The coordinate control problem of vehicle platoon is studied with the sliding mode control (SMC) method in this paper. Starting from the inter-vehicle safety distance, a longitudinal controller for vehicle platoon is ...
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A visual servoing control method based on depth point cloud is proposed to solve the problem of pose adjustment before obstacle surmounting of a rocker arm tracked robot. By pre-processing the acquired point cloud, a ...
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In many tele-operation tasks, the network communication delay caused by the distance between the master and the slave side make the time delay inevitably an important factor affecting the performance of the system. Th...
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An adaptive dynamic programming (ADP) technique is investigated to figure out the problem of image feature tracking control of constrained visual servoing (VS) manipulators system. The complete camera-manipulator dyna...
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This paper describes an undergraduate research project exploring techniques of swarm robotics using Roomba. The objective of this paper is to analyze each individual Roomba and successfully acquire communication betwe...
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ISBN:
(纸本)9781538604854
This paper describes an undergraduate research project exploring techniques of swarm robotics using Roomba. The objective of this paper is to analyze each individual Roomba and successfully acquire communication between them. The Creative Inquiry undergraduate research group identify the most effective method of communication. The program that gives the best result is initialized in the IDE(Integrated Development Environment) and executed in the microcontroller called, Arduino.
sliding mode control is proposed for second-order systems with unknown time-varying control direction. A nonsingular terminal sliding mode controller is firstly developed for nominal system. Based on Lyapunov function...
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ISBN:
(纸本)9781538666630
sliding mode control is proposed for second-order systems with unknown time-varying control direction. A nonsingular terminal sliding mode controller is firstly developed for nominal system. Based on Lyapunov function, the convergence condition is derived for systems with different control directions, and then a switching scheme for sliding mode controller is designed without identifying the sign changes. Scenarios against different initial control directions are simulated to demonstrate the effectiveness of the proposed approach. In this paper, a Lyapunov function based switching
This paper presents a new adaptive multivariable twisting sliding mode control for uncertain systems. A Lyapunov function based approach is utilized to show the finite-time convergence of the control system in the pre...
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ISBN:
(纸本)9781538666630
This paper presents a new adaptive multivariable twisting sliding mode control for uncertain systems. A Lyapunov function based approach is utilized to show the finite-time convergence of the control system in the presence of a class of disturbance. Overestimation of control gains is avoided via the proposed adaptation mechanism. The application to the attitude control law design for reusable launch vehicle (RLV) validates the proposed approach.
In this paper, a two time-scale based controller is developed for the problem of a quadrotor in the presence of wind-gust disturbances. A backstepping control and a model based PD control method are proposed to perfor...
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ISBN:
(纸本)9781538695944
In this paper, a two time-scale based controller is developed for the problem of a quadrotor in the presence of wind-gust disturbances. A backstepping control and a model based PD control method are proposed to perform position (slow model) and attitude (fast model) control of the quadrotor, respectively. The wind-gust disturbances are regard as external forces and torques acting on quadrotor, which are estimated by two Square-Root Unscented Kalman filter (SR-UKF) in the fast and slow modes. Simulated results are presented to demonstrate the good performance of the controller even under wind-gust disturbances which are assumed as a mixture of multiple unknown sinusoidal signals.
In this paper, we study the swing-up and balance control for the rotary double inverted pendulum (rdIP) system. In the swing-up phase, we design an energy-based swing-up control for the rdIP system and discuss the con...
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This paper proposes the formula used for finding the continuous-time PIDA (Proportional-Integral-Derivative-Acceleration) controller's parameters based on pole placement technique. Also, provide the formulas for d...
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ISBN:
(纸本)9781538666630
This paper proposes the formula used for finding the continuous-time PIDA (Proportional-Integral-Derivative-Acceleration) controller's parameters based on pole placement technique. Also, provide the formulas for designing the discrete-time PIDA controllers for both of Tustin's method with and without frequency pre-warping. The designers can use the frequency pre-warping to get the better specification as desired. Moreover, as both of these discrete-time PIDA controllers, theirs transfer functions are proper. Then, they are easy to implement in real-time by the Observable Canonical Form of the difference equations.
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