To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobi...
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To achieve the collision-free trajectory tracking of the four-wheeled mobile robot(FMR),existing methods resolve the tracking control and obstacle avoidance *** the synergistic robustness and smooth navigation of mobile robots subjected to motion uncertainties in a dynamic environment using this non-cooperative processing method is *** address this challenge,this paper proposes an obstacle-circumventing adaptive control(OCAC)***,a novel anti-disturbance terminal slide mode control with adaptive gains is formulated,incorporating specified control laws for different *** formulation guarantees rapid convergence and simultaneous chattering *** introducing sub-target points,a new sub-target dynamic tracking regression obstacle avoidance strategy is presented to transfer the obstacle avoidance problem into a dynamic tracking one,thereby reducing the burden of local path searching while ensuring system stability during obstacle *** experiments demonstrate that the proposed OCAC method can strengthen the convergence and obstacle avoidance efficiency of the concerned FMR system.
In industrial processes,valve stiction often induces loop oscillations,and limits the control loop *** better control the plant with valve stiction,in this paper,the equivalent-input-disturbance(EID) approach is inc...
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ISBN:
(纸本)9781538629185
In industrial processes,valve stiction often induces loop oscillations,and limits the control loop *** better control the plant with valve stiction,in this paper,the equivalent-input-disturbance(EID) approach is incorporated into the conventional PID controlsystem to improve the ability of disturbance and nonlinearity *** newly proposed method uses a classic two-parameter stiction model to represent the nonlinearity of valve *** to the EID method,an EID estimator is constructed to estimate the influence of valve stiction on the system *** controller is based on the basic proportional-integral-derivative(PID) *** a simulation example is provided to demonstrate the validity of this method.
The objective of this paper is to design an extended dissipative controller for drill-string systems by taking into account input time-delays. A multi-degree-of-freedom lumped parameter model is established for the dr...
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ISBN:
(纸本)9781728123295;9789881563972
The objective of this paper is to design an extended dissipative controller for drill-string systems by taking into account input time-delays. A multi-degree-of-freedom lumped parameter model is established for the drill-string and a state space model in perturbation coordinates is derived correspondingly. By using the Lyapunov-Krasovskii functional method, two sufficient conditions are provided to make extended dissipativity analysis of the drill-string and design a suitable extended dissipative controller for the system. The effectiveness of our results is verified through a numerical example.
The presence of stiction in a control valve causes loop oscillation,and limits the control loop *** address this problem,the paper proposes a method based on equivalent-input-disturbance(EID) to control valve *** th...
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ISBN:
(纸本)9781509046584
The presence of stiction in a control valve causes loop oscillation,and limits the control loop *** address this problem,the paper proposes a method based on equivalent-input-disturbance(EID) to control valve *** this method,a classic two-parameter stiction model is ***,an EID estimator is utilized to estimate the effects of valve stiction in control *** the controller is designed in the spirit of repetitive *** simulation control results are compared with the traditional *** results demonstrate that the proposed EID method can effectively improve the control performance of valve stiction and eliminate the stiction-induced oscillations.
Purpose-The purpose of this paper is to design a global robust and continuous control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach-F...
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Purpose-The purpose of this paper is to design a global robust and continuous control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach-First,feedback linearization is applied to the model of reentry vehicle,resulting in three independent uncertain *** a new second-order time-varying sliding function is proposed,based on which a continuous second-order time-varying sliding mode control(SOTVSMC)law is proposed for each *** global robustness and convergence performance of the closed-loop reentry vehicle controlsystem under the proposed control law are ***-Simulation is made for a reentry vehicle through the assumption that there is external disturbance to aerodynamic moment and the aerodynamic parameters as well as the atmospheric density are *** results verify the validity and robustness of the proposed ***/value-The SOTVSMC attitude controller based on feedback linearization is proposed for the reentry *** advantages of the proposed SOTVSMC are ***,the global second order sliding mode is established,which implies that the closed-loop system is global robust against matched parameter uncertainties and disturbances in ***,the chattering problem is significantly alleviated.
systematic identification of protein complexes is an important application of data mining in bioscience. The existing computation methods of detecting protein complexes are usually based on the topological properties ...
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The occurrence of landslide is uncertain, and its surface displacement data is an important physical quantity reflecting the occurrence process of landslide. Therefore, we propose a visual based small displacement lan...
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Stability analysis is very important for multiport *** most stability analysis methods are published only for unidirectional energy flow conditions,which cannot be used for multiport *** thispaper,a stability analysis...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Stability analysis is very important for multiport *** most stability analysis methods are published only for unidirectional energy flow conditions,which cannot be used for multiport *** thispaper,a stability analysis method is proposed for multi-port converter with bi-directional energy flow,which uses the unified impedance model of bidirectional converter to analyze the system ***,the bidirectional converter is modeled uniformly and the output impedance characteristics of bi-directional converter are *** the unified impedance criterion is used to judge its *** stability of the system under charging and discharging conditions is *** results show that the system stability is higher during charging than during discharging when the power of the battery is the ***,the correctness of the criterion is verified by simulation.
High accurate rate of street objects detection is significant to realize intelligent vehicles. Algorithms based on Convolution Neural Network (CNN) have already shown their reasonable performance on general object det...
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High accurate rate of street objects detection is significant to realize intelligent vehicles. Algorithms based on Convolution Neural Network (CNN) have already shown their reasonable performance on general object detection. For example SSD and YOLO can detection wide variety of objects on 2D images in real time, but the performance is not good enough on street objects detection especially on complex urban street environment. In this paper, instead of proposing and training a new CNN model, we use transfer learning methods to learn from generic CNN model to our specific model to achieve good performance. The transfer learning methods include fine-tuning the pretrained CNN model with self-made dataset and adjusting CNN model structure. We analyze transfer learning results on fine-tuning Single shot multibox detector (SSD) with self-made datasets. The experimental results based on transfer learning method show that the proposed method is effective.
Spectrum-induced polarization (SIP) is a widely used geophysical exploration approach, but it is prone to noise. To address this issue, this paper proposes a noise reduction method that combines phase space reconstruc...
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