The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Pertu...
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ISBN:
(纸本)9781509015740;9781509015733
The application of robust control method is required for the design of the automatic control system of the unmanned underwater vehicle which is operated in underwater environment under great disturbance. Sliding Perturbation Observer (SPO) was developed to overcome the chattering phenomenon which is a weak point of the sliding mode control. This control method can be applied to the control of underwater vehicle operating in strong environmental disturbances because it has the advantage of estimating and compensating for nonlinear components, modeling uncertainties and environmental disturbances of the system. In this study, the sliding mode control with sliding perturbation observer (SMCSPO) is simulated in an underwater vehicle to evaluate the disturbance compensation performance and compare it with a PID controller.
To produce good quality of steel plates, scratches on steel plate should be minimized in hot rolling process. The new method, flying touch algorithm is introduced to control the gap between upper and lower roller for ...
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ISBN:
(纸本)9781509020669
To produce good quality of steel plates, scratches on steel plate should be minimized in hot rolling process. The new method, flying touch algorithm is introduced to control the gap between upper and lower roller for reducing scratches. In the flying touch method, the uniformity of coil can be debased due to variation of reaction force between rollers and steel plate. Therefore, the robust control algorithm and force estimation method is needed to apply flying touch method to hot rolling process. This paper introduces sliding mode control with sliding perturbation observer (SMCSPO) in flying touch hot rolling process. This paper also survey the effect of improved smoothen curve trajectory for realizing the flying touch and velocity synchronization on rolling mills' roller to reduce a scratch due to a friction force caused by the velocity desynchronization.
This paper proposes a new strategy for a quad-rotor to track a moving object efficiently by using image processing and an extended Kalman filter. The goal of path planning for the quad-rotor is to design an optimal pa...
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In this paper, the estimation method of reaction force for electro-hydraulic servo system for movement is discussed. This reaction force estimation method is based on sliding perturbation observer that is robust obser...
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This paper proposes a hybrid visual servoing algorithm for the object tracking by a mobile robot with the stereo camera. The mobile robot with the stereo camera performs an object recognition and object tracking using...
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An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is...
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It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound source...
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This paper proposes an angle estimation of Segway robot for the slop driving. Most of Segway robot was controlled by pose control of keeping robot's balance and motor control of driving. In motor control, we analy...
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This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can ...
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In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system ...
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