A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-control precision, which can realize integrated design for sp...
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With the development of information technology, the increase of system information brings new problems to the military system effectiveness evaluation. Aiming at nonlinear, high dimension and strong coupling data of s...
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With the development of information technology, the increase of system information brings new problems to the military system effectiveness evaluation. Aiming at nonlinear, high dimension and strong coupling data of system effectiveness analysis, a data yard based system effectiveness evaluation and decision support method was proposed. Data recovery, subtraction, refinement and reconstruction operations were applied to the simulation data processing, then a data yard cube was built up to meet the multiple demands for system analysis of different levels and data dependency were reduced. Taking task-oriented networked fire control system for example, its system effectiveness evaluation, timeliness evaluation and indices analysis were carried out, and practicability and validity of the method were verified in three levels. Applying data mining technology to the simulation system effectiveness evaluation decision-making, makes it get more extensive application.
In this paper, it studies the various elements of map-matching algorithm, in order to achieve better real-time and accuracy for vehicle navigation systems. This paper uses two-stage staggered mesh, combined with the s...
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ISBN:
(纸本)9781479970063
In this paper, it studies the various elements of map-matching algorithm, in order to achieve better real-time and accuracy for vehicle navigation systems. This paper uses two-stage staggered mesh, combined with the second round screening domain. Using of vehicle location, direction, road geometric and topological relations with the angular rate of change, this paper proposes a new map matching algorithm, angle and distance segment dominated approach. The results show that the map-matching algorithm in this paper can achieve vehicle navigation and positioning functions accurately and quickly.
Terrain perception in complex environment is important for Autonomous Land Vehicle to drive *** order to access the terrain information,in this paper,we present a terrain perception method based on Hidden Markov Model...
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Terrain perception in complex environment is important for Autonomous Land Vehicle to drive *** order to access the terrain information,in this paper,we present a terrain perception method based on Hidden Markov Model(HMM) which combines LIDAR with machine *** the basis of spatial fan-shaped model,terrain feature extraction is performed to acquire the observation *** markov models describe the vertical structure of the driving space and Viterbi algorithm is used for terrain *** the navigation decision is given based on the perception of the complex *** results show that the method can give an accurate environment description for ALV.
This paper considers the decentralized event-triggered consensus problem for discrete-time linear multi-agent systems. The communication topology among agents is assumed to be a general directed graph containing a spa...
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This paper considers the decentralized event-triggered consensus problem for discrete-time linear multi-agent systems. The communication topology among agents is assumed to be a general directed graph containing a spanning tree. We propose an event-based consensus control algorithm rendering the states of agents reach consensus. The triggering condition is decentralized only based on the agent's own information. Compared to the traditional consensus control law which needs communication at every iteration, the proposed event-triggered consensus algorithm in this paper can reduce the communication load greatly. Simulation is given to illustrate the theoretical results.
In this paper, the distributed cooperative attitude tracking control law based on a new modified fast terminal sliding mode is presented for multiple spacecraft formation flying in the presence of model uncertainty an...
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In this paper, the distributed cooperative attitude tracking control law based on a new modified fast terminal sliding mode is presented for multiple spacecraft formation flying in the presence of model uncertainty and external disturbance. Firstly, to speed the convergence rate and avoid the singularity problem, a new modified fast terminal sliding mode manifold is proposed. Then, based on the proposed terminal sliding mode manifold, the distributed cooperative attitude tracking controller is designed for the spacecraft formation flying(SFF) in the presence of model uncertainty and external disturbance, Meanwhile, the finite time stability of SFF system can be also guaranteed. Finally, numerical simulation is given to verify the validity of the proposed control algorithm.
This paper deals with the stability issues of multiple model adaptive control(MMAC) with second level adaptation at first,which was proposed as a new concept of adaptive control using multiple *** basic structure of M...
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ISBN:
(纸本)9781479947249
This paper deals with the stability issues of multiple model adaptive control(MMAC) with second level adaptation at first,which was proposed as a new concept of adaptive control using multiple *** basic structure of MMAC with second level adaptation is presented and the proof of stability for multiple fixed model set is *** a new approach about the combination of second level adaptation and switching is proposed for the systems where only a little prior information is *** stability of the proposed approach is given and a simulation is used to show the feasibility of the approach.
This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measur...
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This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measurement is an arbitrary function of the state yet with additive binary measurement *** problem of figuring out the true state using the only available noisy outputs is crucial for practical applications of Boolean dynamic system models, however, for such Boolean systems with wide background, there are no ready-to-use convenient tools like Kalman filter for linear systems. To resolve this challenging problem, an approach based on Bayesian filtering called Boolean Bayesian Filter(BBF) is put forward to estimate the true states of SBDS, and an efficient algorithm is presented for their exact computation. An index to evaluate the filtering performance,named estimation error rate, is put forward in this paper as well. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed algorithm based on BBF.
In this paper, surface electromyography (sEMG) from muscles of the lower limb is acquired and processed to estimate the singlejoint voluntary motion intention, based on which, two single-joint active training strategi...
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