The paper deals with mathematical modelling and simulation of collisions in robot soccer representing ideal playground for studying multi-agent mobile systems. It involves robot and ball dynamic behaviour and focuses mainly on their collisions study and their realization. Some vital parts of the simulator are explained and modelled in more detail, beginning with the simple model of ball and robot motion and continuing with more complex collision models. Special consideration is given to collision between robots. The design of such model takes two steps. In the first, information about possible collision is obtained. The second step realizes collision by determining appropriate force impulse. The results from model verification are presented. It is shown that the developed model represents a good basis for realistic, yet simple enough, collision simulation. The paper concludes with some remarks and ideas for future work.
Fuzzy model based predictive functional controller (FPFC) is applied to the magnetic suspension system-a pilot plant for magnetic bearing. High quality control requirements are short settle time with a-periodical step response and zero steady-state error. Open loop unstable process was stabilised with linear lead compensator. The FPFC was used as a cascade controller. Due to some model uncertainties, the Takagi-Sugeno fuzzy model of stabilised system was obtained using fuzzy identification. Comparing to PID, it improved quality and robustness performance. With its computational efficiency, it proved to be ideal solution for high sampling frequency systems. r
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