A disturbance observer-based H∞ composite control method under disturbances and deception attacks is addressed in this paper. Firstly, the control model is constructed. Secondly, a disturbance observer-based H∞ comp...
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This study proposes an integrated approach that uses machine learning and ROS2 as a combined tool to provide effective path planning and cruise control capabilities in self-driving cars. For object identification and ...
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This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication ...
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ISBN:
(纸本)9798350358513;9798350358520
This paper has proposed an easily replicable and novel approach for developing a Digital Twin (DT) system for industrial robots in intelligent manufacturing applications. Our framework enables effective communication via Robot Web Service (RWS), while a real-time simulation is implemented in Unity 3D and Web-based Platform without any other 3rd party tools. The framework can do real-time visualization and control of the entire work process, as well as implement real-time path planning based on algorithms executed in MATLAB. Results verify the high communication efficiency with a refresh rate of only 17ms. Furthermore, our developed web-based platform and Graphical User Interface (GUI) enable easy accessibility and user-friendliness in real-time control.
In this paper, the cross-media control of the water-air amphibious multi-rotor vehicle is studied, and the ADRC method is proposed to build a controller for the water-air amphibious multi-rotor vehicle. Firstly, this ...
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For the problem of external wind disturbances and model parameter uncertainties that quadrotor unmanned aerial vehicle (UAV) often face during flight in natural environments, an adaptive sliding mode control scheme vi...
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In this paper, the movement control of snake-shaped robot for pipeline clamber is studied, and a method based on neural network and Sigmoid joint decoupling is proposed to solve the adaptive problem of snake-shaped ro...
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This paper explores Particle Swarm Optimization (PSO) based control of a morphing robot arm mounted on a controlled Floating Space Robot (CFSR). CFSR is a new study spacecraft model allowing controlled adjustments of ...
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ISBN:
(纸本)9798350307573;9798350307566
This paper explores Particle Swarm Optimization (PSO) based control of a morphing robot arm mounted on a controlled Floating Space Robot (CFSR). CFSR is a new study spacecraft model allowing controlled adjustments of the satellite base's pose. The dynamic model of the chaser spacecraft is derived relative to the target in an inertial frame, using the Clohessy-Wiltshire model or Hills equations for defining their relative motion. It is assumed that both spacecraft are in an Inplane-elliptical formation. The manipulator dynamics are obtained through Lagrangian formulation. The PSO algorithm optimizes controller gain values while a quintic polynomial trajectory is provided as input to the arm joints. Results show that the PSO-based controller effectively reduces tracking error and power requirements, and it is also compared with a conventional proportional-derivative (PD) controller.
Electrohydraulic actuation systems are widely used in a variety of industries, including robotics, manufacturing, mining, agriculture, and vehicle manufacturing. Some industries, such as agriculture and mining, requir...
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This work focuses on a novel incremental sliding mode controller (ISMC), integrated with an anti-windup compensator (AW), for a morphing flight vehicle subject to uncertainties and input saturations. The ISMC consists...
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Direct current-direct current buck converters are widely used in industrial fields. In practical applications, parameter uncertainty, external disturbances and measurement noise affect the control performance of DC-DC...
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