检索结果-内蒙古大学图书馆

Line-element based nonlinear adaptive piecewise compensating correction for LVDT sensors

Journal of Beijing Institute of Technology 2013年第4期22卷 497-503页

作者：王立鹏王军政赵江波吴江丰 Key Laboratory of Intelligent Control and Decision of Complex System School of Automation Beijing Institute of Technology

In order to solve the linear variable differential transformer （LVDT） displacement sensor nonlinearity of overall range and extend its working range, a novel line-element based adaptively seg- menting method for piecewise compensating correction was proposed. According to the mechanical structure of LVDT, the output equation was calculated, and then the theoretic nonlinear source of output was analyzed. By the proposed line-element adaptive segmentation method, the nonlinear output of LVDT was divided into linear and nonlinear regions with a given threshold. Then the com- pensating correction function was designed for nonlinear parts employing polynomial regression tech- nique. The simulation of LVDT validates the feasibility of proposed scheme, and the results of cali- bration and testing experiments fully prove that the proposed method has higher accuracy than the state-of-art correction algorithms.

关键词： line element adaptively segment linear variable differential transformer （LVDT） non-linear compensation correction

来源：评论

学校读者我要写书评

暂无评论

A universal pattern generator for biped walking on 3D slopes

A universal pattern generator for biped walking on 3D slopes

引用

IEEE International Conference on Robotics and Biomimetics

作者： Wen Zhang Qiang Huang Zhangguo Yu Xuechao Chen Chenglong Fu Jing Li Gan Ma Libo Meng Ying Wu Weimin Zhang Intelligent Robotics Institute School of Mechatronical Engineering Key Laboratory of Intelligent Control and Decision of Complex System Beijing China Department of Mechanical Engineering Tsinghua University Beijing China

ISBN: (纸本)9781479973989

Uneven terrain walking is one of the important premises for biped robots to serve people. However, it is one of the key challenges for biped robots walking on a slope. In this paper, a universal method to generate patterns for biped robot walking on a three-dimensional (3D) slope is proposed. Different from most researches, which only focused on the specific walking directions on a slope as across or along a slope, the proposed method is applied to biped robots for all directions walking on a slope. First, unification of parameters for biped walking on a 3D slope is designed. Second, walking patterns based on dual linear inverted pendulum method (DLLIPM) on a 3D slope are generated. Finally, the effectiveness of the universal pattern generator is verified through simulations.

关键词： Legged locomotion Foot Robot kinematics Three-dimensional displays Trajectory Generators

来源：评论

学校读者我要写书评

暂无评论

Robust Attitude control with Improved Transient Performance

引用

IFAC Proceedings Volumes 2014年第3期47卷 463-468页

作者： B.L. Cong Z. Chen X.D. Liu Beijing Institute of Technology Beijing 100081 China Key laboratory for Intelligent Control & Decision of Complex Systems Beijing Institute of Technology Beijing 100081 China

This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve high-performance attitude control in the absence of disturbance and parameter variation. The proposed control law uses small feedback gains to suppress the control torque at large attitude error, and increases those gains with the convergence of attitude error to accelerate the system response. The overshooting phenomenon is also avoided by imposing a restriction on the parameter selection. Then, the integral sliding mode control technique is employed to improve the robustness, where the Lyapunov-based control law is used as the equivalent control part. Theoretical analysis and simulation results verify the effectiveness of the proposed strategy.

关键词：

来源：评论

学校读者我要写书评

暂无评论

A composite controller strategy for electromechanical actuator using a permanent-magnet synchronous motor

A composite controller strategy for electromechanical actuat...

引用

Chinese control Conference (CCC)

作者： Chenyi Wang Minggang Gan Zhi Qiao Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing School of Automation Beijing Institute of Technology Beijing

Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications, a composite controller strategy for electromechanical actuator is proposed in this paper. The composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller. A non-singular terminal sliding mode position controller is used here due to its good performance, under which state errors would converge to zero in finite time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.

关键词： Observers Torque Mathematical model Equations Actuators Synchronous motors Uncertainty

来源：评论

学校读者我要写书评

暂无评论

Teleoperation of a Virtual iCub Robot under Framework of Parallel system via Hand Gesture Recognition

Teleoperation of a Virtual iCub Robot under Framework of Par...

引用

IEEE International Conference on Fuzzy systems

作者： Chen Li Hongbin Ma Chenguang Yang Menyin Fu School of Automation as well as State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479920747

This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.

关键词： Solid modeling Mathematical model MATLAB Robot kinematics Gesture recognition Fuzzy logic

来源：评论

学校读者我要写书评

暂无评论

Sliding Mode control Using linear extended state observer(LESO) and hysteresis compensator based on Bouc-Wen model in sinusoidal position control of a piezoelectric actuator

Sliding Mode Control Using linear extended state observer(LE...

引用

Chinese control Conference (CCC)

作者： Zhi Qiao Minggang Gan Chenyi Wang School of Automation Beijing Institute of Technology Beijing Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing

In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear system. Then, a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances, with an intention of improving and enhancing the dynamic performance and the robustness of system. The feasibility of the proposed control scheme is verified by experiment of a PEA. The result shows that when faced with a fast-rate control input, the proposed method can also ensure the system a good performance.

关键词： Hysteresis Mathematical model Data models Robustness Computational modeling Sliding mode control

来源：评论

学校读者我要写书评

暂无评论

Adaptive unscented Kalman filter for parameter and state estimation of nonlinear high-speed objects

引用

Journal of systems Engineering and Electronics 2013年第4期24卷 655-665页

作者： Fang Deng Jie Chen Chen Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems

An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.

关键词： parameter estimation state estimation unscented Kalman filter （UKF） strong tracking filter wavelet transform.

来源：评论

学校读者我要写书评

暂无评论

Event-Triggered Networked Predictive controller Design for Linear systems with Communication Delay

Event-Triggered Networked Predictive Controller Design for L...

引用

第三十三届中国控制会议

作者： Di Wang Jian Sun Jie Chen School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

ISBN: (纸本)9781479947249

This paper is concerned with the controller design for networked control systems(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.

关键词： Networked control system,Networked predictive control,Event-triggered control,Lyapunov function

来源：评论

学校读者我要写书评

暂无评论

Gait Planning and Compliance control of a Biped Robot on Stairs with Desired ZMP

引用

IFAC Proceedings Volumes 2014年第3期47卷 2165-2170页

作者： Guangrong Chen Junzheng Wang Lipeng Wang Key Laboratory of Intelligent Control and Decision of Complex System Beijing Institute of Technology Beijing CO 100081 P.R.China Beijing Institute of Technology Beijing CO 100081 P.R.China

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.

关键词： Biped robot Gait planning Desired ZMP Compliance control

来源：评论

学校读者我要写书评

暂无评论

Further Improvements in Stability Analysis of Linear systems with Interval Time-varying Delay

Further Improvements in Stability Analysis of Linear Systems...

引用

第25届中国过程控制会议

作者： Jian Sun Sheng-Lan Xiao School of Automation Beijing Institute of Technology Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing Institute of Technology

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.

关键词： Time-delay system,Delay-dependent stability,Interval delay,Linear matrix inequality

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：