Search for dissertations about: "Institutionen för reglerteknik"

Showing result 1 - 5 of 222 swedish dissertations containing the words Institutionen för reglerteknik.

  2. 1. Minimum-time sliding mode control of robot manipulators

    Author : Boyko Iliev; Ivan Kalaykov; Krzysztof Kozlowski; Örebro universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Reglerteknik; minimum-time sliding mode control; sliding mode control; maximum-slope sliding lines; Takagi-Sugeno fuzzy systems; robot manipulators; reglerteknik; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Abstract : Robot manipulators have a complex and highly nonlinear dynamics, accompanied with a high degree of uncertainty. These properties make them difficult for time-optimal control. The theory of sliding mode control can provide methods, able to cope with the uncertainty and nonlinearity in the system. READ MORE

  4. 2. Underactuated mechanical systems : Contributions to trajectory planning, analysis, and control

    Author : Pedro La Hera; Anton Shiriaev; Ambarish Goswami; Umeå universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Underactuated mechanical systems; mechanical systems with impacts; trajectory planning; periodic trajectories; orbital stabilization; walking robots; virtual holonomic constraints; transverse linearization; Automatic control; Reglerteknik; Automatic Control; reglerteknik;

    Abstract : Nature and its variety of motion forms have inspired new robot designs with inherentunderactuated dynamics. The fundamental characteristic of these controlled mechanicalsystems, called underactuated, is to have the number of actuators less than the number ofdegrees of freedom. READ MORE

  5. 3. Model Reduction for Linear Time-Varying Systems

    Author : Henrik Sandberg; Anders Rantzer; Sanjay Lall; Institutionen för reglerteknik; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automation; robotics; control engineering; Performance limitations; Convergence analysis; Frequency-domain analysis; Error bounds; Time-varying systems; Model reduction; Linear systems; Automatiska system; robotteknik; reglerteknik; Model reduction;

    Abstract : The thesis treats model reduction for linear time-varying systems. Time-varying models appear in many fields, including power systems, chemical engineering, aeronautics, and computational science. They can also be used for approximation of time-invariant nonlinear models. Model reduction is a topic that deals with simplification of complex models. READ MORE

  6. 4. Minimum-time sliding mode control of robot manipulators

    Author : Boyko Iliev; Örebro universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Abstract : .... READ MORE

  7. 5. Robot system for flexible 3D friction stir welding

    Author : Mikael Soron; Ivan Kalaykov; Jorge F. dos Santos; Örebro universitet; []
    Keywords : ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Friction Stir Welding; robotics; TECHNOLOGY; TEKNIKVETENSKAP; Automatic control; Reglerteknik; Reglerteknik; Automatic Control;

    Abstract : Applying Friction Stir Welding (FSW) on complex joint geometries requires not only a machine with 3-dimesional work space capacity, but also a sound definition of the part geometry as well as knowledge about the process. Having a joining process, such as FSW, with great characteristics from both seam quality and environmental perspective, but yet only a minor presence in the manufacturing industry may be related to flexibility and cost issues. READ MORE