With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently ...
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Unmanned Aerial Vehicles are becoming part of many industrial applications. The advancements in battery technologies played a crucial part for this trend. However, no matter what the advancements are, all batteries ha...
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We present a detailed set of performance comparisons of two state-of-the-art solvers for the application of designing time-delay compensators, an important problem in the field of robust control. Formulating such robu...
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In this paper, a new gravity terms compensated proportional-derivative controller (GTC-PD) is proposed for underactuated rotary crane systems. In particular, an energy storage function, consisting of kinetic and poten...
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ISBN:
(纸本)9781538604915
In this paper, a new gravity terms compensated proportional-derivative controller (GTC-PD) is proposed for underactuated rotary crane systems. In particular, an energy storage function, consisting of kinetic and potential energies of rotary crane systems, is constructed, and on the basis of that, the controller is developed which can achieve accurate rotation positioning and load swing suppression at the same time without any approximation or linearization for the nonlinear dynamics. Furthermore, rigorous stability analysis is proved in theory. Numerical simulations are presented to validate the satisfactory performance of the new nonlinear GTC-PD controller for rotary crane systems.
Hypersonic vehicles are characterized with strong nonlinearities, coupling effects and uncertainties as well as fast time-varying parameters, which impose great difficulty to the attitude control. This study proposes ...
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The cultivation of Escherichia coli bacteria is widely used by geneticists and biopharmaceuticals to produce medicines and vaccines. In such industries, Bioprocesses are known by their harsh environment and very expen...
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Pedestrian motion behaves stochastically, causing difficulties in modelling the appropriate proxemics for effective and efficient service robot navigation. Intruding the pedestrian social space can affect the social a...
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Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work w...
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Since target points could be generated quickly and accurately by off-line programming in the industrial robot machining,it is used widely in industrial *** to installation error and mismachining tolerance which causes...
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ISBN:
(纸本)9781509009107
Since target points could be generated quickly and accurately by off-line programming in the industrial robot machining,it is used widely in industrial *** to installation error and mismachining tolerance which causes the offset of processing paths in the actual machining process,the registration algorithms for path calibration would be *** the traditional approach would converge to local optimal solution,an improved registration algorithm based on geometric properties of point clouds is proposed in the ***,feature point sets are acquired by the curvature of point clouds and matched by traditional PCA algorithm,an initial value for precise registration is ***,the improved ICP algorithm by curvature is utilized to modify the former result and reduce the execution time of precise registration,the path calibration can be *** experimental result of the approach is validated in this paper which is significative for calibration of processing paths.
We employ recent control design algorithms for delay systems to address the mixed sensitivity design of a dynamic controller for multiple degree of freedom systems interconnected with an inverse signal shaper. A delay...
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