The paper proposes an adaptive control algorithm for the uncalibrated position-based visual servoing to complete the tracking task of robot *** desired and current poses of the end-effector are obtained by the camera ...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
The paper proposes an adaptive control algorithm for the uncalibrated position-based visual servoing to complete the tracking task of robot *** desired and current poses of the end-effector are obtained by the camera and the system error is described in the camera coordination,which can avoid the work of hand-eye *** connection matrix between the robot and the end-effector as well as the camera measurement bias are estimated together by the input/output data in the online control process,which can avoid the calibration between the robot terminal and the end-effector and reduce the influence of the measurement *** our proposed algorithm,the controller can update the ***,the control law and the estimation updated law are designed by the Lyapunov theory,which is proved that the system error and the parameter estimation error can be closed to *** verify the performance of the proposed controller,a numerical simulation experiment on a 6 degrees-offreedom robot manipulator equipped with the end-effector and the eye-to-hand camera under our proposed control method is designed and presented.
In this paper, an intelligent optimization and adaptivecontrol method based on RL (Reinforcement learning) is proposed to solve the key problems of construction quality optimization and control of water conservancy p...
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This study presents the design and development of a Remora Optimization -Tilt Integral-Derivative-Filter (RO-TIDF) controller to infuse ideal insulin doses to manage Blood Glucose (BG) levels in Type-I Diabetes Mellit...
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At present, the research of temperature controlalgorithm is based on the traditional PID and the improved PID algorithm based on the traditional PID. But in the industry, there are some deficiencies. In order to solv...
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ISBN:
(纸本)9781538629017
At present, the research of temperature controlalgorithm is based on the traditional PID and the improved PID algorithm based on the traditional PID. But in the industry, there are some deficiencies. In order to solve the problem of high overshoot and slow calculation speed in the design of temperature control system. This paper presents a design of temperature control system of adaptive control algorithm based on characteristic model. In this paper, compared with the commonly used indirect adaptive methods, the parameters to be identified are more less and the algorithm is more simpler. Finally, the experimental results show that the method can realize the adaptive adjustment of the temperature control system parameters. So it can achieve the continuous and accurate control of the temperature. The proposed method has higher accuracy and better stability than the PID algorithm.
At present, the research of temperature controlalgorithm is based on the traditional PID and the improved PID algorithm based on the traditional PID. But in the industry, there are some deficiencies. In order to solv...
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ISBN:
(纸本)9781538629024
At present, the research of temperature controlalgorithm is based on the traditional PID and the improved PID algorithm based on the traditional PID. But in the industry, there are some deficiencies. In order to solve the problem of high overshoot and slow calculation speed in the design of temperature control system. This paper presents a design of temperature control system of adaptive control algorithm based on characteristic model. In this paper, compared with the commonly used indirect adaptive methods, the parameters to be identified are more less and the algorithm is more simpler. Finally, the experimental results show that the method can realize the adaptive adjustment of the temperature control system parameters. So it can achieve the continuous and accurate control of the temperature. The proposed method has higher accuracy and better stability than the PID algorithm.
A multiple-model adaptive control algorithm is developed for wind power forecasting based on three forecasting models for very-short term wind power prediction. The performance of the three models and the proposed app...
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ISBN:
(纸本)9781467388481
A multiple-model adaptive control algorithm is developed for wind power forecasting based on three forecasting models for very-short term wind power prediction. The performance of the three models and the proposed approach is verified in a wind farm in North China. The case study indicates that the proposed approach can provide reasonable very-short term wind power prediction and outperforms the other three models on both accuracy and reliability.
The mechanical structure and load changes of nano positioning stage cause a poor accuracy of the control system. For solving the problem, adaptive PID controlalgorithm was applied to control the nano positioning stag...
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ISBN:
(纸本)9783662479261;9783662479254
The mechanical structure and load changes of nano positioning stage cause a poor accuracy of the control system. For solving the problem, adaptive PID controlalgorithm was applied to control the nano positioning stage. The model of nano positioning stage was established on the basis of controlled Auto-regressive Moving Average model (CARMA). The parameters of controller were identified based on Recursive Extended Least Squares algorithm (RELS). The control system of nano positioning stage was steady through 4ms after parameters identification, which static error was less than 5nm. The experimental results demonstrated that adaptive PID controlalgorithm was able to identify the parameters of controlled object and calculate the parameters of controller. The accuracy of control system can be at nanometer resolution.
Unsteady simulation with conjugate heat transfer has to tackle the stiffness issue that originates from the wide disparate time scales between fluid and solid heat transfer. In the loosely coupled framework, challenge...
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Unsteady simulation with conjugate heat transfer has to tackle the stiffness issue that originates from the wide disparate time scales between fluid and solid heat transfer. In the loosely coupled framework, challenges remain in determining the optimal coupling time step between the fluid and solid solvers, in terms of efficiency and accuracy. This study formulates a correlation for the coupling error, together with the Proportional-Integral-Derivative (PID) control method, to propose an adaptive fluid-solid coupling time step algorithm, which dynamically adjusts the coupling time step such that the computational efficiency can be improved without sacrificing accuracy. The proposed algorithm has been tested in a 1D conjugate heat transfer application with typical operating conditions of a real engine, and the performance of different controllers (I, PI, PID) has been analyzed and compared. Results show that with the closed-loop control, all controllers can ensure the error control below the user specified tolerance at the cost of reducing efficiency. Meanwhile, with the open-loop control which is of more interest to practical applications, controllers suffer from instability issues when a conventional algorithm based on integration error is employed. The proposed coupling-error-based algorithm successfully tackles the instability issues. Compared with the baseline algorithm of the constant coupling time step, the proposed algorithm can reduce approximately 40%-90% computational cost for the 1D cases considered.
This paper presents an adaptive wind power selling strategy to increase the income for grid-connected wind power plant attached with a battery energy storage system (BESS). The proposed selling strategy is primarily b...
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ISBN:
(纸本)9781479977871
This paper presents an adaptive wind power selling strategy to increase the income for grid-connected wind power plant attached with a battery energy storage system (BESS). The proposed selling strategy is primarily based on time varying price thresholds that are varied by our proposed adaptivealgorithm. Since electricity market prices and wind power vary throughout the day, the idea is to store energy during low price-periods and sell it when prices are high. The wind farm operator could take advantage of the price variability in order to generate an extra income by choosing the best price thresholds in an adaptive manner. Twofold benefits of the proposed strategy lie in efficient energy selling along with the constraint-based efficient operation of BESS. The strategy has been analyzed for a variety of BESSs with a wide range of its energy and power capacities, and income improvement over a trivial strategy is calculated. Simulation results depict the effectiveness of the proposed strategy validated with real-world wind farm data and electricity market prices.
This paper addresses an adaptive rigid-body pose-tracking control problem with unknown system parameters. The proposed control is based on a noncertainty equivalence (NCE) adaptive principle applied to the configurati...
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This paper addresses an adaptive rigid-body pose-tracking control problem with unknown system parameters. The proposed control is based on a noncertainty equivalence (NCE) adaptive principle applied to the configuration manifold of rigid-body motion, i.e., special Euclidean group SE(3), and its tangent bundle TSE(3). The controller drives the system to follow an arbitrary reference trajectory with bounded time derivatives. The system states are composed of the elements of SE(3), consisting of rotations and translations, and the six-dimensional vector of angular and translational velocities in Euclidean space. Almost-global-asymptotic stability of the system is demonstrated using a Morse-Lyapunov stability analysis. Then, the performance of the proposed controller is verified and is compared to the results obtained by a certainty-equivalence (CE) adaptivecontrol applied to exponential coordinates associated with the linear space of the Lie algebra se(3). It is shown that the TSE(3)-based NCE adaptivecontrol design can eliminate the performance degradation due to the cancellation of uncertain parameter effects that would otherwise appear when the CE adaptivecontroller is used. As a result, the proposed NCE-based adaptive pose-tracking controller recovers the closed-loop pose-tracking controller performance with the system parameters fully known to the controller.
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