Considering the small inertia and quick response of angular velocity of the miniature unmanned helicopters, an inner-outer loop nonlinear controller is presented based on the simplified model. In the inner loop, a rob...
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ISBN:
(纸本)9789881563811
Considering the small inertia and quick response of angular velocity of the miniature unmanned helicopters, an inner-outer loop nonlinear controller is presented based on the simplified model. In the inner loop, a robustH(infinity) static output controller is designed to control the angular velocity. And in the outer loop, a pole assignment method is used to control the position and yaw angle after dynamic transformation of control surface. Then the controller is compensated for the whole model. The obtained control method has solved the problem of the difficulty of the nonlinear controller to be implemented, and obtains good trajectory tracking performance. At last, simulation results illustrate its high stability, robustness and good trajectory tracking performance.
Considering the different time that platoon reaches downstream intersection, this paper proposes corresponding stop and delay coordinated control models for under-saturated and over-saturated traffic conditions. With ...
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ISBN:
(纸本)9781467313988
Considering the different time that platoon reaches downstream intersection, this paper proposes corresponding stop and delay coordinated control models for under-saturated and over-saturated traffic conditions. With the cumulative arrival-departure diagrams, uniform stop and delay models for under-saturated and over-saturated traffic conditions are proved to be consistent and accurate by formula derivation. It provides a basis on deducing the stop and delay general formulae under signal coordinate control mode theoretically.
In this paper, we consider the environmental boundary tracking problem where the objective is to steering a nonholo-nomic mobile robot to track the desired environmental boundary. Based on kinematic model of the mobil...
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ISBN:
(纸本)9781467325813
In this paper, we consider the environmental boundary tracking problem where the objective is to steering a nonholo-nomic mobile robot to track the desired environmental boundary. Based on kinematic model of the mobile robot, we design a kinematic control law for the robot to track the desired boundary. Kinematic control law needs perfect velocity tracking, which doesn't always hold for mobile robot. So, dynamic control law is designed for the nonholonomic mobile robot to track a designated reference velocity, so as to track the desired environmental boundary. The stability of the designed control laws is verified by Lyapunov theory and Barbalat's Lemma and illustrated by simulation results.
This paper addresses the robust trajectory tracking problem for a robot manipulator in the presence of uncertainties and disturbances. First, a neural network-based sliding mode adaptive control (NNSMAC), which is a c...
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This paper addresses the robust trajectory tracking problem for a robot manipulator in the presence of uncertainties and disturbances. First, a neural network-based sliding mode adaptive control (NNSMAC), which is a combination of sliding mode technique, neural network (NN) approximation and adaptive technique, is designed to ensure trajectory tracking by the robot manipulator. It is shown using the Lyapunov theory that the tracking error asymptotically converge to zero. However, the assumption on the availability of the robot manipulator dynamics is not always practical. So, an NN-based adaptive observer is designed to estimate the velocities of the links. Next, based on the observer, a neural network-based sliding mode adaptive output feedback control (NNSMAOFC) is designed. Then it is shown by the Lyapunov theory that the trajectory tracking errors, the observer estimation errors asymptotically converge to zero. The effectiveness of the designed NNSMAC, the NN-based adaptive observer and the NNSMAOFC is illustrated by simulations. (C) 2011 Elsevier B.V. All rights reserved.
We address the problem of environmental contour line tracking for a class of autonomous vehicles. A reference velocity is designed for the autonomous vehicles to do contour line tracking. Based on Lashall invariance p...
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We address the problem of environmental contour line tracking for a class of autonomous vehicles. A reference velocity is designed for the autonomous vehicles to do contour line tracking. Based on Lashall invariance principle, an ideal controller is designed for the vehicle with ideal model and ideal information about the environmental concentration function to track the desired contour line. For the vehicle with possibly modeling uncertainty, we combine a neural controller containing a wavelet neural network (WNN) identifier with a robust control to construct a robust adaptive WNN control for the vehicle to track the desired environmental contour line. Then we give theoretical proof of the efficiency of the designed robust adaptive WNN control. Simulation results and conclusion are presented and discussed. (C) 2011 Elsevier B.V. All rights reserved.
In this paper, the problem of designing of robust state-feedback H ∞ controller for uncertain sampled-data controlsystems with output constraints have been investigated base on jump system model of sampled-data sys...
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In this paper, the problem of designing of robust state-feedback H ∞ controller for uncertain sampled-data controlsystems with output constraints have been investigated base on jump system model of sampled-data system using constant Lyapunov function (CLF) approach. The online algorithm of the H ∞ receding horizon optimization design for the norm-bounded parametric uncertain system is proposed. The optimal state-feedback H ∞ controllers are obtained and these controller can provide a performance tradeoff with respect to output constraints, i.e., the control strategy offers the capability of relaxing the performance level automatically in order to obey output constraints in the case of a larger disturbance. When the disturbance is restored to a usual situation, this control strategy can also improve the performance of system automatically.
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