In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hyste...
详细信息
In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear system. Then, a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances, with an intention of improving and enhancing the dynamic performance and the robustness of system. The feasibility of the proposed control scheme is verified by experiment of a PEA. The result shows that when faced with a fast-rate control input, the proposed method can also ensure the system a good performance.
An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed...
详细信息
An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.
This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save netwo...
详细信息
ISBN:
(纸本)9781479947249
This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save network bandwidth. The closed-loop system is modeled as a switched system with time-varying delay. By constructing a common Lyapunov function, a sufficient stability condition is derived and presented in terms of linear matrix inequalities(LMIs). In order to prove the validity of the proposed method, both a simulation and an experiment are carried out. Both simulation results and experimental results show that this method can compensate for the network-induced delay actively and reduce the burden of the network significantly.
For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an itera...
详细信息
For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples.
This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the in...
详细信息
This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the information about the interval delay appropriately.A recently proposed Wirtinger-based integral inequality is used to estimate the derivative of the Lyapunov *** conservative stability conditions are obtained and expressed in terms of linear matrix inequalities(LMIs).Finally,two numerical examples are given to confirm the efficacy of the proposed method.
This paper addresses the unimodal and hysteresis thresholding, where a pair of low and high thresholds is under investigation targeted with the unimodal image histogram. The novel bowstring is introduced to make an ac...
详细信息
This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order in...
详细信息
This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keep...
详细信息
ISBN:
(纸本)9781479947249
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.
Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a c...
详细信息
Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.
Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is wh...
详细信息
ISBN:
(纸本)9781479971756
Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.
暂无评论