检索结果-内蒙古大学图书馆

2009 7th Asian control Conference, ASCC 2009

作者： Yutian, Mao Lihua, Dou Jie, Chen Hao, Fang Haiqiang, Zhang Hu, Cao School of Automation Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China

ISBN: (纸本)9788995605691

Complete coverage path planning is a key problem for autonomous mobile robot, which concerns both efficiency and completeness of coverage. This paper proposed a novel strategy of combined coverage path planning method, which combines the template-based and the heuristic coverage path planning. The template-based mode allows the robot to run under some predefined motion templates which can realize the completeness of coverage, the heuristic complete coverage algorithm works out an optimal path by heuristic search that can improve the coverage efficiency. All these functions can be carried out with the low-cost general hardware : the ultrasonic sensors, incremental encoders, DC motors, etc. Finally numerical simulations and experiments verify the effectiveness of the method. ©2009 ACA.

关键词： DC motors

来源：评论

学校读者我要写书评

暂无评论

Sliding angle reconstruction and robust lateral control of autonomous vehicles in presence of lateral disturbance

Sliding angle reconstruction and robust lateral control of a...

引用

2009 IEEE/RSJ International Conference on intelligent Robots and systems, IROS 2009

作者： Hao, Fang Lihua, Dou Jie, Chen Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology 100081 Beijing China

ISBN: (纸本)9781424438044

In this paper the problem of path following control of autonomous vehicles subject to sliding is addressed. First a kinematic model is built which takes sliding effects into account by introducing two additional tire sliding angles. Since the tire sliding angles cannot be directly measured by sensors, an adaptive robust Luenberger observer is designed. With this observer, the tire cornering stiffness instead of the sliding angles is identified in presence of time-varying lateral disturbance. The Lyapunov stability theory guarantees that the estimated cornering stiffness would converge to a neighborhood of the real value when control inputs excitated the system persistently. But due to the existence of the lateral disturbance which causes loss of accuracy of the sliding angle reconstruction, the previously designed anti-sliding controller whose effectiveness completely depends on the estimation of the sliding angles cannot yield satisfactory results. To overcome this problem a tire-oriented kinematic model is built in which the inaccuracy of the sliding angle reconstruction is modeled in form of additive disturbances to the kinematic model. By transforming the tire-oriented kinematic model into a perturbed chained system, a sliding mode controller, which is robust to both the sliding effects and the negative effects of the lateral disturbance is designed with the help of the natural algebraic structure of the chained systems. Simulation results show that the proposed methods can provide accurate estimation of the sliding angles and guarantee high anti-sliding control accuracy even in presence of time-varying lateral disturbance. © 2009 IEEE.

关键词： Tires

来源：评论

学校读者我要写书评

暂无评论

Flow-rate Characteristics Measurement of Regulators Based on the Pressure Response in an Isothermal Tank

引用

Chinese Journal of Mechanical Engineering 2009年第5期22卷 633-638页

作者： FAN Wei ZHANG Hongli WANG Tao PENG Guangzheng ONEYAMA Naotake Education Ministry Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology Beijing 100081 China School of Automation Beijing Institute of Technology Beijing 100081 China Electrical Engineering College Xinjiang University Urumchi 830046 China SMC Tsukuba Technical Center Ibaraki-ken 300-2493 Japan

Regulators are important components in pneumatic system, and their flow-rate characteristics are the key parameters for designers. According to the correlatively international standard and national standard of China, which describe the flow-rate characteristics measurement method of pneumatic regulators, the pressure and the flow are measured point by point, and then the flow-rate characteristics curve is plotted point to point. This method has some disadvantages, such as equipment complexity, much air consumption, and low efficiency. To settle the problems presented above, this paper puts forward a new high efficient and energy saving flow-rate characteristics measurement method of regulators, which is based on the pressure response when charging and discharging to an isothermal tank without any flow meters. The measurement principle, the system and the steps are introduced. And the tracking differentiator is used for the data processing of the pressure difference. Two typical kinds of regulators were experimentally investigated, and their flow-rate characteristics curves were obtained with the new and the conventional method, respectively. Comparatively, it＇s proved that this new method is feasible because it is not only able to meet the demand of the measurement precision, but also to save energy and improve efficiency. Compared to the conventional method, the new method takes only about 1/10 amount of time and consumes about only 1/30 amount of air. Hopefully it will be able to serve as an international standard of flow-rate characteristics measurement method of regulators.

关键词： regulator flow-rate characteristics isothermal tank charging and discharging once pressure response tracking differentiator energy saving and high efficiency

来源：评论

学校读者我要写书评

暂无评论

Nonuniformity Correction and Calibration Method in the High-precision CCD Measurement and Servo control system

Nonuniformity Correction and Calibration Method in the High-...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Jing LI Junzheng WANG Bin ZHOU Wei SHEN Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology

The CCD pixels nonuniformity may give a greater margin of error to measurement results in the high-precision CCD measurement and servo control *** paper analyzes the image pixels nonuniformity caused by noises,and establishes the corresponding image *** threshold value segmentation algorithm is used for image *** algorithm using two point linear method for pixel nonuniformity correction,getting center coordinates of facula by calculating the zeroth order moment and first moment of image is put forward,and a new image calibrated method that transforms the image coordinates into the real is *** results show that the algorithm can separate light intensity parts from the image,correct pixel nonuniformity,and stabilize pixel gray value of light intensity *** will make the center coordinates of image light intensity spots stable and decrease the error of the real coordinates after conversion,if the images are acquired under the same *** measurement precision as well as the control precision is improved greatly.

关键词： image Nonuniformity Correction and Calibration Method in the High-precision CCD Measurement and Servo control system CCD

来源：评论

学校读者我要写书评

暂无评论

Adaptive sliding mode control for Takagi-Sugeno fuzzy systems

Adaptive sliding mode control for Takagi-Sugeno fuzzy system...

引用

48th IEEE Conference on Decision and control held jointly with 2009 28th Chinese control Conference, CDC/CCC 2009

作者： Zhang, Jinhui Shi, Peng Xia, Yuanqing Fu, Mengyin Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing 100081 China Faculty of Advanced Technology University of Glamorgan Pontypridd CF37 1DL United Kingdom School of Engineering and Science Victoria University Australia

ISBN: (纸本)9781424438716

This paper is devoted to robust adaptive sliding mode control for a class of nonlinear systems in the Takagi-Sugeno forms with mismatched parametric uncertainties. Sufficient conditions for the existence of linear sliding surfaces are given in terms of linear matrix inequalities, by which the corresponding adaptive reaching motion controller is also designed. Simulation studies show the effectiveness of the control scheme. ©2009 IEEE.

关键词： Linear matrix inequalities

来源：评论

学校读者我要写书评

暂无评论

Distributed H∞ control of Spatially Interconnected systems with Random Communication Packet Losses

Distributed H∞ Control of Spatially Interconnected Systems ...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Hui Li Qinghe Wu Di Yu Key Laboratory of Complex System Intelligent Control and Decision School of AutomationBeijing Institute of Technology IEEE

This paper deals with the H control of spatially interconnected systems where homogeneous subsystems communicate with their neighbors over packet dropping *** the robust stability analysis and controller synthesis problems are thoroughly *** first, temporal forward and spatial shift operators are used to model the interconnected systems with random communication packet losses as discrete time-space linear multidimensional systems with Markovian jumping *** conditions are obtained which make the whole interconnected systems mean-square stable and achieve the prescribed H disturbance attenuation *** method for designing distributed state feedback controllers are presented, which could robustly mean-square stabilize the interconnected *** results take the form of computationally tractable linear matrix ***, a simulation example of multiple vehicle platoon control with the effect of communication packet losses is exploited to demonstrate the effectiveness of the proposed model and method.

关键词： Lyapunov Distributed H control of Spatially Interconnected systems with Random Communication Packet Losses

来源：评论

学校读者我要写书评

暂无评论

Friction compensation using dual observer for 3-axis turntable servo system

Friction compensation using dual observer for 3-axis turntab...

引用

IEEE International Conference on automation and Logistics

作者： Zhigang Liu Junzheng Wang Jiangbo Zhao Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology Beijing China

Friction and load disturbance are important factors in high resolution control for 3-axis turntable servo system. LuGre dynamic friction model is adopted to describe the mathematic model of the pitch axis servo system with friction. Due to the dynamic LuGre model is built on three unknown parameters. Besides, system torque and inertia are also uncertain due to the motor torque ripple or disturbance. A dual sliding mode observer is adopted to estimate these parameters, and Lyapunov function is used to design the update laws. Based on these estimated parameters, adaptive control law is designed to compensate the unknown friction and load disturbance. Simulation suggest that the proposed method is global asymptotically convergent, which guarantee the position and speed signals track the desired trajectories asymptotically.

关键词： Friction Servomechanisms Mathematical model Torque Parameter estimation control systems Mathematics Servomotors Lyapunov method Adaptive control

来源：评论

学校读者我要写书评

暂无评论

A New Modeling Reference Direct Adaptive Sliding Mode control for Electromechanical Actuator

A New Modeling Reference Direct Adaptive Sliding Mode Contro...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Hao Li Lihua Dou Zhong Su Jie Chen School of Automation and the Key Laboratory of Complex System Intelligent Control and DecisionMinistry of EducationBeijing Institute of Technology School of Automation Beijing Information Science & Technology University

A new model reference direct adaptive sliding mode control(MRDASMC) approach for electromechanical actuator(EMA) is *** with parameter variation,external load disturbance,nonlinear structure and unmodelled dynamics in the system are treated as a lumped *** lumped uncertainty is estimated without the bounds known in advance.A switching function is employed to compensate for the estimated error of the lumped *** the issue of chattering in classical SMC is suppressed as the amplitude of the switching function is tuned with the tracking error by adaption *** adaption law contains a fading factor which can prevent saturation of the control *** stability of the control system is guaranteed by Lyapunov *** results show that the proposed controller can provide favorable performance and is robust to system uncertainties.

关键词： Model reference adaptive sliding mode control Electromechanical actuator Fading factor Saturation Chattering.

来源：评论

学校读者我要写书评

暂无评论

Nonlinear Observer Design for Discrete MIMO systems with Unknown Time Delay

Nonlinear Observer Design for Discrete MIMO Systems with Unk...

引用

Joint 48th IEEE Conference on Decision and control and 28th Chinese control Conference

作者： Jing Na Guido Herrmann Xuemei Ren Phil Barber Education Ministry Key Laboratory of Complex System Intelligent Control and Decision School of Automation Beijing Institute of Technology IEEE Department of Mechanical Engineering University of Bristol

This paper proposes an adaptive observer for discrete MIMO systems with unknown dynamics and *** case that the system output equation has time-delay and nonlinearities is also *** delayed states in the system are with a nonlinear form and only the estimated delay is *** using a high-order neural network(HONN),the precise system model,and the Lipschitz or norm-boundedness assumption of unknown nonlinearities are not required.A novel converse Lyapunov Lemma is also developed to prove the uniform ultimate boundedness(UUB) of the proposed *** of the presented scheme is verified by simulation.

关键词： Lyapunov Nonlinear Observer Design for Discrete MIMO systems with Unknown Time Delay Observer

来源：评论

学校读者我要写书评

暂无评论

Study of Direction Probability and Algorithm of Improved Marriage in Honey Bees Optimization for Weapon Network system

引用

Defence Technology（防务技术） 2009年第2期5卷 152-157页

作者：杨晨光涂序彦陈杰 Systems Engineering Research Institute China State Shipbuilding Corporation Department of Automation School of Information Science and Technology Beijing Institute of Technology Ministry of Education of Key Laboratory of Complex System Intelligent Control and Decision Beijing Institute of Technology

To solve the weapon network system optimization problem against small raid objects with low attitude,the concept of direction probability and a new evaluation index system are *** calculating the whole damaging probability that changes with the defending angle,the efficiency of the whole weapon network system can be subtly *** such method,we can avoid the inconformity of the description obtained from the traditional index *** new indexes are also proposed,*** index,overlap index and cover index,which help manage the relationship among several *** normalizing the computation results with the Sigmoid function,the matching problem between the optimization algorithm and indexes is well ***,the algorithm of improved marriage in honey bees optimization that proposed in our previous work is applied to optimize the embattlement *** is carried out to show the efficiency of the proposed indexes and the optimization algorithm.

关键词：网络系统优化问题破坏概率算法改进核武器蜜蜂婚姻 Sigmoid函数

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：