Прегледај по Аутор "Stojanović, Vladimir"

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    OPTIMAL CONTROL OF A TWO-WHEELED SELF-BALANCING MOBILE ROBOT BASED ON ADAPTIVE DYNAMIC PROGRAMMING
    (University of East Sarajevo, Faculty of Mechanical Engineering, 2024-11) Stojanović, Vladimir; Đorđević, Vladimir; Dubonjić, Ljubiša; Prodanović, Saša; Marković, Biljana; Milutinović, Miroslav; Milić, Davor
    This paper considers optimal tracking control for a two-wheeled selfbalancing mobile robot with unknown dynamics. The aim is to achieve asymptotic tracking and disturbance rejection by minimizing some predefined performance index. Through the combination of adaptive dynamic programming (ADP) and internal model principle, an approximate optimal controller is iteratively learned online using measurable input/output data. Unmeasurable states are also reconstructed from input/output data. The discrete-time algebraic Riccati equation is iteratively solved by ADP approach. Simulation results demonstrate the feasibility and effectiveness of the proposed approach.
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    PD controller design for a system of a valve controlled hydromotor
    (Faculty of Mechanical and Civil Engineering, Kraljevo, University of Kragujevac, 2023) Dubonjić, Ljubiša; Prodanović, Saša; Stojanović, Vladimir; Menezes Morato, Marcelo
    PD controller design methodology based on D-decomposition is considered in this paper. The method consists in tuning two parameters of a controller: proportional (P) and differential (D). The method was applied to a hydromotor controlled by a valve according to the position of the valve’s piston. The results obtained in this paper show the good performance of the automatic control system in comparison with other methods of controller design and other controllers designed with the same method on the valve controlled hydromotor system.