Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredict...
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Quadrotors play a significant role in our lives and are transforming our *** cable-suspended loads is an unavoidable quadrotor application trend and a hot research topic in the control ***,the load swing and unpredictability pose significant challenges to the quadrotor's *** this paper,an anti-swing controller with an inner-outer control strategy for the quadrotor-slung load transportation system is *** facilitate the controller design,the outer position dynamics are restructured in the form of ***,a virtual controller is created to force the underactuated states to the dynamic surface to ensure the position subsystem's *** improve robustness,an adaptive law is used to eliminate the effects of uncertain cable ***,a dynamic surface controller for the inner attitude subsystem is presented to drive the actual force to the virtual *** is demonstrated that the control strategy can stabilize the quadrotor despite mass and cable length *** results are provided to demonstrate the efficacy and durability of the proposed method.
In the power system, due to the instability of the external environment, safe and stable operation cannot always be guaranteed, as it frequently encounters varying degrees of external disturbances. In order to mitigat...
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The actuator, serving as the fundamental power source of a soft robot, functions as its central component. The field of soft robotics has garnered increasing research attention since its inception. Pneumatic crawling ...
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To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration **...
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To achieve precise localization,autonomous vehicles usually rely on a multi-sensor perception system surrounding the mobile *** is a time-consuming process,and mechanical distortion will cause extrinsic calibration ***,we propose a lidar-visual-inertial odometry,which is combined with an adapted sliding window mechanism and allows for online nonlinear optimization and extrinsic *** the adapted sliding window mechanism,spatial-temporal alignment is performed to manage measurements arriving at different *** nonlinear optimization with online calibration,visual features,cloud features,and inertial measurement unit(IMU)measurements are used to estimate the ego-motion and perform extrinsic *** experiments were carried out on both public datasets and real-world *** indicate that the proposed system outperforms state-of-the-art open-source methods when facing challenging sensor-degenerating conditions.
The multiscale problem is one of the challenging topics in the object detection field. Among the current studies toward this problem, feature pyramid network (FPN) has been shown a superior performance. The core princ...
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The paper introduces a Koopman bilinear model predictive control (KBMPC) as a local planner for smart wheelchair systems. This approach leverages the Koopman Operator to streamline the nonlinear terms in MPC, aiming t...
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Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist...
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Mobile robots represented by smart wheelchairs can assist elderly people with mobility *** paper proposes a multi-mode semi-autonomous navigation system based on a local semantic map for mobile robots,which can assist users to implement accurate navigation(e.g.,docking)in the environment without prior *** order to overcome the problem of repeated oscillations during the docking of traditional local path planning algorithms,this paper adopts a mode-switching method and uses feedback control to perform docking when approaching semantic *** last,comparative experiments were carried out in the real *** show that our method is superior in terms of safety,comfort and docking accuracy.
作者：
Jiao, RanranLi, BoChen, XiangyongJiang, XiaoweiSchool of Automation
China University of Geosciences Hubei Key Laboratory of Advanced Control Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Finance
Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China
This paper addresses the problem of leader-following consensus in heterogeneous multi-agent systems (HMAS) with input saturation and communication delay. Given the practical differences between leader and follower dim...
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Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the...
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Existing biomimetic robots can perform some basic rat-like movement primitives(MPs)and simple behavior with stiff combinations of these *** mimic typical rat behavior with high similarity,we propose parameterizing the behavior using a probabilistic model and movement ***,an analysis of fifteen 10 min video sequences revealed that an actual rat has six typical behaviors in the open field,and each kind of behavior contains different bio-inspired combinations of eight *** used the softmax classifier to obtain the behavior-movement hierarchical probability ***,we specified the MPs using movement parameters that are static and *** obtained the predominant values of the static and dynamic movement parameters using hierarchical clustering and fuzzy C-means clustering,*** predominant parameters were used for fitting the rat spinal joint trajectory using a second-order Fourier series,and the joint trajectory was generalized using a back propagation neural network with two hidden ***,the hierarchical probability model and the generalized joint trajectory were mapped to the robot as control policy and commands,*** implemented the six typical behaviors on the robot,and the results show high similarity when compared with the behaviors of actual rats.
In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accuratel...
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