Dear Editor,This letter is concerned with stability analysis and stabilization design for sampled-data based load frequency control(LFC) systems via a data-driven method. By describing the dynamic behavior of LFC syst...
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Dear Editor,This letter is concerned with stability analysis and stabilization design for sampled-data based load frequency control(LFC) systems via a data-driven method. By describing the dynamic behavior of LFC systems based on a data-based representation, a stability criterion is derived to obtain the admissible maximum sampling interval(MSI) for a given controller and a design condition of the PI-type controller is further developed to meet the required MSI. Finally, the effectiveness of the proposed methods is verified by a case study.
Inverse modeling is extensively applied in the design and tuning of microwave filters (MFs). Inverse models (IMs) take the features extracted from the high-dimensional electromagnetic parameters as input. How to make ...
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Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve ...
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Maintaining contact stability is crucial when the aerial manipulator interacts with the surrounding environment. In this paper, a novel output feedback framework based on a characteristic model is proposed to improve the contact stability of the aerial manipulator. First, only position measurements of the aerial manipulator are introduced to design the practical finite-time command filter-based force observer. Second, an attitude control architecture including characteristic modeling and controller design is presented. In the modeling part, input-output data is utilized to build the characteristic model with fewer parameters and a simpler structure than the traditional dynamic model. Different from conventional control methods, fewer feedback values,namely only angle information, are required for designing the controller in the controller part. In addition, the convergence of force estimation and the stability of the attitude control system are proved by the Lyapunov analysis. Numerical simulation comparisons are conducted to validate the effectiveness of the attitude controller and force observer. The comparative results demonstrate that the tracking error of x and θ channels decreases at least 10.62% and 10.53% under disturbances and the force estimation precision increases at least 45.19% in the different environmental stiffness. Finally, physical flight experiments are conducted to validate the effectiveness of the proposed framework by a self-built aerial manipulator platform.
Different sensors may experience degeneracy in specific scenarios, which can lead to failures in multi-sensor fusion optimization. To address the challenges of localization and mapping under such degeneracy conditions...
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For back electromotive force-based sensorless control in permanent magnet synchronous motor (PMSM) drives, the conventional phase-locked loop (PLL) exhibits a ±π position estimation error during speed reversal. ...
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Belt deviation in circular pipe conveyor systems could lead to material spillage, environmental contamination, reduced efficiency, and accelerated belt wear. Real-time belt deviation detection is crucial for ensuring ...
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Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-toler...
Dear Editor,This letter proposes a dynamic switching soft slicing strategy for industrial mixed traffic in 5G networks. Considering two types of traffic, periodic delay-sensitive (PDS) traffic and sporadic delay-tolerant (SDT) traffic, we design a dynamic switching strategy based on a traffic-Qo S-aware soft slicing (TQASS) scheme and a resource-efficiency-aware soft slicing (REASS) scheme.
In this article, the time-varying formation-containment control problem of heterogeneous multi-agent systems (MASs) with an observer-based state feedback protocol is studied, where both communication delays and output...
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This paper studies the energy-based swing-up control of an underactuated soft inverted pendulum, a template model of soft robots with its base attached to the ground and its curvature described by an affine function. ...
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In this paper, an event-triggered time-varying formation tracking control for a class of second-order nonlinear multiagent systems(MAS) operating within a constrained region is investigated. To mitigate the negative e...
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In this paper, an event-triggered time-varying formation tracking control for a class of second-order nonlinear multiagent systems(MAS) operating within a constrained region is investigated. To mitigate the negative effects of external unknown disturbance, a novel disturbance observer with performance guarantees is proposed, enabling precise disturbance *** the artificial potential field(APF) method, a repulsive potential function is introduced to prevent inter-agent collisions as well as collisions with environmental obstacles. To reduce continuous communication and frequent system updates, a sliding mode technique is incorporated into the formation tracking controller, utilizing an event-triggered mechanism. The controller is also applicable to the formation control of MAS in switching-constrained regions. The achievement of the specified timevarying geometric formation is rigorously demonstrated through the Lyapunov framework. Numerical simulations are presented to validate the effectiveness of the theoretical results.
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