This paper investigates the problem of yaw moment control of humanoid robot and presents a robust adaptive control system for compensating the undesired yaw moment. In order to get the ideal ankle joint trajectory wit...
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ISBN:
(纸本)9781467374439
This paper investigates the problem of yaw moment control of humanoid robot and presents a robust adaptive control system for compensating the undesired yaw moment. In order to get the ideal ankle joint trajectory with low energy consumption,a novel yaw moment control based on ankle is proposed. The main strategy in this method is to adjust ankle joint trajectory in a way to exert a moment for counteracting the factors which generate the undesired yaw moment. Given the optimized ankle joint angles motion, an adaptive fuzzy control system is proposed to track the desired trajectories with model uncertainties and the stability proof is provided. Simulation results validate the proposed method.
To electric furnace's characters as non-linear and time-varying, we designed a fuzzy PID controller, and made some simulation through MATLAB, at the same time we used a traditional PID controller and simulated, th...
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As described by digital system the language Verilog HDL is widely used in the circuit design, its own advantages to be able to use software language describe hardware features that makes it has good readability, porta...
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We extend a 'surrogate problem' approach that is developed for a class of stochastic discrete optimization problems so as to tackle the global signal settings and traffic assignment combined problem. We compar...
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Bio-modeling has important role in virtual reality in telemedicine providing base for simulations and decisions. Virtual reality is based on sequences of volumetric images whose motion is captured in time. These data ...
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ISBN:
(纸本)9789973879141
Bio-modeling has important role in virtual reality in telemedicine providing base for simulations and decisions. Virtual reality is based on sequences of volumetric images whose motion is captured in time. These data sets are typically very large in size and demand a great amount of resources for storage and transmission. Therefore it is necessary to compress this data both fast and efficiently. We will propose combination of lossless and lossy compression models to obtain toset demands.
In this article, a Lyapunov-based control concept is presented combining variable structure and adaptive control. The considered system class comprises single-input systems which are affected by structured and unstruc...
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This paper investigates the applicability of two algorithms for routing the optimal path in a graph, used for navigation of a UAV drone in a security setup. For this purpose we make use of a graph of waypoints, which ...
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According to the needs of the aquaculture industry, this article proposes to design an aquaculture environment monitoring system for collecting temperature, PH, and dissolved oxygen parameters that affect fishery wate...
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Frequency characteristics of discrete-time systems in the complex plane and in linear coordinates are used to design controllers (correction terms) by frequency methods, to determine stability by frequency stability c...
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In order to ensure the safe transmission of the brine pipeline, this paper designs a leakage detection terminal based on STM32F7. This terminal uses GPS to added time stamps to the collected data. And each distributed...
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