Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the de...
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ISBN:
(纸本)9781479947249
Formation control from optimal control strategy is derived based on the position estimation for second-order molded agents using only the relative *** the proposed strategy,agents can realize the convergence to the desired formation configure if and only if the interaction graph for the agents has a spanning *** control input is added into the derived control strategy,with the help of detecting obstacles using the relative position and taking avoidance measures using the estimated position,it can also realize obstacle avoidance for agents between themselves.
This paper studies the stability of state estimation for a discrete-time linear stochastic system, the states of which are measured by multiple sensors and transmitted over multiple wireless channels. Random packet lo...
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ISBN:
(纸本)9781479947249
This paper studies the stability of state estimation for a discrete-time linear stochastic system, the states of which are measured by multiple sensors and transmitted over multiple wireless channels. Random packet loss process introduced by each wireless channel is modeled by an independent and identically distributed(i.i.d.) Bernoulli process. The estimation strategy designed in this paper is based on Covariance Intersection fusion of local state estimates of the observable subsystem of each sensor. The sufficient conditions, imposing constraint on the packet success probability of each channel, are established by taking into account each observable subsystem structure to guarantee the expectation of the trace of estimation error covariance matrices is exponentially bounded, and the upper bound is given. Simulation examples are provided to demonstrate the effectiveness of the results.
This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To...
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This paper investigates the distributed tracking control problem for multiple Lagrangian systems under a general directed graph where only a portion of the agents have access to the desired time-varying trajectory. To overcome the problem that only positions are measured, a observer is designed to estimate the velocity for each follower. By employing the estimated states, the distributed observer-based controller is proposed using only position measurements. Furthermore, the condition for the distributed tracking problem on the directed graph is derived, such that the tracking errors and observer errors semi-globally converge to zero. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.
This paper presents a novel adaptive IIR filter modeling for the hysteresis characteristic in PEA (piezoelectric actuator). First, the PEA hysteresis operators are introduced and the modeling methods of traditional ad...
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This paper presents a novel adaptive IIR filter modeling for the hysteresis characteristic in PEA (piezoelectric actuator). First, the PEA hysteresis operators are introduced and the modeling methods of traditional adaptive IIR (infinite-impulse response) filter are discussed. Then, delay operators of IIR adaptive filter are replaced with Backlash operators to compose a new adaptive IIR filter model. During the modeling process, LMS (Least Mean Square) algorithm is used to adjust the weight values. At last the modeling effectiveness is verified via a micro-positioning system experiment platform based on PEA. Experimental results show that the proposed Backlash operator based IIR adaptive filter can achieve accurate hysteresis modeling.
One crucial problem for a humanoid service robot is to be able to communicate with humans naturally. This study focuses on this issue and develops a social interactive system for a humanoid robot to interact with huma...
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In this paper, we propose a distributed adaptive approach for tracking problem without using leader's velocity information, where agents are modeled by Euler-Lagrange equations. It is assumed that only a small fra...
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In this paper, we propose a distributed adaptive approach for tracking problem without using leader's velocity information, where agents are modeled by Euler-Lagrange equations. It is assumed that only a small fraction of agents within the leader's communication range are informed about the position of the leader. Without using the leader's velocity information, a connectivity-preserving adaptive controller is proposed to achieve tracking control on Lagrangian systems with the leader of constant velocity. Moreover, position and velocity consensus can be achieved asymptotically with the proposed control strategy. Numerical simulations are further provided to illustrate the theoretical results.
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and ...
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ISBN:
(纸本)9781479936519
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.
The rapid development of vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communications calls for highly spectral efficient communication techniques under time-selective channels. Spatial modulation (SM) facili...
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The rapid development of vehicle-to-vehicle and vehicle-to-infrastructure (V2X) communications calls for highly spectral efficient communication techniques under time-selective channels. Spatial modulation (SM) facilitates flexible trade-off between spectral and energy efficiency. In this paper, we propose a novel modulation technique based on SM for V2X, which discards the requirement of channel state information (CSI) at the receiver and exhibits enhanced robustness against time-selective fading and Doppler effects. Our proposed scheme tailors differential modulation to SM and is named differential spatial modulation (DSM). Monte Carlo simulations are carried out to demonstrate the advantage of the new scheme in terms of bit error rate (BER) performance for both point-to-point and dual-hop amplify-and-forward (AF) relaying systems in V2X channels.
This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve high-performance attitude control in the absence of dis...
This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve high-performance attitude control in the absence of disturbance and parameter variation. The proposed control law uses small feedback gains to suppress the control torque at large attitude error, and increases those gains with the convergence of attitude error to accelerate the system response. The overshooting phenomenon is also avoided by imposing a restriction on the parameter selection. Then, the integral sliding mode control technique is employed to improve the robustness, where the Lyapunov-based control law is used as the equivalent control part. Theoretical analysis and simulation results verify the effectiveness of the proposed strategy.
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The ...
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Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller. A non-singular terminal sliding mode position controller is used here due to its good performance, under which state errors would converge to zero in finite time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
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