To guide the patients to follow the designed training trajectory precisely, an omnidirectional intelligent walking training robot (IWTR) is being developed in our laboratory. However, in the clinical experiments, the ...
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this paper considers a cooperative landing problem of a group of planar vertical take off and landing (PV-TOL) aircrafts to be heterogeneous with uncertain parameters. Specifically, we focus on the situation that the ...
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this paper considers a cooperative landing problem of a group of planar vertical take off and landing (PV-TOL) aircrafts to be heterogeneous with uncertain parameters. Specifically, we focus on the situation that the landing platform is oscillating and establish a cooperative landing maneuver so that each aircraft can track the platform motion in a safe height. We shall show a specific design based on cooperative output regulation theory under the modest undirected static communication topology.
In this talk, the linear dynamical system subjected to uncertainty in the system matrix is considered. Using the linear matrix inequality technique we obtain the upper bounds for the deviations in linear systems. An L...
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In this talk, the linear dynamical system subjected to uncertainty in the system matrix is considered. Using the linear matrix inequality technique we obtain the upper bounds for the deviations in linear systems. An LMI-based stabilizing feedback procedure is proposed which guarantees "as small as possible" deviations. the results of numerical simulations demonstrate the low conservatism of the obtained bounds.
this paper presents a formation control of mobile robots with a large obstacle avoidance. the mobile robots considered in this paper have multiple sonars which are used for not only constructing formation but also avo...
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this paper presents a formation control of mobile robots with a large obstacle avoidance. the mobile robots considered in this paper have multiple sonars which are used for not only constructing formation but also avoiding obstacle. the novel modules overcoming the drawbacks of the previous navigation algorithm [6] are introduced to accomplish the obstacle avoidance and formation control. the effectiveness of the proposed techniques are demonstrated by an experiment using three mobile robots.
We consider the speed control problem for a two-inertia system that consists of two inertias connected by a shaft. In this system, the flexibility produces torsional vibrations that usually result in limited tracking ...
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ISBN:
(纸本)9781538670804;9788993215168
We consider the speed control problem for a two-inertia system that consists of two inertias connected by a shaft. In this system, the flexibility produces torsional vibrations that usually result in limited tracking performance when employing a conventional control strategy such as PI control. Moreover, the control problem becomes far more challenging if the load-side speed and torsion torque developed in the shaft are not measurable. this paper presents a disturbance observer-based controller that suppresses vibrations due to torsion torque and external disturbance so that the load speed tracks the desired reference. this is done by constructing an observer that estimates the torsion torque, load speed, and load torque at the same time and a controller that can adjust the torsion torque as desired. the proposed idea is validated through numerical simulations.
this paper presents the design and implementation of an automatic inspection system for parts rejection in a manufacturing process, where parts are the short pieces of circle-and square-pipes. the designed model is ba...
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ISBN:
(纸本)9781538670804;9788993215168
this paper presents the design and implementation of an automatic inspection system for parts rejection in a manufacturing process, where parts are the short pieces of circle-and square-pipes. the designed model is based on a stereo vision and programmable logic controller (PLC). Both shape classification and height measurement of the parts can be achieved simultaneously with a stereo vision. Its computation is implemented in Raspberry Pi broad, which is supported by Python and OpenCV. the simplified stereo vision is established by two commercially available webcams and it has already been calibrated. If the shape and height of products are not correct, the rejected signal is produced and passes to a PLC. Meanwhile, the PLC of model Siemens S7-1200 is applied to controlthe pneumatic rejection cylinder. the designed method is completely executed and evaluated. the experimental result shows good synchronization between Raspberry Pi and PLC. the accuracy of shape classification is more than 98% and the error of height measurement is less than ± 1mm.
this paper investigates the frequency properties of linear active disturbance rejection control. For stable or critical stable second-order LTI plants, it proposes a new parameter tuning approach. the approach is prov...
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this paper investigates the frequency properties of linear active disturbance rejection control. For stable or critical stable second-order LTI plants, it proposes a new parameter tuning approach. the approach is proved that can guarantee the closed-loop has a given gain crossover frequency and a phase margin no less than a given value between 32 degrees and 73 degrees.
this paper addresses the problem of coordination of a fleet of mobile robots – the problem of finding an optimal set of collision-free trajectories for individual robots in the fleet. Many approaches have been introd...
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In this paper, the problem of event-triggered fuzzy-rule-dependent filter design for networked system is investigated. For the original system, our focus is on establishing a new fuzzy filtering error system, consider...
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In this paper, the problem of event-triggered fuzzy-rule-dependent filter design for networked system is investigated. For the original system, our focus is on establishing a new fuzzy filtering error system, considering the event-triggered scheme, the network-induced delays. then, constructing a desired Lyapunov-Krasovskii function, sufficient stability conditions can be obtained to ensure that the new fuzzy filtering error system is mean-square asymptotically stable with H∞ performance. Finally, transform these stability criteria into convex optimization problems, which can be calculated by the standard optimization toolbox.
In this paper, we investigate the output tracking control problem for a class of uncertain nonlinear systems in parametric strict feedback form with quantized input. A novel backstepping based adaptive quantized contr...
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In this paper, we investigate the output tracking control problem for a class of uncertain nonlinear systems in parametric strict feedback form with quantized input. A novel backstepping based adaptive quantized control scheme is proposed. Different from the existing results, the true quantization parameters are allowed to be unknown in the design of adaptive controller. It is shown that withthe proposed control scheme, the system output can track the desired trajectory asymptotically and all the closed-loop signals are globally uniformly bounded.
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