In this paper, a back propagation neural network (NN) is presented for the inverse kinematics of redundant manipulator with joint limits. Since the inverse kinematics has infinite number of joint angle vectors, a fuzz...
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In this paper,an adaptive dynamic programming(ADP)strategy is investigated for discrete-time nonlinear systems with unknown nonlinear dynamics subject to input *** save the communication resources between the controll...
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In this paper,an adaptive dynamic programming(ADP)strategy is investigated for discrete-time nonlinear systems with unknown nonlinear dynamics subject to input *** save the communication resources between the controller and the actuators,stochastic communication protocols(SCPs)are adopted to schedule the control signal,and therefore the closed-loop system is essentially a protocol-induced switching system.A neural network(NN)-based identifier with a robust term is exploited for approximating the unknown nonlinear system,and a set of switch-based updating rules with an additional tunable parameter of NN weights are developed with the help of the gradient *** virtue of a novel Lyapunov function,a sufficient condition is proposed to achieve the stability of both system identification errors and the update dynamics of NN ***,a value iterative ADP algorithm in an offline way is proposed to solve the optimal control of protocol-induced switching systems with saturation constraints,and the convergence is profoundly discussed in light of mathematical ***,an actor-critic NN scheme is developed to approximate the control law and the proposed performance index function in the framework of ADP,and the stability of the closed-loop system is analyzed in view of the Lyapunov ***,the numerical simulation results are presented to demonstrate the effectiveness of the proposed control scheme.
This paper describes an improved solution to mobile robot localization and map building problem based on pseudolinear measurement model through bias reduction approach. Accurate estimation of vehicle and landmark stat...
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In this paper, we propose a three-degree-of-freedom (3 DOF) mobile exoskeleton robot for rehabilitation and motion assist in daily activity for physically weak persons. This exoskeleton robot is activated based on the...
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This paper presents a novel simultaneous iterative learning control and dynamic modeling (SILCDM) approach. For a class of unknown and repeatable nonlinear discrete-time systems, a model-free iterative learning contro...
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Dear editor,How to deal with uncertainties and/or disturbances is a central issue pushing the development of both control science and control technology. Among various approaches, the active disturbance rejection cont...
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Dear editor,How to deal with uncertainties and/or disturbances is a central issue pushing the development of both control science and control technology. Among various approaches, the active disturbance rejection control (ADRC) has been successfully implemented in various industrial practices because of its uniqueness in concepts, simplicity
A method of construction of feedforward compensator is presented. The proposed feedforward compensator is based on the pole assignment regulator and conversion from closed loop system to open-loop system. Effectivenes...
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ADAPTIVE control is a proven method for learning feedback controllers for systems with unknown dynamic models,exogenous disturbances,nonzero setpoints,and unmodeled *** control has been applied for years in process co...
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ADAPTIVE control is a proven method for learning feedback controllers for systems with unknown dynamic models,exogenous disturbances,nonzero setpoints,and unmodeled *** control has been applied for years in process control,industry,aerospace systems。
作者：
Xiuxian LiDepartment of Control Science and Engineering
College of Electronics and Information Engineeringthe Institute for Advanced Studyand the Shanghai Research Institute for Intelligent Autonomous SystemsTongji UniversityShanghai 201210China
Online optimization has received numerous attention in recent two decades,mostly inspired by its potential applica-tions to auctions,smart grids,portfolio management,dic-tionary learning,neural networks,and so on[1-4]...
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Online optimization has received numerous attention in recent two decades,mostly inspired by its potential applica-tions to auctions,smart grids,portfolio management,dic-tionary learning,neural networks,and so on[1-4].Gener-ally,online optimization is a sequence of decision making processes,where a sequence of time-varying loss functions are gradually revealed in a dynamic environment which may be *** each time instant.
Combining the time reversal mirror (TRM) with the spatio-temporal gradient analysis has an ability to localize a scatterer such as a defect in a thin plate. Time-reversed signals propagate backwards through the time-i...
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