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Stały URI dla kolekcjihttp://hdl.handle.net/11652/206

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20152

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Autorsearch.filters.applied.operator.equals: search.filters.author.Balcerzak, MarekTematsearch.filters.applied.operator.equals: search.filters.subject.dynamika nieliniowa

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  • Pozycja
    Implementation of the New Control Methods in Simplification of a Multidimensional Control and Optimization of a Control System Parameters
    (Wydawnictwo Politechniki Łódzkiej ; Katedra Dynamiki Maszyn - Wydział Mechaniczny Politechniki Łódzkiej, 2015) Pijanowski, Karol; Dąbrowski, Artur; Balcerzak, Marek
    The main purpose of this text is to present application of the Largest Lyapunov Exponent (LLE) as a criterion for optimization of the new type of simple controller parameters. Investigated controller is the part of numerically simulated control system. The calculation of LLE was done with a new method [2]. Introduction contains reference to previous publications on inverted pendulum control and Lyapunov stability. Application of the new simple formula for LLE estimation in control systems is discussed. In the next part simulated dynamical system is described and new type of simple controller allowing to control multidimensional system is introduced. In the last part results of the simulation are shown along with conclusions to whole dynamics analysis. Comparison of the proposed regulator with the linearquadratic regulator (LQR) was verified and its better effectiveness with respect to LQR was proved.
  • Pozycja
    Application of the Lyapunov Exponent Based on Current Vibration Control Parameter ( CVC) in Control of an Industrial Robot
    (Wydawnictwo Politechniki Łódzkiej ; Katedra Dynamiki Maszyn - Wydział Mechaniczny Politechniki Łódzkiej, 2015) Szaniewski, Mateusz; Dąbrowski, Artur; Balcerzak, Marek; Zawiasa, Piotr
    Controlling dynamics of industrial robots is one of the most important and complicated tasks in robotics. In some works [3, 7], there are algorithms of the manipulators steering with flexible joints or arms. However, introducing them to calculation of trajectory results in complicated equations and a longer time of counting. On the other hand, works [4,5,6]show that improvement of the tool path is possible thanks to the previousidentification of the robot errors and their compensation. This text covers application of Largest Lyapunov Exponent (LLE) as a criterion for control performance assessment (CPA) in a real control system. The main task is to find a simple and effective method to search for the best configuration of a controller in a control system. In this context, CPA criterion based on calculation of LLE by means of a new method [9-11] is presented in the article.