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Zajištění spolehlivé činnosti adaptivního LQ regulátoru
Böhm, Josef
Adaptive LQ controllers can exhibit uncorrect behaviour at the beginning of the adaptation process. Paper presents an approach which can overcome the problem. It is proposed to operate LQ adaptive controller jointly with some fixed robust controller, typically a PID one. Using single tuning knob, it is possible to tune adaptuve controller properties from that of PID to a standard LQ controller ones.
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Prediktivní řízení s časově proměnnými stavovými modely.
Belda, Květoslav ; Böhm, Josef
The papres is focused on Predictive control for time-variant state-space models both SISO and MIMO type, specially on model identification/composition, further on consideration of system nonlinaerities in equations of predictions and state-space estimation. The algorithms will by presented in coputationally-efective square-root forms and demonstrated by several simulative examples with simple linear SISO systems and with one nonlinear systems represented by MIMO model of planar redundant parallel robot.
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Prediktivní řízení aplikované na rovinné paralelní roboty
Belda, Květoslav ; Böhm, Josef ; Valášek, M.
The design of suitable control is essential part of application of parallel robots. Together with appropriate control, the parallel robots are promising way to improve accuracy and speed of machine tools in industry. This paper deals with the design and results of one control approach represented by predictive control in absolute formulation. It explains exact linearization of used, initially nonlinear models, which are transformed to discrete space form. Control algorithm is derived in square-root form.
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