Control algorithms

This paper presents a method for optimizing the sliding mode control (SMC) parameter for a robot manipulator applying a genetic algorithm (GA). The objective of the SMC is to achieve precise and consistent tracking of the trajectory of the robot manipulator under uncertain and disturbed conditions.

6p vibenya 31-12-2024 2 0   Download

The simplest IP telephone system uses two basic components: - IP telephone: end device allowing humans to place and receive calls. - Media Gateway Controller: providing overall control and coordination between IP phones; allowing a caller to locate a callee (e.g. call forwarding)

46p vanmanh1008 24-06-2013 65 5   Download

Model Predictive Control (MPC) refers to a class of algorithms that optimize the future behavior of the plant subject to operational constraints. The merits of the class algorithms include its ability to handle imposed hard constraints on the system and perform on-line optimization. This thesis investigates design and implementation of continuous time model predictive control using Laguerre polynomials and extends the design approaches proposed in to include intermittent predictive control, as well as to include the case of the nonlinear predictive control.

162p runthenight07 01-03-2023 9 4   Download

The main focus of this thesis is on the application of a model predictive control (MPC) method to devise an ABS for a BBW vehicle. Unlike the traditional ABS control algorithms which are based on a trial and error method, the MPC based ABS algorithm aims to utilizes the behaviour of the model to optimize the wheel slip dynamics subject to system constraints. Performance of the proposed wheel slip controller is validated through Software-in-the-Loop (SiL) and Hardware-inthe-Loop (HiL) simulation.

136p runthenight07 01-03-2023 10 3   Download

This thesis presents an evaluation of the mapping performance of a variety of SLAM algorithms that are freely available in the Robot Operating System (ROS), in conjunction with ranging data from various ranging sensors suitable for use onboard small UAS. To compare the quality of the generated maps, an existing metric was initially employed, however deficiencies noted in this metric led to the development of two new metrics. A discussion of both the existing and new map quality metrics, and the advantages and disadvantages of each, is presented as part of this thesis.

99p runthenight04 02-02-2023 10 2   Download

The research has designed a novel active truck seat suspension system for a further study of active vibration control. A 5-degree-of-freedom driver and seating suspension system model for active vibration control has been developed. A novel fast system parameter identification method from vibration measurement data has been proposed for the seat-occupant system based on the multi-objective Genetic Algorithm optimization (GA).

206p runthenight04 02-02-2023 12 5   Download

The dissertation is composed of five chapters as follows: The importance of the topic, the definitions and the existing approaches are clearly addressed; Then, a comprehensive survey of the previous algorithms, existing work relating to interference detector are presented; Intermediated GNSS Spoofing detector based on angle of arrive; Sophisticated GNSS spoofing detector based on angle of arrive; Some limitations of the work are presented, along with possible solutions, which may need additional study.

135p viabigailjohnson 10-06-2022 13 3   Download

Constructing the methodology for synthesizing navigation algorithm and motion control algorithm for underwater vehicles equipped platform or strapdown inertial navigation system during independent motion (Autonomous).

28p beloveinhouse10 28-11-2021 11 3   Download

Research Objective: Research and propose a novel adaptive trajectory tracking algorithm for FWOMR ‘s nonlinear uncertain model which is influenced by the change of robot parameters and the effect of noise when operating on another plane. Construct the physical model of FWOMR and the controller based on the microchip and embedded programming technique to experiment with the proposed algorithms.

27p extraenglish 24-05-2021 27 7   Download

Thesis objectives and tasks: Establishing a mathematical model, putting forward an algorithm applied for seeking the solar system's irradiance equalization configuration under the heterogeneous lighting conditions; establishing a mathematical model, putting forward an algorithm applied for choosing an optimal circuit switching method, from the initial connection configuration to the irradiance equalization configuration.

26p capheviahe27 23-02-2021 25 4   Download

Research and propose a novel adaptive trajectory tracking algorithm for FWOMR ‘s nonlinear uncertain model which is influenced by the change of robot parameters and the effect of noise when operating on another plane; construct the physical model of FWOMR and the controller based on the microchip and embedded programming technique to experiment with the proposed algorithms.

27p capheviahe27 23-02-2021 9 3   Download

Research and propose a novel adaptive trajectory tracking algorithm for FWOMR ‘s nonlinear uncertain model which is influenced by the change of robot parameters and the effect of noise when operating on another plane; construct the physical model of FWOMR and the controller based on the microchip and embedded programming technique to experiment with the proposed algorithms.

27p capheviahe27 23-02-2021 13 5   Download

The main objective of the thesis is to provide general methods to control oscillation based on measurement of energy flow, namely: Find the optimal solution for passive control systems based on energy flows; propose the semi-active control algorithms to control the energy flow.

27p capheviahe27 23-02-2021 20 3   Download

Building adaptive control system for sensorless vector control of the SPIM drives based on adaptive control, nonlinear control and intelligent control techniques to improve control quality and practical applicability of the SPIM drives. The common mode voltage reduction algorithms for SPIM drives has also been developed to further improve the quality and performance of the SPIM drive system.

31p gaocaolon6 30-07-2020 17 2   Download

Researching methods of controlling pan-tilt tracking moving target using image information from 2 cameras with many uncertain parameters. Developing algorithms for controlling integrated system include mobile robot, pan-tilt and two cameras tracking moving targets.

27p gaocaolon6 30-07-2020 79 4   Download

In this thesis, we have proposed a completed the algorithms, window size and theeshold values for fall detection using a 3-DOF accelerometer, a MQ7 sensor, a micro controller, and the coresponding embedded algorithms.

0p tamynhan0 04-07-2020 15 3   Download

In this paper, we propose a mechanism to optimize range of EV by integrating some of the best methods to estimate rotor position, efficient temperature control modules and machine learning algorithms that analyze the vehicle’s environment and driving pattern.

10p lucastanguyen 01-06-2020 20 2   Download

The objective of the thesis is to propose some new control methods to compensate for the negative effects of pattern uncertainty, external noise and wheel slip. Analyze and build dynamic and kinetic models of mobile robots when model uncertainties exist. Demonstrating the correctness and effectiveness of new control methods by the Lyapunov stability standard and Barbalat lemma. Advanced domestic and foreign control methods for mobile robots in the presence of uncertainty models, external noise, and wheel slip. Then propose new control methods.

26p xacxuoc4321 09-07-2019 40 3   Download

The thesis aims to propose some control techniques for mobile target Robot-camera. After that, I studied some of the torque control techniques of joints for the Robot-camera system sticking to the mobile target and the Robot-camera system, paying attention to the motivating motor sticking to the mobile target. Finally, the author also proposed some control algorithms for Robotic-camera arm system with irregular model, external noise and preventing system degradation, using nonlinear sliding controller (TSMC) in combination with Artificial neural networks to estimate uncertain numbers.

31p xacxuoc4321 09-07-2019 28 2   Download

The objective of this thesis is to apply Lagrange equations with multipliers to study dynamics and control of Delta parallel robots. Particularly, mechanical model, mathematical model, and control algorithms for Delta parallel robots are developed as a scientific basis for the research and development of parallel Delta robots.

23p xacxuoc4321 11-07-2019 53 6   Download