The mechanical complexity of soft robots creates significant challenges for their model-based control. Specifically, linear data-driven models have struggled to control soft robots on complex, spatially extended paths...
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This paper investigates the adaptive optimal output regulation of completely unknown linear time-invariant systems. First, a dynamic state feedback control policy with assured convergence rate requirement is developed...
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Hamiltonian neural networks (HNNs) represent a promising class of physics-informed deep learning methods that utilize Hamiltonian theory as foundational knowledge within neural networks. However, their direct applicat...
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Computing the receding horizon optimal control of nonlinear hybrid systems is typically prohibitively slow, limiting real-time implementation. To address this challenge, we propose a layered Model Predictive control (...
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In the fields of robotics and biomechanics, the integration of elastic elements such as springs and tendons in legged systems has long been recognized for enabling energyefficient locomotion. Yet, a significant challe...
Estimating the size of the modeling error is crucial for robust control. Over the years, numerous metrics have been developed to quantify the model error in a control relevant manner. One of the most important such me...
In recent years, many industries have developed high-fidelity simulators, such as digital twins, to represent physical systems, although their parameters must be calibrated to accurately reflect the true system. This ...
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作者:
Zhu, HaiLi, BaoquanYin, HaolinZhang, XueboTiangong University
School of Control Science and Engineering The Tianjin Key Laboratory of Intelligent Control of Electrical Equipment Tianjin300387 China Nankai University
Institute of Robotics and Automatic Information Systems The Tianjin Key Laboratory of Intelligent Robotics Tianjin300071 China
Generating an executable reference trajectory in realtime is a core of autonomous navigation for a quadrotor unmanned aerial vehicle (UAV). In the paper, a timeadjusted optimization method is proposed for UAV motion p...
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In order to improve the efficiency of identifying the operation of computer interlocking host computer interface and promote the improvement of automation, combined with the display standards and requirements of the h...
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ISBN:
(数字)9798331529482
ISBN:
(纸本)9798331529499
In order to improve the efficiency of identifying the operation of computer interlocking host computer interface and promote the improvement of automation, combined with the display standards and requirements of the host computer interface, this paper proposes an image analysis method for the host computer interface based on Open CV. The method accurately extracts the coordinate information on the screen by quantifying the geometric features of various types of signal devices in the host computer interface. Through this process, it can realise the automatic identification, obtain the whole station's signal layout map from the image input, and make preparations for the subsequent automated test.
The paper introduces a new path-planning robotic system methodology called Collision Avoidance and Routing based on Location Access (CARLA) for use in critical environments such as hospitals and crises where quick act...
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