This paper introduces a fault-tolerant control strategy for delayed PDE-ODE coupled systems. By using a Lyapunov functional (LF), a fault-tolerant control design is developed by space-dependent linear matrix inequalit...
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This article investigates the problem of voltage tracking sliding mode control in DC/DC buck converters. To fix the problem of chattering and outside interference in sliding mode control, this paper proposes a fixed t...
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In this paper, the design of a ROS-based robotic arm is introduced from three aspects: structure, hardware and software. In order to reduce the mass of the entire robotic arm, the connecting rod of the robot arm is ma...
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This paper aims to study the periodic eventtriggered (PET) containment control for multirobot systems (MRSs). To save communication resources, a PET mechanism is proposed to realize containment control. Different from...
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The dynamic-memory event-triggered control problem for networked control systems is investigated in this paper. Firstly, a dynamic-memory event-triggered scheme (DMETS) is proposed to reduce the unnecessary data trans...
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To improve the low-speed stability of the space optical scanning servo system, a method to estimate speed using the least-squares fit based on FPGA was proposed. The multi-order least-squares polynomial is used to fit...
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In the field of robotics and autonomous driving, achieving accurate 3D object detection is crucial for the perception of complex traffic environments. Most current research uses deep learning methods to extract object...
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In recent times, the automotive industry has made significant steps towards digitization by focusing on electronic cockpits (E-Cockpits) to enhance the driving experience, comfort and safety. The incorporation of Touc...
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The main objective of this research is the presentation of a maximisation of payload haulage by use of UAV for payload spraying purposes of a pesticide in a regular field. Optimal control from principles of calculus o...
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ISBN:
(纸本)9798350307573;9798350307566
The main objective of this research is the presentation of a maximisation of payload haulage by use of UAV for payload spraying purposes of a pesticide in a regular field. Optimal control from principles of calculus of variations is applied to formulate the maximisation problem. The variable payload models the parameter dependant UAV. The system evolves on a principle fibre bundle on a SE(3) x S-2 manifold necessitating a from principles calculus of variations optimal formulation which is the key contribution of this paper. An illustrative spraying example is used to demonstrate a maximal pesticide spraying problem. Future work will include the formulation of optimal control problems on the semi-direct function Manifold
The highly nonlinear coupled dynamics in a parallel-kinematics manipulator typically cannot be simply treated as disturbance. Model-based control schemes are usually used to address this issue. This paper presents the...
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ISBN:
(纸本)9798350307573;9798350307566
The highly nonlinear coupled dynamics in a parallel-kinematics manipulator typically cannot be simply treated as disturbance. Model-based control schemes are usually used to address this issue. This paper presents the improvement of contouring accuracy of a planar 3PRR parallel-kinematics manipulator by applying two model-based control schemes namely decentralized PID control with centralized computed torque feedforward and centralized inverse dynamics control with feedforward. The simulation shows that both control schemes provide better contouring accuracy than decentralized PID control scheme. Furthermore, it is shown that the decentralized PID control with centralized computed torque feedforward outperforms the centralized inverse dynamics control with feedforward given an accurate dynamic model of the manipulator.
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