A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence ...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
A model predictive tracking control algorithm for rigid manipulators considering the existence of external time-varying disturbances is studied in this *** the field of manipulators,disturbances are *** the influence of disturbances will lead to poor control accuracy and even *** a two-degree-of-freedom(2-DoF) rigid manipulator,a composite algorithm combing model predictive control(MPC) and a generalized proportional integral observer(GPIO) is *** the proposed method,feedback linearization technology is used to decouple the *** order to improve the ability of disturbance rejection,a GPIO is used to estimate the lumped disturbances and the estimated values are added to the control law by feedforward *** is conducted to validate the proposed algorithm.
This paper investigates a finite-time disturbance observer（FTDO） based nonsingular terminal sliding mode control（NTSMC） approach for DC-DC boost converter *** using exact feedback linearization theory and control ...
详细信息
ISBN:
(纸本)9781538629185
This paper investigates a finite-time disturbance observer（FTDO） based nonsingular terminal sliding mode control（NTSMC） approach for DC-DC boost converter *** using exact feedback linearization theory and control method to solve the output voltage regulation problem under the load resistance changes and external input voltage *** the disturbance estimated by FTDO into the design of the nonlinear dynamic sliding mode surface,a finite-time NTSMC method is developed to reject the effects of mismatched disturbances and achieve finite-time tracking *** compared with the nominal NTSMC method,the proposed method obtains a better disturbance rejection ability no matter the disturbances satisfy the matching condition or *** is shown that the stability of closed-loop system can be guaranteed by the proposed *** comparison results are displayed to demonstrate the robustness of the proposed controller against input voltage variations and load uncertainties.
Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t
ISBN:
(纸本)9781467389808
Ships stability and safety are always threatened by the unavoidable sway in the complicated situation of the sea, *** wind and roaring waves. Ensuring the stability of the ship as a difficult t
Accurate photovoltaic power forecasting(PVPF) can ensure the stability of grid operation and the reliability of economic ***,PV power generation is greatly affected by weather conditions,thus more external information...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Accurate photovoltaic power forecasting(PVPF) can ensure the stability of grid operation and the reliability of economic ***,PV power generation is greatly affected by weather conditions,thus more external information needs to be combined to improve the forecasting *** on the measured data and NWP data,this paper proposes a PSC-SVR model to forecast the intra-hour PV *** model consists of PV physical model(PSC) and support vector regression(SVR).PSC converts the irradiance as a priori feature of the model,including calculating the sun position,irradiance separation and transposition *** is used for the two-stage data fusion of NWP power modeling and power *** method was verified on 4 power stations in the public data set *** forecasting PV power in the next one hour,the average RMSE/MAE of all stations is 1.927 MW/1.167 MW,which decreases by 40%/55% compared with persistent model,6%/7% compared with NWP correction forecasting method,9%/13% and 32%/34% compared with the single measured data and single NWP *** above results show the effectiveness of our proposed model in multi-source data fusion and PV power forecasting.
In this paper, a method of tank gun stability controlsystem based on multi-dimensional Taylor network optimal control(MTN) is proposed. As the fact that tank itself has a strong nonlinear characteris
ISBN:
(纸本)9781467389808
In this paper, a method of tank gun stability controlsystem based on multi-dimensional Taylor network optimal control(MTN) is proposed. As the fact that tank itself has a strong nonlinear characteris
This paper studies the interaction torque estimation method of the rigid robotic manipulator under the low-speed ***,a nonlinear friction model is established to analysis the influence of *** the noise into considerat...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
This paper studies the interaction torque estimation method of the rigid robotic manipulator under the low-speed ***,a nonlinear friction model is established to analysis the influence of *** the noise into consideration,a least square identification method is ***,a finite-time extended state observer is established to estimate the interaction torque,which is capable of estimating time-varying *** stability of the system is demonstrated based on the Lyapunov *** results are given to show the effectiveness of the proposed method.
Leighton Chajnantor Telescope(LCT), i.e., the former Caltech Submillimeter Observatory telescope, will be refurbished at the new site in Chajnantor Plateau, Chile in 2023. The environment of LCT will change significan...
详细信息
Leighton Chajnantor Telescope(LCT), i.e., the former Caltech Submillimeter Observatory telescope, will be refurbished at the new site in Chajnantor Plateau, Chile in 2023. The environment of LCT will change significantly after its relocation, and the telescope will be exposed to large wind disturbances directly because its enclosure will be completely open during observation. The wind disturbance is expected to be a challenge for LCT's pointing control since the existing control method cannot reject this disturbance very well. Therefore, it is very necessary to develop a new pointing control method with good capability of disturbance rejection. In this research, a disturbance observer—based composite position controller(DOB-CPC) is designed, in which an H∞feedback controller is employed to compress the disturbance, and a feedforward linear quadratic regulator is employed to compensate the disturbance precisely based on the estimated disturbance signal. Moreover, a controller switching policy is adopted, which applies the proportional controller to the transient process to achieve a quick response and applies the DOB-CPC to the steady state to achieve a small position error. Numerical experiments are conducted to verify the good performance of the proposed pointing controller(i.e., DOB-CPC) for rejecting the disturbance acting on LCT.
High pressure common rail(HPCR) technology has been widely applied in diesel *** tracking speed and the steady-state fluctuations of the rail pressure determine the performance of the HPCR *** this paper,the fuel inje...
详细信息
ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
High pressure common rail(HPCR) technology has been widely applied in diesel *** tracking speed and the steady-state fluctuations of the rail pressure determine the performance of the HPCR *** this paper,the fuel injection disturbance which has a main impact on rail pressure fluctuations is fully *** on fluid dynamics and Newtonian mechanics,a nonlinear model of the HPCR system is *** order to suppress the fuel injection disturbance,a finitetime disturbance observer(FTDO) based continuous non-singular terminal sliding mode controller(CNTSMC+FTDO) is designed based on the three-step analysis *** is proved that the system tracking error can converge to the equilibrium point in a finite ***,a group of simulations and experiments are conducted in Simulink and the more realistic AMESim environment respectively and the results verify the effectiveness and feasibility of the proposed algorithm.
In this paper, the speed regulation problem for permanent magnet synchronous motor(PMSM) systems under vector control framework is studied. A modified composite control strategy combining model reference adaptive cont...
详细信息
ISBN:
(纸本)9781479947249
In this paper, the speed regulation problem for permanent magnet synchronous motor(PMSM) systems under vector control framework is studied. A modified composite control strategy combining model reference adaptive control(MRAC)method and extended state observer(ESO) technology, called MRAC+ESO method, is proposed. controller is designed for the speed loop of the permanent magnet synchronous motor(PMSM) to improve the performance of the system. The stability analysis, simulation and experimental results are presented to show the effectiveness of the proposed control method.
This paper addresses the problem of global state feedback stabilization for a class of inherently higher-order parameterized nonlinear systems subject to time-delay. By using the homogeneous domination approach, we co...
详细信息
暂无评论