In this paper, a neural network (NN) tracking controller is developed for robot manipulators. To deal with the unknown dynamics of the robot systems, radial basis function neural network (RBFNN) is integrated into the...
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ISBN:
(纸本)9781467384155
In this paper, a neural network (NN) tracking controller is developed for robot manipulators. To deal with the unknown dynamics of the robot systems, radial basis function neural network (RBFNN) is integrated into the adaptive control design to compensate for the uncertainties. In order to achieve the predefined transient tracking performance, time-varied barrier Lyapunov functions (BLFs) are synthesized for the control design. A switching mechanism is incorporated into the controller to achieve a global uniformly ultimately boundedness (GUUB) stability, extending the conventional semiglobal uniformly ultimately boundedness (SGUUB) stability of NN controlsystems, such that requirement on the initial conditions can be relaxed. Simulations studies are performed to illustrate the effectiveness and efficiency of the proposed control scheme using a robot manipulator model.
As the application scenarios of multi-rotor Unmanned Aerial Vehicles(UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realize...
As the application scenarios of multi-rotor Unmanned Aerial Vehicles(UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realize the accurate autonomous landing of UAV, considering the increasingly mature visual navigation technology, this paper proposed a hierarchical landmark based on nested rectangles and its relative positioning algorithm, and designed a set of autonomous landing system for the mobile platform of quadrotor UAV. The landmark has a high recognition rate of different heights and good expansibility. The algorithm has high computational efficiency and low performance requirements for image processing equipment, thus the system has good accuracy and robustness. The simulation and flight experiment show that the proposed algorithm can effectively realize the accurate autonomous landing of UAV.
The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems...
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ISBN:
(纸本)9781509041039
The traditional 3D human motion capture methods require operators to wear tracking sensors on their body. However, these devices would bring operators much inconvenience. Currently, vision based motion capture systems provide us an alternative approach for motion capture technology. In this paper, based on human kinematics and function approximation technique (FAT), a novel method is presented for the trajectory control of Baxter robot. Each arm of the Baxter robot has seven degrees of freedom. The geometry vector approach is applied to capture human motion trajectory by using Microsoft Kinect sensor. A FAT control system is employed to make the robot follow the trajectory of human motion. The UDP communication protocol is employed to send the reference human joint angle data to the robot. We carry out preliminary experiments on Baxter robot to verify the validity of the control approach and the results demonstrate that the method has achieved satisfactory performance.
As the application scenarios of multi-rotor Unmanned Aerial Vehicles (UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realiz...
As the application scenarios of multi-rotor Unmanned Aerial Vehicles (UAVs) become more and more extensive, the field of target tracking and accurate landing has become one of the research hotspots. In order to realize the accurate autonomous landing of UAV, considering the increasingly mature visual navigation technology, this paper proposed a hierarchical landmark based on nested rectangles and its relative positioning algorithm, and designed a set of autonomous landing system for the mobile platform of quadrotor UAV. The landmark has a high recognition rate of different heights and good expansibility. The algorithm has high computational efficiency and low performance requirements for image processing equipment, thus the system has good accuracy and robustness. The simulation and flight experiment show that the proposed algorithm can effectively realize the accurate autonomous landing of UAV.
This paper presents an improved method to teleoperate impedance of a robot based on surface electromyography (EMG) and test it experimentally. Based on a linear mapping between EMG amplitude and stiffness, an incremen...
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The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such task...
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ISBN:
(数字)9798331506056
ISBN:
(纸本)9798331506063
The application of unmanned vehicles in industrial cargo transportation is becoming increasingly widespread, particularly playing a significant role in transporting heavy-duty goods. However, when performing such tasks, whether in single-vehicle transportation or multi-vehicle collab.rative transportation, the occurrence of wheel failures can potentially lead to serious safety accidents. Therefore, this paper proposes a fault-tolerant control scheme, establishing a kinematic model considering disturbances and failures, and adopts model predictive control for trajectory tracking. Additionally, an extended state observer is introduced to observe system states and counteract disturbances. To address potential failure issues, a controller reconstruction strategy is proposed. Finally, the effectiveness and superiority of the controller is validated through numerical simulation and comparative experiment.
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