The paper deals with the control of differentially driven wheeled mobile robots. Two families of wheeled mobile robots are considered: those that are capable of forward motion only and those that can perform forward and backward motion. A unified framework for the control law analysis and design of both robot types is proposed. The control laws are developed within a Lyapunov stability analysis framework. Periodic Lyapunov functions are proposed, and the constructive procedure leads to periodic control laws.
COBISS.SI-ID: 10227284
In the paper a simulator application developed in a combined Matlab/Simulink and Dymola/Modelica environment is presented. The simulator mirrors the functioning of the control system and the dynamics of the indoor environment, where the thermal model of the simulator was developed in the Dymola/Modelica environment, while the illuminance model was developed and parametrized as a blackbox model on the basis of measurements in the Matlab environment. The simulator can emulate the response of conventional ON/OFF controllers as well as fuzzy controllers. The paper presents the design of the simulator with all of the key elements described. The underlying models for the thermal and illuminance control are also separately described. Finally, the performance of the simulator is presented for a selected day.
COBISS.SI-ID: 10062676
The paper deals with the problem of fuzzy nonlinear model identification in the framework of a local model network (LMN). A new iterative identification approach is proposed, where supervised and unsupervised learning are combined to optimize the structure of the LMN. For the purpose of fitting the clustercenters to the process nonlinearity, the Gustafsson–Kessel (GK) fuzzy clustering, i.e., unsupervised learning, is applied. In combination with the LMN learning procedure, a new incremental method to define the number and the initial locations of the cluster centers for the GK clustering algorithm is proposed. Each data cluster corresponds to a local region of the process and is modeled with a local linear model. Since the validity functions are calculated from the fuzzy covariance matrices of the clusters, they are highly adaptable and thus the process can be described with a very sparse amount of local models, i.e., with a parsimonious LMN model. The proposed method for constructing the LMN is finally teste on a drug absorption spectral process and compared to two other methods, namely, Lolimot and Hilomot. The comparison between the experimental results when using each method shows the usefulness of the proposed identification algorithm.
COBISS.SI-ID: 8730708
In this paper, some approaches to teaching multivariable control design are discussed, with special attention being devoted to a stepbystep transition to elearning. The approach put into practice and presented here is developed through design projects, from which one is chosen as a competition game and is realized using the ECHO system, Matlab, and a laboratory pilot plant.
COBISS.SI-ID: 8105812
In this monograph the predictive approaches to complex systems are presented, with emphasis to the approaches which are based on fuzzy and fuzzy-hybrid models.
COBISS.SI-ID: 9421652