Many nonlinear systems can be modeled by or converted to strict-feedback forms, whose stabilization problem without modeling uncertainties has been extensively discussed in the literature. However, in practice, inevit...
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ISBN:
(纸本)9781457710957
Many nonlinear systems can be modeled by or converted to strict-feedback forms, whose stabilization problem without modeling uncertainties has been extensively discussed in the literature. However, in practice, inevitable modeling uncertainties, especially co-existence of parametric uncertainties and nonparametric uncertainties, will make it very difficult and challenging to achieve desirable control performance. In this background, we consider a challenging adaptive control problem, aiming at asymptotic tracking to any bounded reference signal, in the presence of periodic uncertainties of both parametric and nonparametric types, i.e., periodic time-varying parameters and periodic unknown time-delays in the uncertain nonlinearities, for a class of strict-feedback discrete-time nonlinear systems due to the lack of related research and the increasing demand of digital control in current epoch. To deal with the co-existing various uncertainties, which bring highly-nonlinear coupled effects to the closed-loop system, a novel nearest-neighbor previous instant compensation technique, combined with the lifting approach and the future states prediction, is introduced in this paper to asymptotically fully compensate the effects of uncertainties. With such elaborately constructed adaptive estimation mechanism, the developed discrete-time backstepping adaptive controller can guarantee the closed-loop stability as well as asymptotic output tracking, which have been rigorously established and testified by extensive simulations.
Problems of uncertain chaotic systems with fast terminal sliding mode control are discoursed. Aim at the uncertainty parameters of chaotic systems, proposed a fast terminal sliding mode control method, and the corresp...
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ISBN:
(纸本)9781467325813
Problems of uncertain chaotic systems with fast terminal sliding mode control are discoursed. Aim at the uncertainty parameters of chaotic systems, proposed a fast terminal sliding mode control method, and the corresponding sliding surface and controller are designed, which make the state variables of the system fast convergence to the equilibrium point in the limited time. And the examples are given to verify the feasibility of the system.
In multiple moving object detection, the connection between objects and shadow always leads to the failure of object detection. To solve this problem, a new object extraction algorithm using level set is proposed and ...
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This paper addresses the problem of distributed connectivity constrained motion coordination of multiple autonomous mobile agents. Different from traditional flat network structure which lacks flexibility and scalabil...
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An improved differential evolution algorithm was proposed for solving the online path planning problem of unmanned aerial vehicle (UAV) low-altitude penetration in partially known hostile environments. The algorithm a...
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An improved differential evolution algorithm was proposed for solving the online path planning problem of unmanned aerial vehicle (UAV) low-altitude penetration in partially known hostile environments. The algorithm adopts von Neumann topology and improves its structure to maintain the diversity of the population, prevent the population from falling into local optima in the early evolution and speed up the convergence rate in the later evolution as well. The mutation operator of differential evolution is improved to speed up the convergence rate of the algorithm, so that the optimal solution of the multi-objective optimization problem can be found quickly;the coding method combined the absolute Cartesian coordinates with the relative polar coordinates is used to improve the searching efficiency. The simulation experiment of online path planning for UAV low-altitude penetration shows that the proposed algorithm has a better performance than the unimproved differential evolution algorithm.
作者:
Kun, GongFang, DengTao, Ma
Beijing 100083 China School of Automation
Beijing Institute of Technology Key Laboratory of Complex System Intelligent Control and Decision Beijing 100081 China
In order to improve the precision of the azimuth measured by mobile robot's electronic compass, this paper proposes a new calibration method based on Fourier Neural Network trained by Modified Particle Swarm Optim...
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The present work focuses on the node deployment algorithm of Wireless Sensor Networks. The Central Voronoi Tessellation algorithm is employed to optimize the node position. The energy consumption of the whole sensor n...
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The segmentation of the medical image faces the challenges of the existence of large number of diverse structures of human anatomy and inevitable artifacts induced from the imaging procedure. In this paper we treat so...
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This paper presents a 3D online path planning algorithm for unmanned aerial vehicle (UAV) flying in partially known hostile environment. In order to provide a smooth fight route for UAV, the algorithm adopts B-Spline ...
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Fault diagnosis based on the wavelet packet decomposition, one-against-one support vector machine (SVM) and genetic algorithm (GA) is proposed in order to realize the real-time sensor fault diagnosis accurately. The i...
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