简介：Inthispaper,wepresentaquantitativeanalysisoftherobustnessofageneralizedpredictivecontroller.Theresultofstabilityanalysisshowsthat,underaspecificboundedmodellingerror,theclosed-loopsystemisBIBOstableinthepresenceofunmedelleddynamics.

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简介：Studiedarethecontrollerdesignandbasicprinciplesofintelligentlightingnetwork.TI’sMSP430F123isusedasamaincontroller.ByusingtheZigBeemodules(Xbee/Xbee-PRO)andtheGSMmodule(SIM300C)forwirelesscommunications,thelightingcontrolisenabledtoaccesswirelessnetwork.Thissystemusesamobilephonetoachievelighton-offdirectly,whichcanaccomplishwirelesscontrolofintelligentlightinginfamilies.

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简介：Awheeledmobilemechanismwithapassiveand/oractivelinkagemechanismforroughterrainenvironmentisdevelopedandevaluated.Thewheeledmobilemechanismwhichhashighmobilityinroughterrainneedssophisticatedsystemtoadaptvariousenvironments.Wefocusonthedevelopmentofaswitchingcontrollersystemforwheeledmobilerobotsinroughterrain.Thissystemconsistsoftwosub-systems:anenvironmentrecognitionsystemusinglinkanglesandanadaptivecontrolsystem.Intheen-vironmentrecognitionsystem,weintroduceaSelf-OrganizingMap(SOM)forclusteringlinkangles.Intheadaptivecontrol-lers,weintroduceneuralnetworkstocalculatetheinversemodelofthewheeledmobilerobot.Theenvironmentrecognitionsystemcanrecognizetheenvironmentinwhichtherobottravels,andtheadjustablecon-trollersaretunedbyexperimentalresultsforeachenvironment.Thedualsub-systemswitchingcontrollersystemisexperi-mentallyevaluated.Thesystemrecognizesitsenvironmentandadaptsbyswitchingtheadjustablecontrollers.Thissystemdemonstratessuperiorperformancetoawell-tunedsinglePIDcontroller.

简介：Amodelhelicopterismoredifficulttocontrolthanitsfullscalecounterpart.Thisisduetoitsgreatersensitivitytocontrolinputsanddisturbancesaswellashigherbandwidthofdynamics.Thisworkisfocusedondesigningpracticaltrackingcontrollerforasmallscalehelicopterfollowingpredefinedtrajectories.Atrackingcontrollerbasedonoptimalcontroltheoryissynthe-sizedasapartofthedevelopmentofanautonomoushelicopter.Someissueswithregardstocontrolconstraintsareaddressed.Theweightingbetweenstatetrackingperformanceandcontrolpowerexpenditureisanalyzed.Overallperformanceofthecontroldesignisevaluatedbasedonitstimedomainhistoriesoftrajectoriesaswellascontrolinputs.

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简介：Thispaperdescribesthereplacementofacontrollerforaprogrammableuniversalmachineforassembly(PUMA)512robotwithanewlydesignedPCbased(openarchitecture)controlleremployingareal-timedirectcontrolofsixjoints.TheoriginalstructureofthePUMArobotisretained.Thehardwareofthenewcontrollerincludessuchin-housedesignedpartsaspulsewidthmodulation(PWM)amplifiers,digitalandanalogcontrollers,I/Ocards,signalconditionercards,and16-bitA/DandD/Aboards.AnIntelPentiumIVindustrialcomputerisusedasthecentralcontroller.ThecontrolsoftwareisimplementedusingVC++programminglanguage.Thetrajectorytrackingperformanceofallsixjointsistestedatvaryingvelocities.ExperimentalresultsshowthatitisfeasibletoimplementthesuggestedopenarchitectureplatformforPUMA500seriesrobotsthroughthesoftwareroutinesrunningonaPC.Byassemblingcontrollerfromoff-the-shellhardwareandsoftwarecomponents,thebenefitsofreducedandimprovedrobustnesshavebeenrealized.

简介：Thispaperisconcernedwiththeglobalboundednessproblemforaclassofstochasticnonlinearsystemswithmatchedconditions.Theuncertaintiesinthesystemsareduetoparametervariationsandexternalstochasticdisturbance.Onlythematchedconditionsandthepossibleboundoftheuncertaintiesaredemanded.BasedonthestochasticLyapunovstabilitytheory,anexplicitcontrollerisconstructedinthegradientdirection,whichrendersresponsesoftheclosed-loopsystemsbegloballyboundedinprobability.Whenthesystemsdegradetolinearsystems,thecontrollerbecomeslinear.Illustrativeexamplesaregiventoshowtheeffectivenessoftheproposedmethod.

简介：Amulti-channelACpowerSupplycontrolerdevelopedrecentlybyuswasintrodueedbrieftyinthispaper.Thiscontrollerisacomputercontrolledmulti-electronic-switchdevice.Thecontrollercontains16independentchannelsinastandardbox(440W×405D×125Hmm).Thereisanelectronicswitchineachchannel,theratedloadpoweris≤1kW.Themainfunctionofthecontrolleristosetthestateofelectronicswitch(ON/OFF)

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简介：Becauseoflimitedresourceofembeddedplatforms,thecomputationalcomplexityofadvancedcontrolalgorithmsraisessignificantchallengesfortheuseofembeddedsystemsincomplexcontrolfield.AScilab/Scicosbasedembeddedcontrollerisdevelopedonwhichvariouscontrolsoftwarecanbeeasilymodeled,simulated,implemented,andevaluatedtomeettheever-expandingrequirementsofindustrialcontrolapplications.BuiltontheCirrusLogicEP9315ARMsystems-on-chipboard,thisembeddedcontrollerispossibletodevelopcomplexembeddedcontrolsystemsthatemployadvancedcontrolstrategiesinarapidandcost-efficientfashion.Duetothefreeandopensourcenatureofthesoftwarepackagesused,thecostoftheembeddedcontrollerisminimized.

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简介：这篇论文处理为补偿联网的控制系统的传动误差和包退学学生在一个开环的评估者和一个靠近环的评估者之间切换的问题。切换的推动被认为以便减少在理论和应用程序之间的错误，为在一条给定的切换的规则下面的联网的控制系统的指数的稳定的一个足够的条件被多重象Lyapunov一样函数介绍。这些结果为连续时间、分离时间的领域被介绍。控制器借助于线性矩阵不平等被设计。模拟结果显示出建议方法的可行性和效率。

简介：Thesolarphotovoltaic(PV)moduleoutputvoltagechangesaccordingtothevariationoflightintensityandtemperature.ThispaperpresentstheimplementationofanautomaticdigitalcontrollerofaDC-DCboostconverterwithoutbatteriesforasolarcellmodulebyusingaperipheralinterfacecontroller,whichformsaclosedloop,tocontroltheON-OFFperiodoftheswitchingpulse.TheoutputofDC-DCconverterismaintainedbyautomaticallyincreasingordecreasingthepulsewidth.Toproducethepulsewidthmodulation(PWM),themicrocontrollerisprogrammedaccordingtotherequireddutycycleforthepowerswitch.ThePWMONperiodisincreasedwiththedecreaseinthePVvoltageandvice-versa.TheinputvoltagetotheinverterismaintainedconstantlyandisconvertedintoanACsignalbyusingthemetal-oxide-semiconductorfieldeffecttransistor(MOSFET)H-bridgeoperatedinthesinusoidalpulsewidthmodulationmodebyusingaPIC(peripheralinterfacecontroller)microcontroller.ThegeneratedACsignalcanbeconnectedtotheACgridortotheACload.ThesimulatedresultsbyusingProteus8andhardwareimplementedresultsverifytheeffectivenessoftheproposedcontroller.

简介：ThispaperpresentsanewPulseWidthModulation(PWM)controllerforUnmannedAerialVehicle(UAV)precisionsprayerforagricultureusingaTL494fixed-frequencypulsewidthmodulatortogetherwithadataacquisitionboardanddevelopedsoftware.AnUAVcanberemotelycontrolledorflownautonomouslybypre-programmedflightplans.ThePWMcontrollerwasimplementedthroughtheguidancesystemontheUAVwithcontrolcommandssentbetweentheUAVhelicopterandthegroundcontrolstationviaawirelesstelemetrysystem.ThePWMcontrollerwastestedandvalidatedusingLabVIEW8.2.Severalanalyseswereperformedinalaboratorytotestdifferentcontrolsignals.TheresultsshowthatthePWMcontrollerhaspromiseasahigherprecisiontechniqueforsprayapplications,whichwillimproveefficiencyofpesticideapplication,especiallyincropproductionareas.

简介：Thetenacityofheat-affectedzone(HAZ)willdeclineandthesizeofgrainswillincrease,becauseoftheoverheatingonHAZwhensubmergedarcwelding(SAW)isusedtothickplatewithhighheatinput.TheshapingwillworsenwhenSAWisusedtothinplatewithhighcurrentathighspeed.AnewSAWtechnology,thepulseddirectcurrent(DC)automaticSAW,willbeputforwardinthispaperinordertoovercometheaboveshortcomings.Andapulsedcontrollerwithmicro-controllerunit(MCU)asthecore,nixietube(NT)andkeyboardastheman-machineconversationinterfaceisdeveloped.Themainfunctionsofthepulsedcontrollerincludetheoutputofpulsedweldingcurrentandtheworkingwithtwinwire.Theresearchhaswidelyprospectsinapplicationwithsignificantmeaningsintheoryandpracticalengineering.

简介：Themainfocusisnonlinearmodel-baseddynamicpositioning(DP)controlsystemdesign.Anonlinearuniformglobalexponentialstability(UGES)observerproducesnoise-freeestimatesoftheposition,theslowlyvaryingenvironmentaldisturbancesandthevelocity,whichareusedinaproportional-derivative(PD)+feedforwardcontrollaw.Thestabilityofthisobserver-controllersystemisprovedbyintroducingaspecificnonlinearcascadedsystem.ThesimulationresultshavesuccessfullydemonstratedtheperformanceofdesignedDPcontrolsystem.

简介：Introducingbasicdesignmethodologyfordevelopingbacksteppingnonlinearcontrollerforvibrationcontrolsystem.Withasimplifiedsecond-ordersystemmodelofnonlinearvibrationsystem(Duffing’sequation),where,theprocesshasillustratedthebacksteppingdesignstep-by-step.Backsteppingisanovelnonlineardesigntool,whichisbasedonconstructingtheLyapunovfunctionfortheclosed-loopsystemsandguaranteesthestabilityandtrackingperformancethroughenergydissipation.Ingeneral,thisnonlinearcontroldesignapproachgeneratesaggressivecontrolefforttoreducethetrackingerrorpresentedinthiscontrolsystemandsignificantlyimprovethesystembandwidth.Theeffectivenessofthedesignschemeisshownthroughthecomputersimulation.