In this research,a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work.For the first time,a closed form of the mathematical formulation of the...In this research,a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work.For the first time,a closed form of the mathematical formulation of the standard dynamic model is presented for this class of mechanisms.An efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different trajectories.Validation of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.展开更多
Reduced-order multi-functional observer design for multi-input multi-output linear timeinvariant(LTI)systems with constant delayed-inputs is studied.This research is useful in the input estimation of LTI systems with ...Reduced-order multi-functional observer design for multi-input multi-output linear timeinvariant(LTI)systems with constant delayed-inputs is studied.This research is useful in the input estimation of LTI systems with actuator delay,as well as system monitoring and fault detection of these systems.Two approaches for designing an asymptotically stable functional observer for the system are proposed:delay-dependent and delay-free.The delay-dependent observer is infinite-dimensional,while the delay-free structure is finite-dimensional.Moreover,since the delay-free observer does not require any information on the time delay,it is more practical in real applications.However,the delay-dependent observer contains less restrictive assumptions and covers more variety of systems.The proposed observer design schemes are novel,simple to implement,and have improved numerical features compared to some of the other available approaches to design(unknown-input)functional observers.In addition,the proposed observers usually possess lower order than ordinary Luenberger observers,and the design schemes do not need the observability or detectability requirements of the system.The necessary and sufficient conditions of the existence of an asymptotic observer in each scenario are explored.The extensions of the proposed observers to systemswith multiple delayed-inputs are also discussed.Several numerical examples and simulation results are employed to support our theories.展开更多
文摘In this research,a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual work.For the first time,a closed form of the mathematical formulation of the standard dynamic model is presented for this class of mechanisms.An efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different trajectories.Validation of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.
文摘Reduced-order multi-functional observer design for multi-input multi-output linear timeinvariant(LTI)systems with constant delayed-inputs is studied.This research is useful in the input estimation of LTI systems with actuator delay,as well as system monitoring and fault detection of these systems.Two approaches for designing an asymptotically stable functional observer for the system are proposed:delay-dependent and delay-free.The delay-dependent observer is infinite-dimensional,while the delay-free structure is finite-dimensional.Moreover,since the delay-free observer does not require any information on the time delay,it is more practical in real applications.However,the delay-dependent observer contains less restrictive assumptions and covers more variety of systems.The proposed observer design schemes are novel,simple to implement,and have improved numerical features compared to some of the other available approaches to design(unknown-input)functional observers.In addition,the proposed observers usually possess lower order than ordinary Luenberger observers,and the design schemes do not need the observability or detectability requirements of the system.The necessary and sufficient conditions of the existence of an asymptotic observer in each scenario are explored.The extensions of the proposed observers to systemswith multiple delayed-inputs are also discussed.Several numerical examples and simulation results are employed to support our theories.
