A multi-bandwidth based tracking algorithm was proposed to search for the global kernel mode when the probability density has multiple peak modes. Firstly, a monotonically decreasing sequence of bandwidths was fixed a...
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Purpose–The purpose of this paper is to design a disturbance observer-based finite-time global sliding mode control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties...
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Purpose–The purpose of this paper is to design a disturbance observer-based finite-time global sliding mode control scheme for the attitude tracking control problem of the reentry vehicle with parameter uncertainties and ***/methodology/approach–Feedback linearization is first introduced to transform vehicle model into three independent second order uncertain *** a finite-time controller(FTC)is proposed for the nominal system on the basis of the homogeneity *** the integral sliding mode method is introduced for the vehicle with *** finite time convergence is achieved and global robustness is also assured by the combination of finite time control method and integral sliding mode ***,to improve the attitude angle tracking accuracy a novel finite time disturbance observer(DO)is ***–Simulation is made for the reentry vehicle with disturbances *** the results show the finite-time convergence,tracking accuracy and robustness of the proposed ***/value–The proposed control strategy has three *** of all it can achieve finite time convergence and avoid ***,it can also realize global ***,a new kind of DO is introduced to improve the tracking accuracy.
Piezoelectric actuator(PEA) is widely applied in micro/nano positioning system. However, its inherent hysteresis limits its application. Modeling of hysteresis plays an important role in solving this problem. Linear p...
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Stability of a networked predictive controlsystem subject to network-induced delay and data dropout is investigated in this study. By modeling the closed-loop system as a switched system with an upper-triangular stru...
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Stability of a networked predictive controlsystem subject to network-induced delay and data dropout is investigated in this study. By modeling the closed-loop system as a switched system with an upper-triangular structure, a necessary and sufficient stability criterion is developed. From the criterion, it also can be seen that separation principle holds for networked predictive controlsystems. A numerical example is provided to confirm the validity and effectiveness of the obtained results.
This paper addresses the stabilization of linear systems with multiple time-varying input delays. In scenarios where neither the exact delays information nor their bound is known, we propose a class of linear time-var...
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There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an...
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There is a strong demand for Planetary Exploration Mobile robots(PEMRs)that have the capability of the traversability,stability,efficiency and high load while tackling the specialized tasks on planet *** this paper,an electric parallel wheel-legged hexapod robot which has high-adaption locomotion on the unstructured terrain is ***,the hybrid control framework,which enables robot to stably carry the heavy loads as well as to traverse the uneven terrain by utilizing both legged and wheeled locomotion,is also *** on this framework,robot controls the multiple DOF leg for performing high-adaption locomotion to negotiate obstacles via Gait Generator(GG).Additionally,by using Whole-Body control(WBC)of framework,robot has the capability of flexibly accommodating the uneven terrain by Attitude control(AC)kinematically adjusting the length of legs like an active suspension system,and by Force/torque Balance control(FBC)equally distributing the Ground Reaction Force(GRF)to maintain a stable *** simulation and experiment are employed to validate the proposed framework with the physical system in the planetary analog ***,to smoothly demonstrate the performance of robot transporting heavy loads,the experiment of carrying 3-person load of about 240 kg is deployed.
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...
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This paper proposes a tradeoff based interactive multiobjective evolutionary algorithm (TIEA). It can support the decision maker (DM) to guide the search towards the DM's most preferred solution by combing evoluti...
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Considering the characteristics of manipulation and collimation control in traction artillery controlsystem, complex mathematic model, uncertainty and nonlinearity, ADRC (Active Disturbance Rejection controller) with...
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For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumpti...
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ISBN:
(纸本)9781538629185
For distributed generation(DG) network, it is important to estimate the real-time states. The information-centric networking(ICN) is established to take charge of the communication of DG network. However, the assumption of ideal communication between sensors and the estimation center cannot be guaranteed due to the communication constraints of ICN with the increasing DG network. A conventional algorithm, which reduces the communication burden in ICN, is to drop the observation of each smart grid in a random way. However, the accuracy of this algorithm recession decays rapidly with the increasing drop rate. To guarantee an appropriate estimation accuracy when the drop rate increases, this paper introduces the event-trigger strategy into the estimation algorithm. An event-trigger extended kalman filter(ET-EKF) is established in this paper to adapt the nonlinearity of DG system. ET-EKF reduces the communication burden and achieves an appropriate estimation accuracy at the same time. Finally, its feasibility and performance are demonstrated using the standard IEEE 39-bus system with phasor measurement units(PMUs).
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