A three fingered, multijointed robot gripper for experimental use is presented. The mechanics as well as the control architecture are designed for this special purpose. The gripper system provides the basic means in t...
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In order to solve the problems of long cycle and the difficulty of test, this paper proposes a method of power-in-the-loop motor simulator. Firstly, the topology of the motor simulator is proposed, composed of an inte...
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A standard approach to estimate the frequency function of a linear dynamical system is to use spectral estimation. Traditionally, this is done by smoothing in the frequency domain using a window function. This method ...
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A standard approach to estimate the frequency function of a linear dynamical system is to use spectral estimation. Traditionally, this is done by smoothing in the frequency domain using a window function. This method has proved to be successful in most cases and is widely used. However, if the frequency response has fast variations as e.g. a peak that is local in frequency, the loss of resolution caused by smoothing might result in unacceptable errors. In this paper a wavelet based method for improvement of existing smoothing techniques is proposed. The method combines standard frequency domain smoothing with wavelet thresholding. Through simulations, this approach seems to give better frequency estimates than those obtained with traditional methods.
A general tracking control problem is solved for a chaotic system (Duffing oscillator) with unknown parameters, under the additional requirement that the tracking error must remain inside an imposed hard constraint. T...
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A general tracking control problem is solved for a chaotic system (Duffing oscillator) with unknown parameters, under the additional requirement that the tracking error must remain inside an imposed hard constraint. The barrier Lyapunov functions technique is applied in an adaptive backstepping scheme. Several system properties are investigated and benefits coming from state variable constraints are discussed. The same approach may be used for chaos synchronization and chaotification.
Different aspects of the integration of conventional control system and knowledge-based systems are discussed. Special requirements such as multiple forms of knowledge representation, support for model-based reasoning...
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Different aspects of the integration of conventional control system and knowledge-based systems are discussed. Special requirements such as multiple forms of knowledge representation, support for model-based reasoning, and real-time operation are discussed. Three different forms of integration are described: interfaced systems, embedded systems, and totally integrated systems.
As the simulation model of a physical system, digital twin has been widely used in many complicated controlsystems. Providing an effective way to perform simulation, digital twin makes the evaluation, prediction and ...
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This article focuses on the tracking problem for n-link free-floating space manipulators (FFSM) subject to uncertainties. Based on a non-singular terminal sliding mode, a fixed time controller is well-designed, where ...
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We focus on a particular non-convex networked optimization problem, known as the Maximum Variance Unfolding problem and its dual, the Fastest Mixing Markov Process problem. These problems are of relevance for sensor n...
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We focus on a particular non-convex networked optimization problem, known as the Maximum Variance Unfolding problem and its dual, the Fastest Mixing Markov Process problem. These problems are of relevance for sensor networks and robotic applications. We propose to solve both these problems with the same distributed primal-dual subgradient iterations whose convergence is proven even in the case of approximation errors in the calculation of the subgradients. Furthermore, we illustrate the use of the algorithm for sensor network applications, such as localization problems, and for mobile robotic networks applications, such as dispersion problems.
This paper presents a concise survey on reaching law based sliding mode control. The goal is to highlight the most important developments related to reaching laws for both continuous time systems and discrete time one...
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This paper presents a concise survey on reaching law based sliding mode control. The goal is to highlight the most important developments related to reaching laws for both continuous time systems and discrete time ones. First, origins of reaching law methodology for continuous time systems are brought up and essential properties of these control methods are discussed. Advances in continuous time reaching laws are subsequently surveyed and several examples of such strategies are given. Then, discrete time reaching laws are reviewed. Furthermore, the division between switching type and non-switching type discrete reaching laws is elaborated upon and examples from both categories are provided.
Unmanned aerial vehicles (UAVs) are widely used in military and civilian applications. The safety of UAV has been paid more and more attention. Prognostic and Health Management (PHM) of UAV can realize the fault predi...
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Unmanned aerial vehicles (UAVs) are widely used in military and civilian applications. The safety of UAV has been paid more and more attention. Prognostic and Health Management (PHM) of UAV can realize the fault prediction during flight and make an appropriate response according to potential faults. Therefore, the safety and reliability of UAV are improved. However, the existing PHM research on UAVs has the following two challenges: a) the number of fault samples in historical flight data is small, and it is impossible to cover multiple fault modes of UAVs to meet the demand of modeling and verification, b) the actual flight verification of the UAV PHM technology cannot be carried out directly through actual flight test. Aiming at the above problems, this paper proposes a fault data generation method based on the Hardware-In-the-Loop Simulation (HILS) technology. We construct a UAV model and its corresponding fault models by analyzing fault features of UAV flight control system. It can simulate the actual faults and generate flight data with multiple fault modes, thereby available data are provided to support PHM research. Besides, PHM algorithms implemented on airborne PHM modules can be verified via this platform in real-time. The experiment results show that the HILS platform has a good performance for fault injection.
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