This paper is concerned with the controller design and the theoretical analysis for time-delay systems, a two degree of freedom (feedforward and feedback) control method is proposed, which combines advantages of the S...
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Workpiece grinding is a crucial process in the smart manufacturing chain. In order to meet the requirements of industrial precision and relieve heavy work, researchers have developed a vision-based grinding robot. How...
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Path planning is one of the most critical links in mobile robots. Its timeliness, security and accessibility are crucial to the development and wide application of mobile robots. However, in solving the problem of pat...
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In sequential recommender systems, the main problems are the long-tailed distribution of data and noise interference. A Contrastive Framework for Sequential Recommendation (CFSeRec) is proposed to solve these two prob...
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In recent years, micromanipulator with dual end-effectors called microhand has been widely used in industrial and biological fields. Whether the tip positions of the two end-effectors of the microhand can be accuratel...
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In practical applications of multi-agent systems, agents are often heterogeneous, and each type of them typically has different task objectives. For heterogeneous multi-agent reinforcement learning (HMARL), the divers...
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This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a nov...
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Networked controlsystems(NCSs)are facing a great challenge from the limitation of network communication ***-triggered control(ETC)is often used to reduce the amount of communication while still keeping a satisfactory...
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Networked controlsystems(NCSs)are facing a great challenge from the limitation of network communication ***-triggered control(ETC)is often used to reduce the amount of communication while still keeping a satisfactory performance of the system,by transmitting the measurements only when an event-triggered condition is ***,some network-induced problems would happen inevitably,such as communication delay and packet loss,which can degrade the control performance significantly and can even lead to *** this paper,a periodic event-triggered NCS considering both time-varying delay and packet loss is *** system is discretized into a piecewise linear system with *** the model is handled by a polytopic over-approximation method to be more suitable for stability ***,stability conditions are obtained and presented in terms of linear matrix inequalities(LMIs).The result is illustrated by a numerical example.
Tracking dynamic targets poses a significant challenge for Unmanned Ground Vehicles (UGVs). Existing methods often lack research on multi-disturbed conditions. To address this issue, we propose a trajectory-prediction...
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ISBN:
(数字)9798350384574
ISBN:
(纸本)9798350384581
Tracking dynamic targets poses a significant challenge for Unmanned Ground Vehicles (UGVs). Existing methods often lack research on multi-disturbed conditions. To address this issue, we propose a trajectory-prediction-based dynamic tracking scheme, which includes target localization, trajectory prediction, and UGV control. Firstly, an estimation algorithm based on the Extended Kalman Filter (EKF) is employed to mitigate noise and estimate the absolute states of the target accurately. To enhance robustness, we present an Adaptive Trajectory Prediction (ATP) algorithm based on prediction anchors. In this method, a quantization standard for trajectory disturbance is designed for adaptive control. Subsequently, we iteratively solve prediction anchor points based on two motion models to robustly predict the target trajectory even in the presence of unknown disturbances. Finally, the Linear Time-Varying Model Predictive control (LTV-MPC) is utilized in the UGV controller for dynamic tracking. Experimental results demonstrate that the ATP exhibits superior prediction robustness and accuracy in perturbed environments compared to other prediction algorithms. In addition, the proposed scheme effectively achieves dynamic tracking of the Unmanned Aerial Vehicle (UAV) by the UGV under multi-disturbed conditions. Specifically, when the target moves at a speed of 1.0 m/s, the UGV can maintain a tracking error within 0.346 m.
The primary objective in aircraft transportation is to minimize turbulent drag, thereby conserving energy and reducing emissions. We propose a sector-shaped counter-flow dielectric barrier discharge plasma actuator, w...
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The primary objective in aircraft transportation is to minimize turbulent drag, thereby conserving energy and reducing emissions. We propose a sector-shaped counter-flow dielectric barrier discharge plasma actuator, which leverages jet synthesis for drag reduction. A drag control experiment was conducted in a low-speed wind tunnel with a controlled flow velocity of 9.6 m/s(Re = 1.445 × 10^(4)). This study investigated the effects of varying pulse frequencies and actuation voltages on the turbulent boundary layer. Using a hot-wire measurement system, we analyzed the pulsating and time-averaged velocity distributions within the boundary layer to evaluate the streamwise turbulent drag reduction. The results show that the local TDR decreases as the pulse frequency increases, reaching a maximum reduction of approximately 20.97% at a pulse frequency of 50 Hz. In addition, as the actuation voltage increases, the friction coefficient decreases, increasing the drag reduction rate. The maximum drag reduction of approximately 33.34% is achieved at an actuation voltage of 10 kV.
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