KERNEL RECURSIVE DUAL CONTROL ALGORITHM FOR NONLINEAR DYNAMIC PROCESSES

2021 ◽  
pp. 73-78
Author(s):  
Н.Р. Антропов ◽  
Е.Д. Агафонов
Keyword(s):  
Control Problem ◽  
Nonlinear Dynamic ◽  
Control Algorithm ◽  
Numerical Study ◽  
Dynamic Processes ◽  
Control Algorithms ◽  
Recursive Identification ◽  
Dual Control ◽  
And Control ◽  
Nonlinear Dynamic Processes

В работе рассматривается задача адаптивной идентификации и управления нелинейными динамическими объектами. Предлагается новый рекуррентный ядерный алгоритм дуального управления с использованием идентификатора. Приводятся результаты численного исследования, подтверждающие эффективность предложенного алгоритма. The paper considers adaptive identification and control problem of nonlinear dynamic processes. For solution of the problem new recursive identification and control algorithms are proposed. The paper presents the results of a numerical study illustrating the performance of the proposed recursive identification and control algorithms.

Near-Epoch Dependence

2021 ◽  
pp. 368-398
Author(s):  
James Davidson
Keyword(s):  
Theoretical Result ◽  
Nonlinear Dynamic ◽  
Dynamic Processes ◽  
Related Concept ◽  
Mixing Processes ◽  
Special Result ◽  
Nonlinear Dynamic Processes

Near‐epoch dependence (NED) is a generalized dependence concept for functions of mixing processes. This chapter gives definitions and examples, and considers the application to nonlinear dynamic processes. The relation to mixingales is the key theoretical result. Results on the preservation of NED under various transformations and a special result for the adapted sequence case are considered next. Finally, the related concept of approximability is defined which, unlike NED, can hold in the absence of integer moments.

How to achieve precise operation of a robotic manipulator on a macro to micro/nano scale

2017 ◽  
Vol 37 (2) ◽  
pp. 186-199 ◽  
Author(s):  
Zhiqiang Yu ◽  
Qing Shi ◽  
Huaping Wang ◽  
Ning Yu ◽  
Qiang Huang ◽  
...  
Keyword(s):  
Control Algorithm ◽  
Mechanical Design ◽  
Robotic Manipulator ◽  
Control Algorithms ◽  
General Control ◽  
Content Type ◽  
Mechanical Parts ◽  
Accurate Perception ◽  
And Control ◽  
Made In

Purpose The purpose of this paper is to present state-of-the-art approaches for precise operation of a robotic manipulator on a macro- to micro/nanoscale. Design/methodology/approach This paper first briefly discussed fundamental issues associated with precise operation of a robotic manipulator on a macro- to micro/nanoscale. Second, this paper described and compared the characteristics of basic components (i.e. mechanical parts, actuators, sensors and control algorithm) of the robotic manipulator. Specifically, commonly used mechanisms of the manipulator were classified and analyzed. In addition, intuitive meaning and applications of its actuator explained and compared in details. Moreover, related research studies on general control algorithm and visual control that are used in a robotic manipulator to achieve precise operation have also been discussed. Findings Remarkable achievements in dexterous mechanical design, excellent actuators, accurate perception, optimized control algorithms, etc., have been made in precise operations of a robotic manipulator. Precise operation is critical for dealing with objects which need to be manufactured, modified and assembled. The operational accuracy is directly affected by the performance of mechanical design, actuators, sensors and control algorithms. Therefore, this paper provides a categorization showing the fundamental concepts and applications of these characteristics. Originality/value This paper presents a categorization of the mechanical design, actuators, sensors and control algorithms of robotic manipulators in the macro- to micro/nanofield for precise operation.

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