This paper is concerned with the problem of data-driven predictive control for networked control systems (NCSs), which is designed by applying the subspace matrices technique, obtained directly from the input/output d...
This paper is concerned with the problem of data-driven predictive control for networked control systems (NCSs), which is designed by applying the subspace matrices technique, obtained directly from the input/output data transferred from networks. The networked predictive control consists of the control prediction generator and network delay compensator. The control prediction generator provides a set of future control predictions to make the closed-loop system achieve the desired control performance and the network delay compensator eliminates the effects of the network transmission delay. The effectiveness and superiority of the proposed method is demonstrated in simulation as well as experiment study.
Electro-hydraulic servo systems (EHSSs) have been widely used in industrial and military applications for their high power-to-size ratio and the ability to supply huge force. However, precise control of EHSSs cannot b...
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Electro-hydraulic servo systems (EHSSs) have been widely used in industrial and military applications for their high power-to-size ratio and the ability to supply huge force. However, precise control of EHSSs cannot be easily obtained due to their inner nonlinearity and parameter uncertainty. Variable load is another factor to decrease the tracking performance of EHSSs. Indirect adaptive robust control (IARC) was proposed to improve the tracking performance of EHSS, but due to the poor parameter adapting speed, IARC can be further improved to have better performance. Traditional projection type parameter estimation algorithm is redesigned to increase the adapting speed when parameter is changed. A fast adaptive robust control (FARC) is then proposed to speed up the parameter adapting speed, so that a better tracking performance of FARC is maintained. Simulation results show that the proposed FARC gives an improved tracking performance and a faster parameter adaptation.
Classifying Micro-blog content is a popular research topic in social media, which can help users access their favorite information quickly. Much research focuses on classifying Micro-blog content with short text datas...
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The information fusion of vision sensor and Millimeter Wave(MMW) radar can enhance the adaptability of the Unmanned Ground Vehicle(UGV) to the complex environment. Space alignment is the basic step of information fusi...
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The information fusion of vision sensor and Millimeter Wave(MMW) radar can enhance the adaptability of the Unmanned Ground Vehicle(UGV) to the complex environment. Space alignment is the basic step of information fusion. Based on the alignment problems camera and MMW radar has existed, firstly, according to the max velocity of UGV and the different attention on the close and far object, the calibration distance is determined and divided; then, a space alignment method is presented through the corresponding space point sets in image pixel coordinate of camera and polar coordinate of MMW radar. the results are verified through the experiment and the error is also analyzed.
In this paper,a time-varying sliding model control(TVSMC) based guidance law against nonmaneuvering targets is proposed with impact angle *** algorithm is first designed for constant-speed interceptors to attack stati...
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ISBN:
(纸本)9781479900305
In this paper,a time-varying sliding model control(TVSMC) based guidance law against nonmaneuvering targets is proposed with impact angle *** algorithm is first designed for constant-speed interceptors to attack stationary and constant-velocity targets,and the global robustness of the system is ***,an adaptation strategy,adaptive time-varying sliding model control(ATVSMC),is adopted to deal with unknown but bounded disturbances by adjusting the switching gain *** analysis of the closed loop system is obtained through Lyapunov ***,numerical simulation results are presented to verify the effectiveness and robustness of the proposed guidance law.
This paper is concerned with stability analysis of networked control systems with aperiodic sampling and time-varying delay. The sampling times are assumed to vary within a known interval. The network-induced delay is...
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ISBN:
(纸本)9781479900305
This paper is concerned with stability analysis of networked control systems with aperiodic sampling and time-varying delay. The sampling times are assumed to vary within a known interval. The network-induced delay is assumed to belong to a given interval. The closed-loop system is modeled as a system with two time-delays and normbounded uncertainties coming from variations of sampling intervals. Using common Lyapunov function approach, a sufficient stability condition for the closed-loop system is derived and presented in terms of linear matrix inequality (LMI). A numerical example is given to illustrate the effectiveness of the proposed method.
Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped r...
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Based on the quadruped robot, this paper mainly studies the two directions of the content. The first part mainly introduces the mechanical structure design and the construction of the control system of the quadruped robot, completes the prototype design of the quadruped robot based on hydraulic power system. The second part studies the CPG gait generate method of the quadruped robot based on iterative learning control algorithm. From the principle of bionics, firstly, we use the CPG principle to generate gait, and then use the iterative learning control theory to make the control more optimization.
Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an
ISBN:
(纸本)9781479900305
Robot football competitions have been popular currently accross the *** to challenge for the FIRA (Federation of International Robot-soccer Association) Robot World Cup,we are considering an
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