A new dexterous hand is designed and produced. the shape and structure of the dexterous hand is described, focused on analyzing the layout of tendons and the optimization of the joint radius. Furthermore, a single fin...
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ISBN:
(纸本)9781424478132
A new dexterous hand is designed and produced. the shape and structure of the dexterous hand is described, focused on analyzing the layout of tendons and the optimization of the joint radius. Furthermore, a single finger is controlled by Fuzz-PID with model compensation and the good control precision is achieved. through the study on the single finger control, the master-slave control of the dextrous hand is realized simulating the movement of human hand with a cyber-glove.
Hierarchical control for a class of nonlinear systems is discussed using approximate simulation relation in this paper. An error bound is obtained under a modified approximate simulation function at first. the interfa...
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ISBN:
(纸本)9781467318723;9781467318716
Hierarchical control for a class of nonlinear systems is discussed using approximate simulation relation in this paper. An error bound is obtained under a modified approximate simulation function at first. the interface construction problem is solved for a class of nonlinear systems. Moreover, with a small-gain type condition, the abstraction result is extended to interconnected systems with a sufficient condition for approximate simulation when a part of the considered system can be removed by abstraction.
this paper discusses an application of finitetime stabilization methods to the control of quadcopters. the finite-time stabilization methods guarantee the finite-time convergence to the equilibrium state and exhibit r...
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ISBN:
(纸本)9781538695821
this paper discusses an application of finitetime stabilization methods to the control of quadcopters. the finite-time stabilization methods guarantee the finite-time convergence to the equilibrium state and exhibit robustness property with respect to disturbances and modeling errors. the application of the finite-time stabilization to the control of UAV is expected to be effective. this paper shows an application of a finite-time stabilization to quadcopters and investigates the effectiveness of the stabilization via the physics simulation based on ROS and Gazebo. the performance of the finite-time stabilization method is compared withthose of an exponentially stabilizing feedback controller.
In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the ...
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ISBN:
(纸本)9781467355087;9781467355063
In the paper an approach to Hammerstein system identification based on quantized low-power observations is presented. In the presented approach realisations of discrete-time multisine random processes are used as the Hammerstein system excitation and the overall Hammerstein system identification problem is decomposed into the linear dynamic control channel subsystem, the corresponding disturbance at linear dynamic control channel subsystem output and input memoryless nonlinearity identification problems. the presented discussion is illustrated by a simulation example showing properties of the presented approach.
this paper describes designed control system for group of quadcopters with connection to the brain-computer interface. Quadcopter can be controlled mentally. Electroencephalogram signals are used as control commands. ...
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ISBN:
(纸本)9781467355087;9781467355063
this paper describes designed control system for group of quadcopters with connection to the brain-computer interface. Quadcopter can be controlled mentally. Electroencephalogram signals are used as control commands. the system is able to keep formation during the movement on the optimal trajectory for the fastest exploration of locality. the application provides both manual and full-automatic control with streaming video capturing. Realized system may be used by disabled people for drug delivery and observation of neighborhood or by the operators in industry as well as in exploration of locality in case of technogenic accident and catastrophe, elemental calamity.
this paper dears withthe decentralized stabilization problem for a class of uncertain Markovian jump large-scale systems. the local controllers use local subsystem outputs and neighboring mode information to produce ...
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ISBN:
(纸本)9781467318723;9781467318716
this paper dears withthe decentralized stabilization problem for a class of uncertain Markovian jump large-scale systems. the local controllers use local subsystem outputs and neighboring mode information to produce local control inputs. A sufficient condition is given in terms of rank constrained linear matrix inequalities (rank constrained LMIs) for the design of such controllers.
this paper considers the global robust output regulation problem of nonlinear output feedback systems in the case that both exosystem and high-frequency gain sign are unknown. the unavailability of these information p...
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ISBN:
(纸本)9781479951994
this paper considers the global robust output regulation problem of nonlinear output feedback systems in the case that both exosystem and high-frequency gain sign are unknown. the unavailability of these information poses challenges in the control law design. To solve the output regulation problem, a feedback controller is proposed by integrating the internal model principle, certainty equivalence adaptive control scheme and the Nussbaum gain technique.
In this paper a new approach for robot control using position based visual servoing (PBVS) with an omnidirectional multi-camera system is presented. PBVS requires the explicit calculation of the position and orientati...
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ISBN:
(纸本)9781424478132
In this paper a new approach for robot control using position based visual servoing (PBVS) with an omnidirectional multi-camera system is presented. PBVS requires the explicit calculation of the position and orientation of the robot tool. Given only images without depth information, either additional geometric properties of the observed scene or stereo correspondences have to be provided for pose estimation. In this paper we use triangulation of images given by many cameras pointing in various directions. We confirm this approach with some simulational results.
this paper presents a new simple form of a polynomial matrix sigma-inverse introduced as a result of research works on minimum variance control (MVC) for LTI MIMO nonsquare systems. A new approach to construction of a...
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ISBN:
(纸本)9781467355087;9781467355063
this paper presents a new simple form of a polynomial matrix sigma-inverse introduced as a result of research works on minimum variance control (MVC) for LTI MIMO nonsquare systems. A new approach to construction of a sigma-inverse of a nonsquare polynomial matrix can result in e.g. pole-free design of MVC, which is provided by specially selected degrees of freedom of the sigma-inverse. A simulation example in the Matlab (R) environment illustrates theoretical achievements of the paper.
Suppose that a market consists of a foreign exchange deposit and a risky stock, the optimal portfolio problem with consumption is formulated under the continuous-time mean-variance frame. By using the stochastic linea...
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ISBN:
(纸本)9781424403417
Suppose that a market consists of a foreign exchange deposit and a risky stock, the optimal portfolio problem with consumption is formulated under the continuous-time mean-variance frame. By using the stochastic linear-square controltheory, the explicit optimal trading strategies and the closed-form efficient frontier are derived. the numerical example shows that withthe increase of the consumption rate, the amount invested in the risky stock, the mean terminal wealth, and the variance of the terminal wealth are all decreased.
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