In this paper, we consider the speed planning problem for a robotic manipulator. particular, present an algorithm finding time-optimal law along assigned path that satisfies velocity and acceleration constraints respects maximum forces torques allowed by actuators. The addressed optimization is finite-dimensional reformulation of continuous-time problem, obtained discretizing profile with n points. proposed has linear complexity respect to number degrees freedom. Such best possible problem....

This paper focuses on minimum-time path tracking, a subproblem in motion planning of robotic systems. We generate time-optimal velocity profile for manipulators taking into account kinematic and dynamic constraints. Based the special structure constraints (called peaked constraints), generation is formulated as linear programming (LP) problem. The LP-based control problem solved by sequential optimization method. presented algorithm has reduced computational time compared to general LP solver.

The paper presents a new methodology for the lateral control of autonomous vehicles.The proposed cascade structure realizes two main components: model predictive (MPC)-based outer loop and an internal (IMC) based inner loop.In loop, unique is introduced that eliminates tuning parameters system by introducing hierarchical optimization system.Each cost function focuses on minimizing physical phenomenon.The handles dynamics nonlinearities, providing robust against external disturbances...

Time-optimal motion planning is one of the most essential problems in robotic theories. The presented direct transcription approach uses convex optimisation method to obtain a minimum-time control for robot manipulators. One subset waiter problem that consists moving tablet from place another as fast possible, avoiding slip object placed upon it. In this paper order solve problem. This path tracking also approximated by sequential two dimensional second-order cone programs (SOCP) using...

Line follower robots can be used for many important robotic and industrial tasks. One of the most factors in these methods is computational requirement algorithm. The paper presents a novel method line following problem using image processing technique. Our main goal to find an efficient way with real-time computing track camera-equipped robot. To measure effectiveness presented method, we compare two tracking being only difference between them. first robot uses proposed camera-based other...

The systematic design of a Linear Quadratic Regulator (LQR) state-feedback controller with an integral action is presented for quadratic DC/DC boost converter topology. weighting factors are selected respect to energy considerations. By using Kalman Filter both filtering and state estimation purpose Gaussian (LQG) obtained. For the proper operation LQG average state-space model non ideal elements introduced. Detailed simulation study in discrete time-domain demonstrating robustness LQR LQG....

In this paper we examine the minimum-time velocity profile generation problem which belongs to second stage of decoupled robot motion planning. The time-optimal can be translated a convex optimal control task through nonlinear change variables. When constraints have special structure, solution obtained by linear programming (LP). case, along path is maximised, instead time minimising. benefit LP lower computational time. Validation algorithm also presented based on simulation results.

We discuss a new generic optimal controller structure for raw material blending in the cement industry. focus on an important phase of proportioning-burning-grinding operation triplet that essentially determines quality; namely, composition control mill system. begin by describing application to this phase, followed discussion engineering background and design realized controller. Finally, algorithm is discussed technology-independent manner.

Time-optimal motion-planning has been a topic of active research in the literature for while. This paper presents new approach velocity profile generation, which is subproblem motion-planning. In case simplified constraints, generation can be translated to convex optimization problem. However, some practical constraints (e.g., velocity-dependent torque, viscous friction) destroy convexity. The proposed method obtain global optimum nonconvex experimental results with three degrees-of-freedom...

The paper is concern with the investigation of control Doubly Fed Induction Generator (DFIG) carried out by Rotor Side Converter (RSC) applied in wind energy harvest. Throughout principle Stator Flux Oriented Vector Control (SFOVC) applied. In first part a general slip-torque relation derived three torque components: one component stator voltage, other d and third q rotor voltage space vector. second paper, dynamic behavior algorithm controlling active reactive power simulated open loop closed loop.

A novel microgrid control is proposed in the paper. Independent of active and reactive power for each unit connected to common bus realized addition sharing designed ratio among units. The concepts voltage droop frequency applied widely are incorporated here as well. price paid independent reference frame transformation needed control.