In this paper, an adaptive optimal control scheme based on parameter estimation is proposed for optimal control problem of servomechanisms with unknown parameters. Parameters of the servomechanism dynamics are identif...
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There are usually large uncertainties in the aerodynamic parameters of Mars entry vehicles,which inevitably degrades the performance of entry guidance *** paper presents a backstepping sliding mode controller for drag...
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ISBN:
(纸本)9781538629185
There are usually large uncertainties in the aerodynamic parameters of Mars entry vehicles,which inevitably degrades the performance of entry guidance *** paper presents a backstepping sliding mode controller for drag tracking in Mars entry guidance,which can guarantee the tracking error with finite-time ***,the drag can track the reference trajectory under the virtual control law by introducing a sliding manifold,and the extended state observer（ESO） is used to estimate and counteract the ***,the finite-time convergence of drag tracking error can be achieved under the proposed backstepping sliding mode guidance *** addition,the rigorous proof of tracking error convergence is ***,numerical simulation results are presented to demonstrate the effectiveness of the proposed guidance law.
Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** 802.15.4 standard is one of wireless communication protocol for low delay deterministic *** automation,not...
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ISBN:
(纸本)9781538629185
Wireless networked controlsystems have gained significant popularity due to commissioning and maintenance *** 802.15.4 standard is one of wireless communication protocol for low delay deterministic *** automation,not only needs low delay but also requires the network that should has the capacity of various delay *** this paper,we propose a scheme,satisfying the muli-delay network in the networked control *** are using TI SmartRF04 EB evaluation boards with CC2530 SoC and TIMAC software stack CC2530 boards,as well as dc servo motors for a speed tracking control problem.
To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a use...
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ISBN:
(纸本)9781509046584
To make robots walk smoothly and stably,it is necessary to solve ground impacts during dynamic *** motion control can help to reduce the impacts and improve the robot's adaptability to complex *** control is a useful framework to provide robot's leg *** conventional impedance control employs second-order mass-damping-spring system as a force disturbance *** this paper,position-based impedance control is applied to legged locomotion of the wheel-legged robot and a novel impedance controller with fractional order form is put forward to increase the system degrees of freedom for *** simulation tests of electric cylinder actuator and leg systems are carried out to demonstrate the effectiveness of the proposed algorithm.
Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get...
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Although different multipath error models of Delay lock loop(DLL) used in GPS receiver are established, they have never been put together for comparison. Furthermore, no universal simulation method is developed to get a fair comparison among these models. A new model with implicate expression is hence proposed for the coherent DLL and the noncoherent Dot-product(DOT) power mode DLL. Meanwhile, a new simulation method based on the anonymous function in Matlab, which is especially suitable for models with implicit expression,is also proposed to compare the new model with the existing ones. The theoretical analysis and simulation results show that the existing models are the special case of the proposed one. The new simulation method can be used for the comparison of different multipath error models and the multipath error analysis of other DLLs for which only the implicit model is available.
This paper introduces an algorithm to learn the strategy updating rule for a two- person Boolean game using the records of the history strategies and game results. The two-person game in this paper is introduced as a ...
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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 hystere...
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ISBN:
(纸本)9781479947249
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 ***,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 *** feasibility of the proposed control scheme is verified by experiment of a *** result shows that when faced with a fast-rate control input,the proposed method can also ensure the system a good performance.
This paper presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Volta...
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ISBN:
(纸本)9781479947249
This paper presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Voltage band method and restricted voltage scanning method is used to increase the scanning speed. A method is proposed to determine whether partial shading occurs. The main advantage of the proposed method is the ability to search the global peak *** results shows the good performance of proposed method.
In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theo...
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ISBN:
(纸本)9781509009107
In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theory of differential games, which helps simplify computation complexity and meet an ideal result. We discuss the situation of one faster pursuer and one evader under some basic assumptions in which the amount of evaders increases by steps in the full visibility case. We apply the task allocation method to simulate the optimal motion track in both fixed sequence capture mode and free sequence capture mode of the pursuer. The optimal motion strategies acquired by differential games theory respond faster than those acquired in traditional ways. We prove all the chase process discussed with differential games by MATLAB simulation.
For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture accordi...
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ISBN:
(纸本)9781538629185
For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture according to ZMP theory is put *** problem that robot can easily tip during trotting is solved by selecting landing *** structure of the parallel quadruped wheel-foot robot is *** planning algorithm is shown in *** prototyping based on Matlab and Adams integrated simulation platform is *** simulation results show the effectiveness of the new control algorithm.
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