to my friends and colleagues ... Example 6.1 83 vii Trang 10Process identification plays an important role in process analysis, controller design,system optimization and fault detection One of the active and difficult areas inprocess

Ngày tải lên: 14/09/2015, 11:53

... an adaptive PID controller and an adaptive Internal Model Controller. Simulation results show that both proposed controllers give improved control performance than the linear PID controller designed ... method is developed to design an adaptive PID controller Moreover, by incorporating the enhanced VRFT design framework into IMC design, an adaptive IMC controller for nonlinear... processes ... relevant information from data and to use this information for controller design becomes a significant research topic for chemical industry Toward this end, several data- based methods for

Ngày tải lên: 26/09/2015, 10:59

... periodic disturbance can... (LTI) controllers We therefore attempt to modify the linear controller with linear time variant (LTV) and nonlinear PID components for performance enhancement Our ... Yang Yong-Sheng of GE, Dr. Zhang Yong of GE and Dr. Zhang Yu of GE. Their comments, advice, and inspiration played an important role in this piece of work. I would like to thank my friends and colleagues: ... disturbance and the system delay are known Internal stability... time delay and the frequency of the disturbance can be detected Meanwhile, the closed-loop setpoint response and disturbance

Ngày tải lên: 03/10/2015, 21:57

... Trang 1OF AN ACTIVE ROBOTIC DEVICE FOR FLEXIBLE NEEDLE INSERTIONNader Hamzavi Zarghani NATIONAL UNIVERSITY OF SINGAPORE 2009 Trang 2OF AN ACTIVE ROBOTIC DEVICEFOR FLEXIBLE NEEDLE ... with plan-a new set of versplan-atile tools thplan-at cplan-an extend his or her plan-ability to treplan-at pplan-atients In our terminology, medical robotic systems serve as surgical assistants ... like to thank my parents, my brothers, Navid andNima, for always being with me when I needed them, and for supporting me throughall these years, and my wonderful girlfriend, Ladan, for tolerating

Ngày tải lên: 16/10/2015, 15:38

... robotic and automatic 1993;9(6):740–54. [6] Lanari L, Wen JT Adaptive PD controller for manipulators System Control Literature 1992;19:119–29. [7] Ailon A, Ortega R An observer-based set-point controller ... using a Park transform [23] The design of two single-input single-output controllers for induction motors based on adaptive passivity is presented in [15] Given their nature, the two controllers ... is unknown; therefore it must be estimated For that purpose, an adaptive law [13] has been used: ˙ˆτL= −k L(ωm− ω∗ Trang 4Fig 1 The block diagram for the passivity-based current controller.5 Passivity

Ngày tải lên: 24/11/2016, 10:43

... issues and plans for the future research activities Trang 23Figure 2.1: Detail of the UB Hand 3 with the soft cover (a) and the UB Hand 3 in parison to the human hand (b).Trang 24com-The UB Hand ... device, the design and control aspects of the UB Hand 3anthropomorphic robotic hand are presented In particular, the tendon-sheaths transmis-sion system adopted in the UB Hand 3 is analyzed and the ... different size and weight has been performed in a safe manner,and the performance of the system can be improved by a suitable knowledge both of themodel of the transmission system and of the finger

Ngày tải lên: 13/05/2018, 22:26

... to load and unload the flexible material is eliminated and the throughput is increased Moreover, the manufacturing techniques developed based on R2R processing minimize human handling, and, consequently, ... demand for high quality and low cost production, roll-to-roll (R2R) systems have been admitted to be the most effective system handling flexible materials The R2R systems enable processing the flexible ... also represent many mechanisms in civil, aerospace, and automotive engineering such as thread winders, band saws, magnetic tapes, aerial cable tramways, power transmission belts, cranes etc In fact,

Ngày tải lên: 23/01/2021, 10:34

... Technology [28] Sneha Dhananjay Joshi- Mathematical Modeling & Robust Fault Tolerant Controller Design For Autonomous Underwater Vehicles, PhD thesis 2016 [29] A J Healey and D Lienard Multivariable ... I (2008) Genetic Programming for the Automatic Design of Controllers for a Surface Ship IEEE Transactions on Intelligent Transportation Systems 80 LÝ LỊCH TRÍCH NGANG Họ tên: Nguyễn Đức Tô Nam, ... Joint Program in Applied Ocean Science and Engineering, Massachusetts Institute of Technology, 2001 [10] Fossen, T.I Guidance and Control of Ocean Vehicles John Wiley and Sons Ltd., 1994 77 [11]

Ngày tải lên: 04/03/2021, 20:44

... an important research topic A 2DOF control scheme can be used to improve disturbance performance for various time-delay processes The controller’s performance can be significantly enhanced using ... Alternatively, a Taylor expansion can be directly applied to transform an ideal feedback controller into a standard Trang 9PID-type controller The performance of the resulting IMC-PID controller is largely ... Trang 1TRUONG NGUYEN LUAN VU PID CONTROLLER DESIGN FOR PROCESS WITH TIME DELAY Trang 2HO CHI MINH CITY UNIVERSITY OF TECHNOLOGY AND EDUCATION TRUONG NGUYEN LUAN VU PID CONTROLLER DESIGN FOR

Ngày tải lên: 22/11/2022, 23:04

... Trang 1EURASIP Journal on Wireless Communications and NetworkingVolume 2007, Article ID 10462, 10 pages doi:10.1155/2007/10462 Research Article Design and Performance Analysis of an Adaptive ... repre-sents the performance of the CPIC receiver, and we can see that the APIC outperforms the CPIC forμ ∈(0, 0.5). Under the same simulation settings, the BER perfor-mances of the one- and two-stage ... =0.3. In this paper, we designed an adaptive receiver for the multi-carrier DS-CDMA system over Rayleigh fading channels and evaluated the performance of the system A closed form ex-pression of the

Ngày tải lên: 22/06/2014, 19:20

... pages doi:10.1155/2008/250895 Research Article Design and Performance Evaluation of an Adaptive Resource Management Framework for Distributed Real-Time and Embedded Systems Nishanth Shankaran, 1 Nilabja Roy, 1 Douglas ... resource management algorithms and middleware platforms and im- prove flexibility. (iii) Design of a framework determines its performance and applicability. The design of key modules and entities ... multisatellite missions [7]; and intelligence, surveillance, and reconnaissance missions [8]. Specifying and enforcing end-to-end QoS is an impor- tant and challenging issue for open systems DRE due...

Ngày tải lên: 22/06/2014, 00:20

... importance. And for mechanical translation, if we really want fully automatic, high quality translation, I can see no other choice. Received March 1, 1962 29 anything which he would want ... natural language words have more than one meaning, be- tween which any translating mechanism must con- stantly decide. The resolution of a polysemantic ambiguity, by whatever method of translation, ... of meaning, and defining all words in terms of lower level meanings, should allow us to trace meaning up and down at least as reliably as this can be done in any human's understanding....

Ngày tải lên: 23/03/2014, 13:20

... much and constitute an expense that the program office can avoid. CCDRs require the contractor to report data in a standardized format different from the one they use for internal reporting and management ... of the many anecdotes from program manag- ers about how burdensome some statutes and regulations are, and how that burden translates into adverse consequences for program outcomes. RAND approached ... information about RAND is available at www. rand.org. Summary xiii the benefits in the form of performance enhancements through interoperability. Joint programs tend to be more difficult to manage,...

Ngày tải lên: 29/03/2014, 18:20

... (h v =3)after 20 s. It can be seen that the performance of the proposed algorithm is similar to that of the original SBA. Thus, by using an update controller, the noise-level estimation performance is improved. ... was used. For detailed information about polyphase filterbanks, the reader is referred to [9,10] and the refer- ences therein. 4 Simulation setup To compare the performance of the SBA and the pro- posed ... audible difference. In Figure 3, the subband gain g 1,k ( n)inonesubband (k = 1) and the corresponding level estimates A k (n)and B k (n) are shown for an input signal containing only noise (h v =...

Ngày tải lên: 20/06/2014, 22:20

... Mathematical analysis In this section, we perform mathematical analysis for the PA from following viewpoin ts: connection-level QoS performance, queuing performance, and BR efficiency enhancement. 4.1 ... packet-level QoS performance and resource efficiency for uplink transmission. e) Performing adaptive QoS management to increase or decrease the average source rate based on load status and channel conditions, ... Queuing performance analysis In this section, we analyze the queuing performance for the network under the saturated status, in which all the available bandwidths are used up to guarantee all ongoing...

Ngày tải lên: 21/06/2014, 00:20