In the research of iterative learning control (ILC), it is usually assumed that the initial states are consistent with the desired states or the initial states are fixed per iteration. By considering the problem that ...
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In the research of iterative learning control (ILC), it is usually assumed that the initial states are consistent with the desired states or the initial states are fixed per iteration. By considering the problem that ILC law is difficult to apply to the tracking control for the manipulator under the restriction of initial states, we change the dynamic model of the manipulator system into a lower-order system by reduced-order transformations. For the transformed manipulator system, an open-closed loop ILC algorithm with angle correction term is proposed, which uses the error signal and the deviation of two adjacent error signals to adjust itself. Compared with traditional P-type algorithm, this algorithm makes better use of the saved and current information; while compared with PD-type algorithm, it overcomes the instability caused by the derivative action. Meanwhile, the angle relationship of output vectors is used as a standard to estimate the quality of the control inputs, “awarding or punishing” the changing trend of the algorithm. So, a fast convergence speed and excellent tracking effect are both realized. Improved strategies are proposed for the above algorithm when the limitation of each joint rotating angle is considered. Finally, the simulation results verify the effectiveness of the control scheme.
A robust model predictive control (MPC) algorithm is presented for a class of discrete-time uncertain systems with time-varying delay, input constraints and norm-bounded nonlinear perturbations. By minimizing the uppe...
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ISBN:
(纸本)9787894631046
A robust model predictive control (MPC) algorithm is presented for a class of discrete-time uncertain systems with time-varying delay, input constraints and norm-bounded nonlinear perturbations. By minimizing the upper bound of a cost function, an MPC state feedback control law is calculated at each step. The proposed MPC method for delayed system is delay-dependent, and it is effective to deal with nonlinear perturbations. It has been shown that the robust stability of the closed-loop systems is guaranteed by the proposed algorithm. Finally, a numerical example is given to illustrate the effectiveness of the proposed method.
A measurement system was designed to measure the railgun's parameters in launching process,which includes Rogowski coil sensor for measuring rail's current,B-dot probe for obversing projectile's velocity i...
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A measurement system was designed to measure the railgun's parameters in launching process,which includes Rogowski coil sensor for measuring rail's current,B-dot probe for obversing projectile's velocity in bore,net target for catching muzzle velocity,signal condition circuit and high-speed data acquisition card for analyzing and storing *** software was also developed in WINDOWS operational environment via modularized *** designed sensors and test software were successfully used in a practical electromagnetic railgun system to monitor the process of *** test results indicate that the state of launching can be intuitively observed and the parameters are accurately acquired and *** software design method can shorten the development cycle,enhance the system's flexibility and provide the interface for the secondary *** system shows great *** is an effective and practical measurement platform for further research on the electromagnetic launch system.
In this paper, the technology of ZigBee based on wireless sensor network was adopted to carry out the real-time oxyhemoglobin saturation monitoring. C8051F340 was used to control UZ2400 as MCU(Micro control Unit). Ele...
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A distinctive new LMS algorithm is proposed in this paper. Both fast convergence rate and small steady state error can be obtained through non-linear weighting N errors of the current moment and past moments in this a...
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A distinctive new LMS algorithm is proposed in this paper. Both fast convergence rate and small steady state error can be obtained through non-linear weighting N errors of the current moment and past moments in this algorithm. The algorithm analyzed that the ideal step size is achieved by increasing the error information, building new nonlinear relations between step size factor and error function and eliminating the effect of correlated noise sequences. Then the new algorithm is applied to the fixed satellite communications system in which the channel is affected by multipath effect and weather conditions attenuation. Simulation results show that the new algorithm converges faster than usual algorithms under approximate steady state performance. The signal BER performance is greatly improved with the new adaptive algorithm equalizer in the fixed satellite communications system.
For characterizing the series augmented railgun launching process, the study from analysis of muzzle voltage was insufficient since armature velocity, resistance and voltage drop of armature were also important to the...
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The problem of adaptive robust control for uncertain nonlinear systems with time-varying delay is considered in this paper. The upper bound of the uncertainty is assumed to be nonlinear functions with unknown coeffici...
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Real sense image generation algorithm is an important part of computer graphics, in which realistic terrain generation has become a difficulty and hot spot in recent years. Virtual three-dimensional terrain modeling u...
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For target tracking applications, active ultrasonic sensors may suffer from inter-sensor-interference when these highly dense deployed sensors are not scheduled. In this paper, we propose a dynamic distributed sensor ...
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ISBN:
(纸本)9780984589333
For target tracking applications, active ultrasonic sensors may suffer from inter-sensor-interference when these highly dense deployed sensors are not scheduled. In this paper, we propose a dynamic distributed sensor scheduling (DSS) scheme, where the tasking sensor is elected spontaneously from the sensors with pending sensing tasks in a distributed way via random competition by using Carrier Sense Multiple Access (CSMA)-like fashion, and releases the channel immediately when ranging task is done. Both simulation results and testbed experiment demonstrate the efficiency of DSS scheme in terms of system scalability and tracking performance.
In this paper, we formulate multi-channel assignment in Wireless Sensor Networks (WSNs) as an optimization problem and show it is NP-hard. We then propose a distributed Game Based Channel Assignment algorithm (GBCA) t...
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