Search results for "Function"
showing 10 items of 14432 documents
Fractional-Order System Identification of Viscoelastic Behavior: A Frequency Domain Based Experimental Study
2020
In this work, the fractional-order modeling of viscoelastic behavior is investigated based on measurement data in the frequency domain. For the results of two different test setups we apply existing parameter estimation algorithms designed for fractional-order transfer functions. These algorithms require a priori knowledge of the system structure including the commensurate order of differentiation. An iterative procedure is used to evaluate the influence of the unknown structure. The measured polymer samples show a viscoelastic stress response. We can show that integer-order models are not capable of capturing this behavior. For a set of predefined structures, the best obtained fractional-o…
Robust adaptive tracking control of uncertain systems with time-varying input delays
2017
ABSTRACTIn this paper, the problem of robust adaptive tracking control of uncertain systems with time-varying input delays is studied. Under some mild assumptions, a robust adaptive controller is designed by using adaptive backstepping technique such that the system is globally stable and the system output can track a given reference signal. At the same time, a root mean square type of bound is obtained for the tracking error as a function of design parameters and thus can be adjusted. Finally, one numerical example is given to show the effectiveness of the proposed scheme.
Event-triggered robust adaptive control for discrete time uncertain systems with unmodelled dynamics and disturbances
2019
In practice, modelling errors caused by high-order unmodelled dynamics and external disturbances are unavoidable. How to ensure the robustness of an adaptive controller with respect to such modelling errors is always a critical concern. In this study, the authors consider the design of event-triggered robust adaptive control for a class of discrete-time uncertain systems which involve such modelling errors and also are allowed to be non-minimum phase. Unlike some existing event-triggered control schemes, the developed controllers do not require that the measurement errors meet the corresponding input-to-state stable condition. Global stability of the closed-loop system which means that all …
The Advantage of Digital Decision Making for Strategic Decisions – Proofed by a Supply Chain Case
2017
This paper will discuss the advantage of decision making supported by a digital system and will provide an overview of an empiric analysis researched on this topic. Decision making in organizations is a significant system implied task of managers and therefore a broad area in scientific research, not only in the disciplines management or business studies – even from technical to humanistic disciplines. Nowadays the trend of digitalization captures all areas of life especially in business, as well as the typical management task of decision making. Triggered by the digitalization trend business will move toward an autonomous decision making of machines or cyber systems. The important step tow…
Density Flow in Dynamical Networks via Mean-Field Games
2016
Current distributed routing control algorithms for dynamic networks model networks using the time evolution of density at network edges, while the routing control algorithm ensures edge density to converge to a Wardrop equilibrium, which was characterized by an equal traffic density on all used paths. We rearrange the density model to recast the problem within the framework of mean-field games. In doing that, we illustrate an extended state-space solution approach and we study the stochastic case where the density evolution is driven by a Brownian motion. Further, we investigate the case where the density evolution is perturbed by a bounded adversarial disturbance. For both the stochastic a…
Integral Control Action in Precise Positioning Systems with Friction
2016
Abstract For high precision positioning systems a fast and accurate settling to the reference state is most significant and, at the same time, challenging from the control point of view. Traditional use of an integral coaction in feedback can attain a desired reference tracking at steady-state motion, but can fail in case of precise positioning. Most crucial is that this is independent on how accurate the integral control part is tuned. This paper addresses the feedback control action in precise positioning systems with friction. Analyzing the closed-loop control dynamics with nonlinear friction in feedback it is shown why the integral action cannot efficiently cope with Coulomb friction wh…
On stability and robustness of Virtual Torsion Sensor (VTS) for flexible joint robots
2016
The so called ‘Virtual Torsion Sensor’ (VTS) has been introduced in pervious works for flexible joint robots without sensing of the joint output states, i.e. link position and velocity. Since VTS is incorporated into the feedback control loop, so as to improve the links' positioning accuracy, the related stability is crucial for the overall control design and robust operation of VTS. In this paper, we analyze the stability of including VTS into the feedback loop while assuming the predicted joint torsion is gained by the proportional term of the underlying motor position feedback control. We start our consideration by an ideal case of the linear joint stiffness, first assuming the measured …
Online fitted policy iteration based on extreme learning machines
2016
Reinforcement learning (RL) is a learning paradigm that can be useful in a wide variety of real-world applications. However, its applicability to complex problems remains problematic due to different causes. Particularly important among these are the high quantity of data required by the agent to learn useful policies and the poor scalability to high-dimensional problems due to the use of local approximators. This paper presents a novel RL algorithm, called online fitted policy iteration (OFPI), that steps forward in both directions. OFPI is based on a semi-batch scheme that increases the convergence speed by reusing data and enables the use of global approximators by reformulating the valu…
A survey on handling computationally expensive multiobjective optimization problems with evolutionary algorithms
2017
Evolutionary algorithms are widely used for solving multiobjective optimization problems but are often criticized because of a large number of function evaluations needed. Approximations, especially function approximations, also referred to as surrogates or metamodels are commonly used in the literature to reduce the computation time. This paper presents a survey of 45 different recent algorithms proposed in the literature between 2008 and 2016 to handle computationally expensive multiobjective optimization problems. Several algorithms are discussed based on what kind of an approximation such as problem, function or fitness approximation they use. Most emphasis is given to function approxim…
Experimental Research on the Cutting of Metal Materials by Electrical Discharge Machining with Contact Breaking with Metal Band as Transfer Object
2020
The scientific paper presents practical research carried out by a mixed team of Romanian researchers from universities and the business environment. The research consists in applying the process of cutting metallic materials through electrical discharge machining with contact breaking using a metal band as a transfer object. The research was implemented with the help of a specially designed installation in the laboratory and subsequently all the necessary steps were taken to obtain the patent for it. Various metallic materials were cut using this process, but first of all, high alloy steels. In the global research conducted by the authors, active experimental programs and classic experiment…