The System for Large-scale Building Fire Detection and Escape Evacuation Aiming at the problem of fire warning and evacuation of large buildings, this paper designs a fire detection and evacuation system combining the...
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With the increasing radius of life now, the demand for drones has shown a blowout growth. In order to improve the tracking accuracy and control stability of UAV, this paper presents a UAV control method based on model...
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In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian r...
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ISBN:
(纸本)9798350377712;9798350377705
In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergence considering the dynamics of the robot were derived. Finally, an experimental evaluation was performed using a Franka Emika Panda robot in two different robot tasks, and its results showed that robot task completion was achieved in a lower number of iterations, while maintaining a smooth physical interaction between the robot and its surroundings.
In robotics, while rigid joints are common due to their accuracy and fast response ability, elastic joints are well-known for their safety when interacting with the environment. To harmonise the advantages of these jo...
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ISBN:
(纸本)9798350377712;9798350377705
In robotics, while rigid joints are common due to their accuracy and fast response ability, elastic joints are well-known for their safety when interacting with the environment. To harmonise the advantages of these joint types, robots with mixed rigid-elastic joints can be considered. In this paper, a robust-adaptive two-loop control algorithm is proposed to control this type of hybrid robots when there are uncertainties in system parameters. In the outer loop, a robust control algorithm is proposed to deal with the uncertainties in the parameters of the joint dynamics, together with an adaptive controller for the rigid joints. In the inner loop, another robust control algorithm is proposed to handle the uncertainties in system parameters of the elastic joint's motor contribution, and a similar adaptive control algorithm is presented to manipulate the elastic joints' motors. The stability of the system is assured by Lyapunov's stability theory. Finally, simulations are conducted to verify the proposed control algorithm.
The quality of the atmospheric environment is closely related to human health and has received widespread attention in recent years. Atmospheric environment monitors are used in both production and daily life. However...
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In this article, we present a control barrier function (CBF)-based control strategy for safe and precise landing of an unmanned aerial vehicle (UAV) on a moving target. The CBF is time-varying, as it depends on the ve...
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ISBN:
(纸本)9798350377712;9798350377705
In this article, we present a control barrier function (CBF)-based control strategy for safe and precise landing of an unmanned aerial vehicle (UAV) on a moving target. The CBF is time-varying, as it depends on the velocity of the landing platform and captures three crucial safety constraints: (a) collision avoidance with the landing platform, (b) precise vertical descent on a narrow landing platform, and (c) ground clearance throughout the landing maneuver. The proposed CBF's parameters can be adjusted to set the desired width and height of the descending cone. A quadratic program-based CBF safety filter is designed, which takes a nominal position tracking control input and yields a minimally invasive control input that enforces the safety constraints throughout the landing maneuver. The controller's feasibility is analyzed and its performance is validated through multiple experiments using a quadrotor UAV and an unmanned ground vehicle.
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not...
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ISBN:
(纸本)9798350377712;9798350377705
The physical coupling between robots has the potential to improve the capabilities of multi-robot systems in challenging manufacturing processes. However, the path tracking accuracy of physically coupled robots is not studied adequately, especially considering the uncertain kinematic parameters, the mechanical elasticity, and the built-in controllers of off-the-shelf robots. This paper addresses these issues with a novel differential-algebraic system model which is verified against measurement data from real execution. The uncertain kinematic parameters are estimated online to adapt the model. Consequently, an adaptive model predictive controller is designed as a coordinator between the robots. The controller achieves a path tracking error reduction of 88.6% compared to the state-of-the-art benchmark in the simulation.
As a means to improve the reliability of digital instrument control system of nuclear power plant, redundancy technology is more and more adopted by modern industrial designers, and it plays an increasingly important ...
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Due to their importance, traction control and anti-lock braking systems have become standard equipment in modern vehicles. However, accurate models of tire dynamics are often difficult to obtain and usually include no...
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ISBN:
(纸本)9798350364309;9798350364293
Due to their importance, traction control and anti-lock braking systems have become standard equipment in modern vehicles. However, accurate models of tire dynamics are often difficult to obtain and usually include nonlinearities, making their use in controlsystems challenging. This paper describes a traction control system based on model predictive control and Koopman operator theory, which aims to approximate nonlinear systems with linear ones through a state space transformation. A linear model predictive controller based on the Koopman predictor is compared to a standard nonlinear model predictive controller. Experiments in a high-fidelity vehicle dynamics simulation environment show a comparable reference tracking performance of the two controllers, with a reduced execution time for the proposed Koopman operator-based algorithm, both on a standard PC and embedded hardware.
This paper investigates the prescribed-time control(PTC) problem for a class of strict-feedback systems subject to non-vanishing uncertainties. The coexistence of mismatched uncertainties and non-vanishing disturbance...
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This paper investigates the prescribed-time control(PTC) problem for a class of strict-feedback systems subject to non-vanishing uncertainties. The coexistence of mismatched uncertainties and non-vanishing disturbances makes PTC synthesis nontrivial. In this work, a control method that does not involve infinite time-varying gain is proposed, leading to a practical and global prescribed time tracking control solution for the strict-feedback systems, in spite of both the mismatched and nonvanishing uncertainties. Different from methods based on control switching to avoid the issue of infinite control gain that involves control discontinuity at the switching point, in our method a softening unit is exclusively included to ensure the continuity of the control action. Furthermore, in contrast to most existing prescribed-time control works where the control scheme is only valid on a finite time interval, in this work, the proposed control scheme is valid on the entire time interval. In addition, the prior information on the upper or lower bound of gi is not in need,enlarging the applicability of the proposed method. Both the theoretical analysis and numerical simulation confirm the effectiveness of the proposed control algorithm.
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