This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save netwo...
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ISBN:
(纸本)9781479947249
This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save network bandwidth. The closed-loop system is modeled as a switched system with time-varying delay. By constructing a common Lyapunov function, a sufficient stability condition is derived and presented in terms of linear matrix inequalities(LMIs). In order to prove the validity of the proposed method, both a simulation and an experiment are carried out. Both simulation results and experimental results show that this method can compensate for the network-induced delay actively and reduce the burden of the network significantly.
For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an itera...
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For biped robot, friendly environment interaction makes sense. In this paper, a new method to plan the gait and control a biped robot on stairs with desired ZMP is proposed first. The desired ZMP derived from an iterative optimal algorithm not only has enough stability margin and satisfies actuator specifications, but also is available to implement and energy saving. Then, a controller with force sensing and variable impedance is proposed, which can sense and compensate the environmental disturbance well. Finally, the effectiveness of the proposed methods is confirmed by simulation examples.
This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the in...
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This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the information about the interval delay appropriately.A recently proposed Wirtinger-based integral inequality is used to estimate the derivative of the Lyapunov *** conservative stability conditions are obtained and expressed in terms of linear matrix inequalities(LMIs).Finally,two numerical examples are given to confirm the efficacy of the proposed method.
This paper addresses the unimodal and hysteresis thresholding, where a pair of low and high thresholds is under investigation targeted with the unimodal image histogram. The novel bowstring is introduced to make an ac...
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This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order in...
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This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keep...
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ISBN:
(纸本)9781479947249
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.
Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is wh...
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ISBN:
(纸本)9781479971756
Both disturbance rejection and human-like motions, like toe-off and heel-strike, are important for a biped robot to enhance its performance. However, the required motions for them may influence each other, which is why few studies consider them simultaneously. This paper presents a method to realize stable walking with toe-off and heel-strike even when the robot experiences disturbances. We propose a walking controller which can constrain the desired ground reaction force. On the one hand, the controller can adjust the torso acceleration to make the supporting leg compliant with the external disturbances on the torso. On the other hand, it can rotate the supporting foot by adjusting the ZMP to an appropriate location. The linear inverted pendulum is utilized to generate the CoM trajectory and the foot placement. Meanwhile, its ZMP can be predefined as required so that the toe-off and heel-strike can be achieved by the controller. The effectiveness of the proposed method is demonstrated by simulations.
Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a c...
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Distributed stereoscopic rotating formation control of networks of second-order agents is investigated. A distributed control protocol is proposed to enable all agents to form a stereoscopic formation and surround a common axis. Due to the existence of the rotating mode, the desired relative position between every two agents is time-varying, and a Lyapunov-based approach is employed to solve the rotating formation control problem. Finally, simulation results are provided to illustrate the effectiveness of the theoretical results.
The object tracking for driver assistant system by the multi-sensors fusion has drawn much attention recently. With the complexity of space alignment, a new space alignment algorithm is proposed to project the object ...
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Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humano...
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ISBN:
(纸本)9781479973989
Stable walking of bipedal humanoid is an crucial and challenge issue of research in bipedal robots. And the structure of shoe sole plays a significant role in preventing someone from slipping in human life. The humanoid robot foot often skid while the robot is walking fast, and it may cause serious harmfulness. This study presents some foot pads for humanoid robot to improve its stability and reliability. First, anti-skid foot for a humanoid robot is proposed in this paper. Second, the material and pattern of foot pads are selected. Finally, the better foot pads are chosen by several experiments and the effectiveness of the new foot pads is confirmed by comparison experiments.
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