This paper presents a hybrid navigation and control method for intelligent wheelchair. A robust and semi-supervised vision tracking method using Microsoft Kinect and obstacle avoidance navigation approach are integrat...
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This paper establishes an online identification algorithm which can provide the model status in real time base on TVARMA model for small unmanned helicopter. First, the TVARMA model used for describing the small unman...
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Aiming at the problem of high-precision interception of air-maneuvering targets with impact time constraints,this paper proposes a novel guidance law based on a nonlinear virtual relative model in which the origin is ...
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Aiming at the problem of high-precision interception of air-maneuvering targets with impact time constraints,this paper proposes a novel guidance law based on a nonlinear virtual relative model in which the origin is attached to the *** this way,the original maneuvering target is transformed into a stationary one.A polynomial function of the guidance command in the range domain with two unknown coefficients is introduced into the virtual model,one of the coefficients is determined to achieve the impact time constraint,and the other is determined to satisfy a newly defined virtual look angle *** meeting the terminal constraints simultaneously,the guidance command can finally be *** resulting solution is represented as a combination of proportional navigation guidance-like term which is aimed to meet the zero miss distance constraint,a bias term for impact time control by adjusting the length of the homing trajectory,and an additional term for target *** simulations demonstrate that the proposed law achieves an acceptable impact time error for various initial conditions against different types of maneuvering targets and shows more effective performance in comparison with those of other existing guidance laws.
A generalized non-affine nonlinear power system model is presented for a single machine bus power system with a Static Var Compensator(SVC)or State Var system(SVS)for hybrid Unmanned Aerial Vehicles(UAVs).The model is...
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A generalized non-affine nonlinear power system model is presented for a single machine bus power system with a Static Var Compensator(SVC)or State Var system(SVS)for hybrid Unmanned Aerial Vehicles(UAVs).The model is constructed by differential algebraic equations on the MATLAB-Simulink platform with the programming technique of its *** the inverse system method and the Linear Quadratic Regulation(LQR),an optimized SVC controller is *** simulations under three fault conditions show that the proposed controller can effectively improve the power system transient performance.
In this paper,a developed multi-fingered dexterous hand with flexible tactile skin is *** dexterous hand has 5-fingers with 6-DOFs and each finger is equipped with a small harmonic drive gear and a fine high-power min...
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In this paper,a developed multi-fingered dexterous hand with flexible tactile skin is *** dexterous hand has 5-fingers with 6-DOFs and each finger is equipped with a small harmonic drive gear and a fine high-power mini *** achieve the goal of grasping with high accuracy,each fingertip is covered with the tactile array sensors for determination of the force between the finger and the grasped *** preliminary experiments are conducted to illustrate the performance of the grasping of the developed dexterous hand.
Wireless sensor and actuator networks (WSANs) combine a large number of sensor nodes and a lower number of actuator nodes that are connected with wireless medium, providing distributed sensing and executing appropriat...
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In the paper, a neurodynamic-based energy efficiency optimization strategy(NEE-OS) is proposed to decrease the energy expenditure of robotic manipulators. Different from the traditional approaches, the proposed NEE-OS...
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ISBN:
(纸本)9781467374439
In the paper, a neurodynamic-based energy efficiency optimization strategy(NEE-OS) is proposed to decrease the energy expenditure of robotic manipulators. Different from the traditional approaches, the proposed NEE-OS integrates several necessary constrains from the environment and the robotic manipulator, which could affect energy consumptions of the robotic manipulator in engineering applications to a large extent. To handle the constraints formulated as equalities and inequalities, the energy efficiency optimization problem is converted into a constrained quadratic programming(QP) problem, which is solved using a linear variable inequality-based primal-dual neural network(PDNN) efficiently.
In unmanned aerial systems, especially in complex environments, accurately detecting tiny objects is crucial. Resizing images is a common strategy to improve detection accuracy, particularly for small objects. However...
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A Linear Quadratic robust control algorithm is proposed for the system with non-stochastic *** this paper,the uncertainties are the noises which lie in a bounded ellipsoid *** assumption weakens the requirements of th...
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ISBN:
(纸本)9781509046584
A Linear Quadratic robust control algorithm is proposed for the system with non-stochastic *** this paper,the uncertainties are the noises which lie in a bounded ellipsoid *** assumption weakens the requirements of the known Gaussian distribution in the traditional Linear Quadratic Gaussian（LQG） *** on the linear characteristic of the system and robust optimization theory,the linear quadratic robust controller is *** simulation results show the effectiveness of the algorithm.
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