This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension ...
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ISBN:
(数字)9798331521950
ISBN:
(纸本)9798331521967
This paper studies the problem of trajectory tracking control for directional drilling in underground coal mine by devising a robust model predictive control method. First, a directional drilling trajectory extension model is obtained by the linearization of a drilling tool kinematic model through the Taylor series expansion in the borehole depth domain. Then, in view of the influence of the uncertainty of the drilling tool slope and external interference, a robust model predictive control method is introduced in the form of an optimal control problem. A sufficient condition is obtained to calculate the corresponding controller gain matrix on the premise of satisfying the stability of the closedloop control system and the $H_{\infty}$ performance index. At last, the effectiveness of our method is illustrated through simulation analysis. Compared with model predictive control, robust model predictive control directly incorporates the uncertainty of the drilling tool slope and external interference into the control design, enabling it to better adapt to the complex and variable underground coal mine environment.
In order to enhance the performance of temperature transmitters and facilitate their integration into intelligent and wireless systems, a novel design is proposed, incorporating a pseudo self-balancing electric bridge...
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Recently, the rapidly increasing demand for cutting of large-sized flat work pieces calls for the emergence of large waterjet cutting machine tools. Multi-bridge waterjet cutting machines are one of the preferred solu...
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In this paper, we propose a new image pyramid denoising model based on the iterative steer kernel regression (ISKR) method. By introducing an image pyramid to generate images at multiple scales, it can filter out larg...
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Semantic SLAM can achieve the acquisition of environmental semantic information and increase the understanding of the environmental content. Therefore, it has received extensive attention from academia and industry. I...
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Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at...
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Temporal-spatial cross-correlation analysis of non-stationary wind speed time series plays a crucial role in wind field reconstruction as well as in wind pattern ***,the near-surface wind speed time series recorded at different locations are studied using the detrended fluctuation analysis(DFA),and the corresponding scaling exponents are larger than *** indicates that all these wind speed time series have non-stationary ***,concerning this special feature( i.e.,non-stationarity)of wind signals,a cross-correlation analysis method,namely detrended cross-correlation analysis(DCCA) coefficient,is employed to evaluate the temporal-spatial cross-correlations between non-stationary time series of different anemometer ***,experiments on ten wind speed data synchronously collected by the ten anemometers with equidistant arrangement illustrate that the method of DCCA cross-correlation coefficient can accurately analyze full-scale temporal-spatial cross-correlation between non-stationary time series and also can easily identify the seasonal component,while three traditional cross-correlation techniques(i.e.,Pearson coefficient,cross-correlation function,and DCCA method) cannot give us these information directly.
Feature descriptor based methods(*** Binary Patterns,Local Ternary Patterns) have gained encouraging results in face *** one needs to manually set the threshold in Local Ternary Patterns(LTP).The threshold in LTP is n...
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ISBN:
(纸本)9781479947249
Feature descriptor based methods(*** Binary Patterns,Local Ternary Patterns) have gained encouraging results in face *** one needs to manually set the threshold in Local Ternary Patterns(LTP).The threshold in LTP is not data adaptive and not robust to *** some cases,we may not give a suitable threshold for *** by Weber's Law,here a data adaptive threshold strategy is prosed for LTP and an enhanced LTP is given for face *** evaluate the enhanced LTP on ORL and FERET face databases and the results demonstrate that the enhanced LTP significantly improves the performances.
This paper investigates consensus of continuous-time multi-agent system through adjusting the proportion of the current state and time-delay state in the control algorithm,supposing that its topology is fixed and a di...
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ISBN:
(纸本)9781509009107
This paper investigates consensus of continuous-time multi-agent system through adjusting the proportion of the current state and time-delay state in the control algorithm,supposing that its topology is fixed and a directed interconnection graph which contains a spanning tree.A sufficient condition for the convergence to a consensus is proposed and proved based on the generalized Nyquist stability criterion and the Gerschgorin disk theorem.A method is found to enlarge upper bound on the maximum time-delay,numerical simulations are shown to demonstrate the validity of the achieved theoretical results.
In modern power system,renewable energy(e.g.,wind and solar energy) is an essential part of the smart *** problem of the fluctuate output of renewable energy generation and cooperation with traditional energy genera...
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ISBN:
(纸本)9781538629185
In modern power system,renewable energy(e.g.,wind and solar energy) is an essential part of the smart *** problem of the fluctuate output of renewable energy generation and cooperation with traditional energy generation present significant challenges to the automatic generation control(AGC) in future smart *** paper presents a distributed model of AGC that contains thermal,hydro and wind-solar power *** on this model,we formulate a distributed model predictive control(DMPC) problem and propose a quadratic programming(QP) based approach to solve *** performance of the proposed method is demonstrated through simulations.
The problem of how to emulate a manual welding process by two cooperative robotic manipulators is investigated in this *** emulating process is intrinsically a trajectory planning process for the two cooperative *** o...
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ISBN:
(纸本)9781479947249
The problem of how to emulate a manual welding process by two cooperative robotic manipulators is investigated in this *** emulating process is intrinsically a trajectory planning process for the two cooperative *** of skilled welders and technical requirements in a welding process have been modeled and integrated into the robot trajectory planning *** model of trajectory planing for two cooperative robots doing a welding task is in a constrained optimization form.A Genetic Algorithm solver has been adopted to solve such an optimization ***-connect-pipe welding experiment has been carried out at the end of the paper and the weld results verified the effectiveness of our method.
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