Central Technological Library of the University of Ljubljana (CTK)
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Položajno vodenje nelinearnih mehanizmov z uporabo mehke logike : doktorska disertacijaRojko, AndrejaV tem delu je predlagana shema položajnega vodenja z drsnim režimom in z adaptivno mehko estimacijo motenj. Izpeljana je z uporabo teorije sistemov s spremenljivo strukturo. Z dobro estimacijo motenj ... je odpravljena potreba po preklopni strukturi signalov vodenja in s tem drhtenje v teh signalih. Adaptivni mehki estimator motenj deluje kot identifikacijski model spremenljivega dela dinamike mehanizma. Adaptacijski algoritem za parametre mehkega estimatorja je izpeljan z uporabo Ljapunovega stabilnostnega izreka in zagotavlja globalno asimptotično stabilnost pogreškov stanj in s tem dosego realnega drsnega režima. Za implementacijo na robotu so uvedeni fizikalno pogojeni podsistemi mehke logike, s čimer je povečana transparentnost mehkega sistema, zmanjšana njegove kompleksnost in sistematizirana vključitev lingvističnega znanja. Shema je bila testirana s simulacijami in eksperimenti na laboratorijskem direktno gnanem robotu. Rezultati v obeh primerih potrjujejo dobro sledenje in robustnost.Type of material - dissertationPublication and manufacture - Maribor : [A. Rojko], 2002Language - slovenianCOBISS.SI-ID - 6854678
Author
Rojko, Andreja
Other authors
Jezernik, Karel
Topics
elektrotehnika |
avtomatska regulacija |
roboti |
položajno vodenje |
sistemi s spremenljivo strukturo |
estimacija motenj |
mehka logika |
adaptivni sistemi |
doktorske disertacije
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Central Technological Library of the University of Ljubljana |
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0000059287/0000000129 Skladišče IN: 320020259 59287/129 Skladišče IN: 320020259 |
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Database name | Field | Year |
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Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
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Rojko, Andreja | 18293 |
Jezernik, Karel | 03018 |
Source: Personal bibliographies
and: SICRIS
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