State Dependent Parameter control applied to construction robots : and other nonlinear systems

Language: English

Published by Scholars' Press, 2021

613883822X / 9786138838227

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nach der Bestellung gedruckt Neuware - Printed after ordering - The work investigates a novel State Dependent Parameter (SDP) approach for the control of nonlinear systems, with particular emphasis on construction robots. It utilizes two practical demonstrators to evaluate and refine the control algorithms developed: a 1/5th scale laboratory representation of the Lancaster University Computerised Intelligent Excavator (LUCIE); and a full scale commercial vibro-lance system used for ground improvement on construction sites. In addition to these practical examples, the work also considers a benchmark simulation model, namely the multivariable, nonlinear ALSTOM gasifier system. The control methodology is based on the representation of the nonlinear dynamical system in a quasi-linear State Dependent Parameter (SDP) form, in which the parameters vary as functions of the state variables. Here, the states are typically defined as lagged input and output variables. The linear-like structure of the SDP model means that, at each sampling instant, it can be considered as a 'frozen' linear system. This formulation is subsequently used to design a Proportional-Integral-Plus (PIP) control law using linear system design strategies.

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Title
State Dependent Parameter control applied to construction robots : and other nonlinear systems
Author
Essam Shaban
Publisher
Scholars' Press
Publication year
2021
Condition
Neu
Binding
Taschenbuch
Language
English
ISBN 10
613883822X
ISBN 13
9786138838227
Item weight
512 grams
Dimensions
220x150x21 mm

AHA-BUCH GmbH

Einbeck, Germany

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AbeBooks seller since August 14, 2006

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