A uniform stability analysis is developed for a type of neutral delays differential equations which depend on more general nonlinear integral inequalities. Many original investigations and results are obtained. Firstl...
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With the development of aeronautics and astronautics, the response speed of servo system need be faster. First, In order to improve the dynamic quality of servo system, the exponential and power reaching law, which co...
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With the development of aeronautics and astronautics, the response speed of servo system need be faster. First, In order to improve the dynamic quality of servo system, the exponential and power reaching law, which combines the advantages of the exponential reaching law and the power reaching law, is introduced. Second, the chattering of the sliding mode controller（SMC） with the exponential and power reaching law for discrete systems is investigated. Finally, the adaptive sliding mode controller（ASMC） with the exponential and power reaching law is introduced. The stability of the ASMC with the exponential and power reaching law for discrete systems is analyzed, and the simulation of this approach on one joint of a six degrees of freedom robot is carried out. The experimental results indicate that the ASMC with the exponential and power reaching law is effective in reducing the time of arriving the sliding mode surface. The experimental results also indicate that the ASMC with the exponential and power reaching law may make output error reach zero in a shorter time.
Recently deep learning based architectures have been widely deployed in many problems of artificial *** deep learning models, Convolutional Neural Networks（CNN） have been reported in numerous successful applications...
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Recently deep learning based architectures have been widely deployed in many problems of artificial *** deep learning models, Convolutional Neural Networks（CNN） have been reported in numerous successful applications such as object recognition, and natural language processing. The convolutional neural networks are trained by back-propagating the classification error using the Back-Propagation（BP） algorithm, which requires a large amount of data and slows the training process. To overcome these difficulties, a new fast and accurate approach based on Extreme Learning Machine（ELM） to train any convolutional neural network has been proposed. The developed framework（ELM-CNN） is based on the concept of autoencoding to learn the convolutional filters with biases, by reconstructing the normalized input and the intercept term. In this paper, systematic comparison with traditional back-propagation based training method（BP-CNN） has been made with respect to two aspects qualitative and quantitative. The experimental results on the popular MNIST dataset show that the ELM-CNN algorithm achieves competitive results in terms of generalization performance and up to 16 times faster than the back-propagation based training of CNN.
This paper presents a general six degrees of freedom(6-DOF) robot arm controlsystem based on Linux and field-programmable gate array(FPGA).The system provides a friendly human-computer interaction *** can complete pa...
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This paper presents a general six degrees of freedom(6-DOF) robot arm controlsystem based on Linux and field-programmable gate array(FPGA).The system provides a friendly human-computer interaction *** can complete palletizing,handling and other processes through simple programming of the interactive *** adopt industrial personal computer(IPC) as the controller to accomplish the kinematics calculation,design motion control board connected with the controller and the servo system,and use the servo system to implement the motion of the robot *** kinematics calculation and trajectory generation based on cubic polynomial are developed based on the Linux system,which improves the portability of the *** a normal method is adopted in updating trajectory points to improve *** control board is designed based on FPGA,which with the characteristic of parallel computing raises the running speed of the robot arm.
The multi-robot coverage motion planning (MCMP) problem refers to a typical task where every point of the target area must be covered by robots at least once. This paper designs a novel efficient offline algorithm to ...
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This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group *** Rodrigues paramete...
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This paper investigates a distributed finite-time attitude synchronization and tracking problem of multiple spacecraft when a time varying reference signal is available to only a subset of group *** Rodrigues parameters are used for attitude representation.A two layer sliding mode surface with fast non-singular terminal sliding mode surface（FNTSMS） as the inner layer and terminal sliding mode surface（TSMS） as the outer layer is used to create a full order sliding mode *** proposed distributed attitude coordination control law guarantees attitude synchronization and tracking as long as their exists atleast one spacecraft that has a direct access to the virtual leader’s time varying ***-time stability of the closed loop system is guaranteed by Lyapunov-based stability *** results are presented to validate the performance of the proposed control strategy.
In this paper, we developed a path planning system for smart cars for teaching electronic engineering or computer science, which consists of the interactive platform for smart cars development and path planning. Desig...
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ISBN:
(数字)9781728151694
ISBN:
(纸本)9781728151700
In this paper, we developed a path planning system for smart cars for teaching electronic engineering or computer science, which consists of the interactive platform for smart cars development and path planning. Designed by Visual C++, the interactive platform can call Matlab engine, allows users to choose path optimization algorithms such as genetic or A-star(A*) algorithm for different tasks and control smart cars through serial ports. The simulation and practice demonstrate that our interactive platform can help learners to plan paths and controlintelligent vehicles without specially designing a user interface.
With the development of augmented reality (AR) technologies, more and more approaches are proposed for medical applications. With the help of AR technology, the doctor can highly improve the spatial perception and obt...
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With the development of augmented reality (AR) technologies, more and more approaches are proposed for medical applications. With the help of AR technology, the doctor can highly improve the spatial perception and obtain more information beneath the displayed image. Generally, 3D reconstruction, registration, tracking and depth visualization are all important for an AR system, which directly determine the accuracy of the system. However, none of recent systems have achieved a perfect 3D vision for doctors. It is particularly challenging for the AR system to perform well for operation on highly deformable body tissues. Therefore, there is an urgent need to improve the 3D vision and intelligence of AR systems. In this paper, we provide a review of the recent development of augmentation technologies for surgery and medical treatment. And then, we introduce the parallel intelligence theory into AR systems, which can provide a feasible approach to enhance the efficiency.
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.
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