In the era of artificial intelligence generated content (AIGC), conditional multimodal synthesis technologies (e.g., text-to-image) are dynamically reshaping the natural content. Brain signals, serving as potential re...
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The control of bilateral teleoperators is challenging due to the complexity of their nonlinear dynamics, the time delays in the communications as well as the wide range of practical real applications. In this paper, o...
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ISBN:
(纸本)9781479947249
The control of bilateral teleoperators is challenging due to the complexity of their nonlinear dynamics, the time delays in the communications as well as the wide range of practical real applications. In this paper, operational space adaptive control of hybrid motion/force synchronization is proposed for bilateral networked teleoperation system with asymmetric timevarying delays in communication channels. The adaptive control with parameter update mechanism is developed to deal with the different kinematics, dynamics uncertainties and external disturbances for the master robot and the slave robot. The system stability is rigorously proved using Lyapunov stability synthesis. The proposed adaptive control is robust against relative motion disturbances, parametric uncertainties and time delay, which is validated by extensive simulation studies.
Mobile robots' motion is constrained by the maximum velocity its actuators can provide,when it tracks a reference trajectory which imposes demanding requirements on the robot's driving *** this paper,a model p...
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ISBN:
(纸本)9781479947249
Mobile robots' motion is constrained by the maximum velocity its actuators can provide,when it tracks a reference trajectory which imposes demanding requirements on the robot's driving *** this paper,a model predictive control(MPC) scheme is proposed for trajectory tracking control of two-wheel mobile *** on the derived tracking-error kinematics of the robot,the proposed MPC approach can be iteratively formulated as a quadratic programming(QP) problem,which can be solved using a linear variable inequality based primal-dual neural network(LVI-PDNN) over a finite receding *** applied neural networks are both stable in the sense of Lyapunov and globally convergent to the exact optimal solutions of reformulated convex programming *** smoothness of the robot motion is improved,a reasonable magnitudes of the robot velocities and a better tracking performance are *** and experimental results are provided to demonstrate the effectiveness and characteristics of the proposed LVI-PDNN based MPC approaches to trajectory tracking control.
The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fract...
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The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation. Crown Copyright (c) 2013 Published by Elsevier Ltd. All rights reserved.
This paper considers the optimal control via weighted congestion game with linear cost functions. First, the weighted congestion game is converted into a matrix form for the sake of simplicity of computation. Second, ...
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ISBN:
(纸本)9781538629185
This paper considers the optimal control via weighted congestion game with linear cost functions. First, the weighted congestion game is converted into a matrix form for the sake of simplicity of computation. Second, a system performance criteria is proposed in order to minimize individual cost, and by designing proper parameters of linear cost functions, the given system performance criterion is converted into weighted potential function of a weighted congestion game. Then the profile dynamics is expressed into an algebraic form and potential-based stability of weighted congestion game is considered by using the Lyapunov-based approaches. Finally, an example is given to illustrate the theoretical results.
A Chinese resume information extraction system（CRIES） based on semi-structured text is designed and implemented to obtain formatted information by extracting text content of every field from resumes in different for...
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ISBN:
(纸本)9781538629185
A Chinese resume information extraction system（CRIES） based on semi-structured text is designed and implemented to obtain formatted information by extracting text content of every field from resumes in different formats and update information automatically based on the ***,ideas to classify resumes,some constraints obtained by analyzing resume features and overall extraction strategy is *** two extraction algorithms for parsing resumes in different text formats are ***,the system was implemented by java ***,use the system to resolve the resume samples,and the statistical analysis and system optimization analysis are carried out according to the accuracy rate and recall rate of the extracted results.
A novel neural control on basis of extreme learning machines (ELMs) is proposed to control wheeled inverted pendulum vehicle, which is a human transportation platform mounted on two coaxial wheels. A dynamic self-bala...
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A novel neural control on basis of extreme learning machines (ELMs) is proposed to control wheeled inverted pendulum vehicle, which is a human transportation platform mounted on two coaxial wheels. A dynamic self-balancing control scheme for such vehicle is constructed which depends on the single-hidden layer feedforward network approximation capability of combing ELMs to capture vehicle dynamics. It is superior to conventional intelligent control by using extreme learning machines since the proposed neural control adjusts the output weight parameters online on basis of the Lyapunov synthesis approach. Experimental results are provided to demonstrate that the vehicle can maintain upright posture stably with the external disturbances based on the proposed control scheme.
This paper presents a hybrid navigation and control method for intelligent wheelchair. A robust and semi-supervised vision tracking method using Microsoft Kinect and obstacle avoidance navigation approach are integrat...
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This paper presents the application of fractional order system on modeling the permanent magnet synchronous motor (PMSM) velocity servo system. The traditional integer order model of the PMSM velocity system is extend...
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This paper presents the application of fractional order system on modeling the permanent magnet synchronous motor (PMSM) velocity servo system. The traditional integer order model of the PMSM velocity system is extended to fractional order one in this work. In order to identify the parameters of the proposed fractional order model, an integer order approximation of the fractional order operator is applied and a state-space structure is presented for using the output-error identification algorithm. In real-time PMSM velocity servo plant, the fractional order model is identified according to some experimental tests using the presented algorithm. Two proportional integral (PI) controllers are designed for velocity servo using a simple scheme according to the identified fractional order model and the traditional integer order one, respectively. The experimental test performance using these two designed PI controllers is compared to demonstrate the advantage of the proposed fractional order model of the PMSM velocity system. (C) 2013 Elsevier Ltd. All rights reserved.
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