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In this paper, an optimal control method to non-prehensile manipulation control by two cooperative arms is proposed. In details, based on the dynamic model of the two-rigid-link object, an approximate model is derived. According to the obtained model, an optimal regulator is designed to realize the holding motion of two cooperative arms which is used to keep the two-rigid-link object stable on the...
In this paper, a new strategy based on impulsive control model of high speed roller is proposed. To make the roller hit the specified target, the strategy is summarized as an optimal control model calculating required number of impulses, the igniting time and phase of each impulse, and also an improved Differential Evolution (DE) Algorithm is adopted to resolve. It is too difficult to solve the orderliness...
The problem of task planning for multiple service robot using supervisory control of discrete event systems is considered. We apply the optimal supervisory control technique to obtain the cost efficient task planning without degrading the quality of service. Specifically the cost function is assigned to each state transition. Then, we introduce an algorithm to minimize the maximum cost. Through an...
To complete parallel test for airplane Remote Electronics Unit (REU), the initial problem which should be resolved is the resources allocation. Optimized configuration of test resources will contribute to smoothing the implementation of task scheduling, which in turn improves the efficiency of the test. Close analysis of constraint relations between resources and test tasks, and with global heuristic...
With ever increased needs for an improved product quality, production efficiency, and cost in today's globalized world market, advanced process control should not only realize the accuracy of each control loops, but also has the ability to achieve an optimization control of production indices that are closely related to the improved product quality, enhanced production efficiency and reduced consumption...
This papers proposes a novel climate control strategy for mine extraction rooms based on the receding horizon optimal control scheme. Being a model-based procedure, the development of a pertinent prediction model is one of the keystones. According to recent technological advances, we consider that distributed measurements are available and provided by a wireless network. An enhanced modeling approach,...
This paper addresses the development of an optimal model predictive control system for quasi-keyhole arc pipe welding process (QAPWP). To this end, a single input two output (SITO) linear discrete model structure is proposed through mechanism analysis. Its parameters are identified offline and updated online. An optimal model predictive control (MPC) algorithm is designed to control the process. Closed-loop...
Building on recent work in sensor-actuator networks and distributed manipulation, we consider the use of pure actuator networks for localization-free robotic navigation. We show how an actuator network can be used to guide an unobserved robot to a desired location in space and introduce an algorithm to calculate optimal actuation patterns for such a network. Sets of actuators are sequentially activated...
This paper considers the task of computing (sub-) optimal continuous and discrete control trajectories for hybrid systems with a probabilistic discrete transition structure. The discrete inputs are used to block undesired transitions and to realize evolutions that are goal-attaining with high probability. An approach is proposed which combines the computation of discrete shortest-paths for given probability-levels...
In a dual-armed cluster tool, the swap operation method that exchanges a wafer on a robot arm with another wafer at a chamber has been mostly used. It is known to minimize the tool cycle time although it restricts the robot task sequence. Recent cluster tools have new scheduling requirements such as reentrant wafer flows for atomic layer deposition processes, constraints on the wafer delay times within...
This paper attempts an as exhaustive as possible review of the control methods dedicated to optimizing the dynamic behavior of variable-speed wind energy conversion systems (WECS) from various viewpoints. Different performance criteria can be defined for WECS - e.g., the energy optimization can be achieved by operating the system at variable speed. The exploitation experience and grid-integration...
This work is based on research in a field of intelligent agent systems, negotiation algorithm solving tasks of energy saving, optimal electric vehicle control and transport flow control in traffic jam. Main goal of research is energy saving for public electric transport. Mathematical model and evolutionary algorithm is proposed in the paper to solve multi-criteria optimization task minimizing idle...
This paper introduces a new tuning technique for digital PID controller parameters. This technique based on the modified local optimal controller parameters for certain reduced order model structures. Different methods are used to obtain the local optimal controller parameters for these reduced order structures. The new tuning technique for digital PID controller parameters is compared with the existing...
In this paper control theoretic approach is applied to design a new, optimal flow controller for multi-source connection-oriented communication networks. The networks are modeled as discrete time, n-th order systems. On the basis of the system state space description, a feedback control law is derived by minimizing linear quadratic (LQ) cost functional. Closed loop system stability is demonstrated,...
It is generally accepted that harmonicity requirements for wind instruments lead either to cones or cylinders for continuous bores. It has been shown previously by the author that optimal control theory can be an valuable framework for theoretical studies about the shape that a wind instrument should have in order to satisfy some optimization criterion, inside a fairly general class, related to interesting...
Stability is the first demand of the feedback control design. The parametrization of all stabilizing controllers is standard theory. The stabilizing controller has some free parameters which can be used for further optimization. Linear Quadratic (LQ) control and Dead Beat control are standard algorithms for optimal control of discrete time models of real systems. The dead beat control results in very...
In this paper, we use level set methods to numerically generate the minimum-time optimal velocity profiles for a vehicle with given acceleration limits driving along a specified path. The proposed approach solves the Hamilton-Jacobi-Bellman (HJB) equation associated with the given optimal control problem by computing the level sets of the value function. Once the optimal cost is found, the optimal...
The paper uses an explicit nonlinear control law constructed upon an approximating solution of a constrained finite-time optimal control (CFTOC) problem. The methodology is based on the piecewise affine approximation of a nonlinear models and the exact explicit solution of a multiparametric optimisation problem associated with a model predictive control (MPC) scheme. The technique is applied to a...
In this paper we explore the geometry of a particular navigation scheme which guides a pursuer from a fixed initial position to a given fixed final position using a one-step look ahead strategy and using only bearing measurements. We explicitly characterize the optimal trajectories for the problem in terms of the Cramer-Rao bound such that the derived trajectories permit a minimization in the error...
In this paper a nonlinear optimal controller has been designed for aerodynamic control during the reentry phase of the reusable launch vehicle (RLV). The controller has been designed based on a recently developed technique optimal dynamic inversion (ODI). For full state feedback the controller has required full information about the system states. In this work an extended Kalman filter (EKF) is developed...
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