In order to get a better dynamic response for actuator in condition of low-speed, a permanent magnet synchronous motor (PMSM) in direct-drive application with the characteristics of high-bandwidth, low-speed and high-...
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In this paper, decentralized filtering of multiagent systems with coupling uncertainties is proposed and investigated. The considered multi-agent system is composed of many agents, each of which evolves with a discret...
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ISBN:
(纸本)9781467355339
In this paper, decentralized filtering of multiagent systems with coupling uncertainties is proposed and investigated. The considered multi-agent system is composed of many agents, each of which evolves with a discrete-time stochastic linear time-varying dynamics, and every agent can be locally influenced by its neighbor agents. Therefore the states evolution of each agent is not only related with its previous states but also related with its neighbors' previous states in the linear dynamic system. Communication limitations existing in the considered multi-agent system restrict that each agent can only observe its own measurements (outputs) and its neighbor agents' outputs while the states are invisible to any agent. Because of communication limitations and information constraints, without knowing the coupling gains of the local interactions, it is not easy for each agent to estimate its states by traditional kalman filter or other state observers, which were extensively discussed in the literature. In this preliminary study, for the considered coupled linear discrete-time multiagent system with uncertain linear local couplings, based on the key idea of state augmentation and the certainty-equivalence principle borrowed from the area of adaptive control, we propose an efficient decentralized kalman filtering scheme, for each agent, to simultaneously estimate the unknown states and coupling parameters, and extensive simulations are conducted, which have clearly verified the effectiveness of the proposed decentralized filtering scheme.
To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of...
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ISBN:
(纸本)9781467355339
To make humanoid robots walking fast, it's important to improve driving force of their leg joints. Usually, each joint of humanoid robots is driven by a single motor. Dual-motor joint, on the other hand, is one of the candidate solutions to meet the power requirement needed for fast walking. This paper proposed a new dual-motor control model. In the model, two motors are treated as a single control plant instead of two parallel control plants. With the usage of current distributor, the control model can pump different current to each motor freely so as to eliminate the unbalance of the load imposed on each motor. Simulation and experiment show that the proposed model works well under high joint load and it can be used on a fast walking humanoid robot.
In this paper, we present the theory of online sparse least squares support vector machine (OS-LSSVM) for prediction and propose a predictor with OS-LSSVM to detect sensor fault. The principle of the predictor and its...
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In this paper, several filtering methods for a class of discrete-time stochastic linear time-varying multi-agent systems with local coupling uncertainties have been investigated. Every agent can only observe its own m...
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Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped r...
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One key technology for a humanoid robot is to sense the environment accurately and control the movement of the robot in realtime. This paper addresses this problem and focuses on the visual servoing control of an anth...
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The property of the soft magnetic composite (SMC) material is introduced. Take the traditional material used for electric machine, i.e. the silicon steel lamination, as the reference, this paper summarizes the applica...
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An overview of the modeling, optimization and control issues regarding digital ground-based weapon systems is provided by reviewing the previous works along five research lines: 1) design and optimization of the archi...
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