This paper presents a trajectory tracking control strategy based on the finite element method for a planar three-link underactuated manipulator with a passive third joint. From the mechanical structure, the manipulato...
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This paper presents a trajectory tracking control strategy based on the finite element method for a planar three-link underactuated manipulator with a passive third joint. From the mechanical structure, the manipulator can be thought of as composed of two parts. The first part is the first link of the manipulator, which is a single link manipulator system. The second part consists of the remaining two links, which can be seen as a plananr Pendubot. First, a finite element model of the planar Pendubot is built by using COMSOL, and the coupling relationship between its active link and its passive link is analyzed. Then, two servo controllers (A and B) with the same structure are designed for two active links of the manipulator, respectively. The servo controller A is directly applied to control the angular velocity of the first link of the manipulator rotating with a constant speed, which makes the end-point of the manipulator move along the trajectory direction. Next, a fuzzy system is designed based on the coupling relationship of the planar Pendubot to calculate the target angular velocity of the second link of the manipulator according to the tracking error and its change rate. The servo controller B is applied to control the angular velocity of the second link of the manipulator, which makes the tracking error converge to zero. Finally, Simulation results demonstrate the effectiveness and the robustness of the proposed control strategy.
Facing the demand of the efficiency and safety of drilling process, it is necessary to find the optimal drilling trajectory in the complex geological environment. To solve this multi-objective optimization problem, no...
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ISBN:
(纸本)9781509015740;9781509015733
Facing the demand of the efficiency and safety of drilling process, it is necessary to find the optimal drilling trajectory in the complex geological environment. To solve this multi-objective optimization problem, non-dominated sorting genetic algorithm II (NSGA-II) is applied. And Linear sum weighted method is applied at the same time for comparison. Firstly, the numerical model of a sidestracking horizontal well trajectory is established by nature curve method. Constraints subjected to engineering conditions and objective functions are discussed. Then, as decision parameters, the build rate and the turn rate are optimized. Finally, optimal solutions distributed on the Pareto front uniformly are obtained.
This paper investigates the attitude tracking control problem of reentry vehicle with modeling inaccuracies and external disturbances. An improved nonsingular terminal sliding mode control method is presented, and a f...
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ISBN:
(纸本)9781509009107
This paper investigates the attitude tracking control problem of reentry vehicle with modeling inaccuracies and external disturbances. An improved nonsingular terminal sliding mode control method is presented, and a faster convergence rate is obtained in comparison with the conventional nonsingular terminal sliding mode control(NTSM). By the proposed control strategy, the possible singularity during the control phase is avoided, and robustness is also guaranteed. Simulation is made for a reentry vehicle in the condition aerodynamic parameters and atmospheric density are perturbed. The results show the effectiveness of the proposed strategies.
This paper we investigates the problem of stability and bifurcation of fractional-order financial system time-delay via the Lyapunov stability judgment method and application of impulse control method. Finally, a nume...
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This paper we investigates the problem of stability and bifurcation of fractional-order financial system time-delay via the Lyapunov stability judgment method and application of impulse control method. Finally, a numerical simulation example is provided to verify the effectiveness and the benefit of the proposed stability and bifurcation criterion.
The nonlocal problems have been used to model very different applied scientific phenomena, which involve the fractional Laplacian when one looks at the Lévy processes and stochastic interfaces. This paper deals w...
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In this paper, a model is constructed to investigate the mechanism induced quorum sensing (QS) by coexisting of small RNA and signal molecule. The QS network model regulated by small RNAs is studied. The condition of ...
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In this paper, a model is constructed to investigate the mechanism induced quorum sensing (QS) by coexisting of small RNA and signal molecule. The QS network model regulated by small RNAs is studied. The condition of the stability of the QS network is considered by using Routh-Hurwitz stability criterion. The conditions for the existence of Hopf bifurcation are obtained. Then, a linear feedback control is designed to make the system asymptotically stable. The numerical simulation is used to verify the results of theoretical analysis.
In this paper,an auto path generation method for arc welding robot is proposed by using a RGB-D *** the generated 3D point cloud of the weld workpiece,the welding line is extracted and the path points of the robot are...
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ISBN:
(纸本)9781467397155
In this paper,an auto path generation method for arc welding robot is proposed by using a RGB-D *** the generated 3D point cloud of the weld workpiece,the welding line is extracted and the path points of the robot are generated by an auto path generation *** the torch tip of the arc welding robot would walks along the welding *** path generation module is added to current widely used ordinary arc welding robot while not changing it,used to assist people when teaching arc welding *** maybe eventually replace operator by automatically generate the *** detail algorithm of the recognizing space curve welding lines and the auto path point generation method are emphasized in this *** result shows the application feasibility of the proposed method.
This paper focuses on the optimal control of continuous-time linear time-varying uncertain systems with completely unknown internal dynamics and proposes a novel approach which leads to an optimal controller with guar...
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ISBN:
(纸本)9781509015740;9781509015733
This paper focuses on the optimal control of continuous-time linear time-varying uncertain systems with completely unknown internal dynamics and proposes a novel approach which leads to an optimal controller with guaranteed stability. A model-free algorithm of adaptive dynamic programming is employed to deal with the uncertainty of system parameters, yielding an optimal feedback controller for the system subject to a predefined cost. Then the stability of the system in time-varying uncertain situation which may undergo parameter changes or jumps is analyzed from the perspective of finite-time stability. On the basis of these results, a switching control strategy is presented to ensure the stability of the time-varying uncertain system with desired optimality properties in the long run. The effectiveness of the strategy is verified by simulations on a DC torque motor servo system.
In this paper, we address the finite-time tracking consensus control problem for nonlinear multi-agent systems under no-cycle communication graph. Unlike most existing works of finite-time consensus, we focus on nonli...
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In this paper, we address the finite-time tracking consensus control problem for nonlinear multi-agent systems under no-cycle communication graph. Unlike most existing works of finite-time consensus, we focus on nonlinear multi-agent systems with lower triangular subsystems. Based on the local cooperative information among neighboring agents, we propose a tracking consensus protocol ensuring that all agents achieve consensus in a finite time. Finally, we give an example to illustrate the effectiveness of the proposed protocols.
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