Results
repositories = "NORA (Norwegian Open Research Archives)"
The Stability of 2x2 Multivariable Control Systems
Author(s) :
Balchen, Jens G.
Description :
The paper develops simple but powerful expressions for the investigation of stability and response of 2x2 multivariable control systems. The analytical results can be given convenient graphical representations. This provides a helpful tool for obtaining deep insight into the behaviour of this type o...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Practical Trajectory Learning Algorithms for Robot Manipulators
Description :
Several alternative learning control algorithms are discussed, both from an inverse dynamics and an optimization point of view. The learning laws are derived in discrete time and do not need acceleration measurements. A simple algorithm using a constant learning operator is proposed to run in additi...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
A Note on a necessary condition for optimality
Author(s) :
Di Ruscio, David
Description :
A necessary condition is derived for the optimality of a linear multivariable feedback control system with respect to a quadratic performance index of infinite settling time.
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Rational Transfer Function Approximations to Transport Delay
Author(s) :
Balchen, Jens G.
Description :
A method is presented for determining a rational transfer function approximation to transport delay which has the property that the error in the frequency response phase shift is zero at certain frequencies. This new approximation is particularly suitable for the determination of stability condition...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Mechanical networks model for the truss system in structural engineering
Description :
This paper demonstrates how to use a mechanical networks model to analyse a three-dimensional truss system in structural engineering. A three-dimensional numerical example with a complete program written in the APL programming language is presented. The principles and concepts of this method are eas...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
An Algorithm for Design of Decentralized Suboptimal Controllers with Specified Structure
Description :
In this paper we present a method for the design of controllers with a specified arbitrary structure for linear multivariable time invariant systems. Both decentralized controllers as well as feedback from a reduced state vector can be designed by this method. The controller will become optimal in t...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Adaptive feedback linearization of non-linear systems with significant actuator dynamics
Author(s) :
Fossen, Thor I.
Description :
When applying feedback linearization techniques actuator dynamics is usually neglected. This is crucial for actuators with large time constants. A large class of systems, e.g. chemical processes, belong to this category. In such cases conventional feedback linearization techniques based on adaptive ...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
Density driven currents in the Barents Sea calculated by a numerical model
Description :
A baroclinic, 3-D model is described. It is adapted to a Barents Sea situation in order to simulate the currents in this area. The model is of a so-called level type which contains fixed, but permeable levels. It also includes thermodynamics which allow freezing and melting of ice. Using density dat...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
A Combined Network Architecture Using Art2 and Back Propagation for Adaptive Estimation of Dynamic Processes
Author(s) :
Sørheim, Einar
Description :
A neural network architecture called ART2/BP is proposed. Thc goal has been to construct an artificial neural network that learns incrementally an unknown mapping, and is motivated by the instability found in back propagation (BP) networks: after first learning pattern A and then pattern B, a BP net...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English
An Efficient Pseudo-Inverse Solution to the Inverse Kinematic Problem for 6-Joint Manipulators
Description :
The use of the pseudo-inverse Jacobian matrix makes the solution of the inverse kinematic problem well-defined even at singular configurations of the robot arm, in the neighbourhood of a singularity, however, the computed solution often results in high joint velocities which may not be feasible to t...
Repository :
NORA (Norwegian Open Research Archives)
Language(s) :
English