In this paper, a strategy is established to design the robust controller for a class of continuous-time nonlinear systems with Lurie *** uncertainty is decomposed into matched and unmatched components, and an augmente...
详细信息
ISBN:
(纸本)9781509009107
In this paper, a strategy is established to design the robust controller for a class of continuous-time nonlinear systems with Lurie *** uncertainty is decomposed into matched and unmatched components, and an augmented control is introduced for the unmatched uncertainty. An optimal control algorithm based on Hamilton-Jacobi-Bellman(HJB) equation is proposed for the design of a bounded robust controller and finite-time-horizon nonlinear systems. In this case, the robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainties,regulation, and control. The bounded controller no longer requires the knowledge of the upper bound of systems uncertainty.A computable sufficient condition is also derived to ensure that the solution to the corresponding optimal control problem is a solution to the robust control problem. A simulation example is provided to verify the effectiveness under the present robust control scheme.
Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** th...
详细信息
ISBN:
(纸本)9781509009107
Alongside advancements in communication technology,Ad Hoc networks have grown considerably in *** high-relative-velocity environments,however,air nodes often have supersonic velocity but ground nodes are nearly *** this case,traditional protocols do not satisfy the necessary link stability though this type of node usually has clear purpose or *** this effect,node activity can be forecast to a certain *** this study,a motion model was developed to describe aircraft flying in high-relative-velocity *** also investigated methods of maximizing link lifetime and network stability by designing an improved LARl *** simulation results showed that the proposed LAR1 protocol has superior performances in terms of link lifetime,but may increase the number of hops in data transmission.
In this paper,we propose an improved part-based tracking method based on compressive *** traditional compressive tracking can hardly deal with occlusion and scale variation,which is not robust enough in these *** our ...
详细信息
ISBN:
(纸本)9781509009107
In this paper,we propose an improved part-based tracking method based on compressive *** traditional compressive tracking can hardly deal with occlusion and scale variation,which is not robust enough in these *** our part-based method,the occluded image patches which are selected by K-means are not able to participate in determining the location of the target in order to increase tracking *** solve the problem of scale variation,an algorithm is proposed to estimate the size of target with the information of the whole *** addition,we also use the positions of every part to help us to get a precise size of the *** the combination of two methods,the scale of the target is *** compared with five state-of-the-arts have been done to prove the effectiveness and robustness of our method.
Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended st...
详细信息
ISBN:
(纸本)9781509009107
Disturbance widely exists in control *** disturbance rejection control(ADRC) has been proved to be an efficient way to deal with disturbance and achieves great success in *** most important part of ADRC is extended state observer(ESO),which estimates the states of system and total *** regards internal disturbance and external disturbance as a total disturbance,estimates it and eliminates it in the *** faster ESO estimates total disturbance,the more quickly controller eliminates *** paper focuses on the discrete linear extended state observer(DLESO),and presents discrete predictive linear extended state observer(DPLESO).Stability and performances are *** result shows that DPLESO has better performances for disturbance rejection than DLESO.
When joint failure occurs in a redundant manipulator,it is required that the end-effector(EEF) continues the trajectory with a minimum velocity *** problem has been studied by the joint velocity redistribution method ...
详细信息
ISBN:
(纸本)9781509009107
When joint failure occurs in a redundant manipulator,it is required that the end-effector(EEF) continues the trajectory with a minimum velocity *** problem has been studied by the joint velocity redistribution method which means mapping the velocity of the faulty joint into healthy joints'.This method can tolerant joint fault successfully but may make joints out of their *** the gradient projection method(GPM) is adopted to avoid the redistributed joint limits in this *** regard to the selection of the scalar coefficient of GPM,an improved method called the coefficient matrix is *** only can this method avoid joint limits successfully but also reduce the unnecessary self-motion and control the self-motion of each joint *** last the coefficient matrix method is tested in a seven-degree-of-freedom(7-DOF) manipulator and the simulation results indicate the efficiency of this method.
In this paper, the distributed tracking problem for multiple nonholonomic mobile robots is investigated, in which the nonholonomic models are transformed into chained-form systems. By utilizing the dynamic oscillator ...
详细信息
The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic w...
详细信息
ISBN:
(纸本)9781509006243
The weapon target assignment (WTA) problem is a fundamental problem arising in defense-related applications of operations research. And the multi-stage weapon target assignment (MWTA) problem is the basis of dynamic weapon target assignment (DWTA) problems which commonly exist in practice. The MWTA problem considered in this paper is with uncertainties, namely the uncertain MWTA (UMWTA) problem, and is formulated into a multi-objective constrained combinatorial optimization problem with two competing objectives. Apart from maximizing damage to hostile targets, this paper follows the principle of minimizing ammunition consumption under the assumption that each element of the kill probability matrix follows four different probability distributions. In order to tackle the two challenges, i.e., multi-objective and the uncertainty, the multi-objective evolutionary algorithm based on decomposition with adaptive weight adjustment (MOEA/D-AWA) and the Max-Min robust operator are adopted to solve the problem efficiently. Then comparison studies between the MOEA/D-AWA and a single objective solver used for a relaxed formulation on solving both certain and uncertain instances of two different scaled MWTA problems which include four uncertain scenarios are conducted. Numerical results show that MOEA/D-AWA outperforms the single objective solver on solving both certain and uncertain multi-objective MWTA problems discussed in this paper. Comparisons between the results of the certain and uncertain formulation also indicate the necessity of the robust formulation of practical problems.
This paper extends the time-delay approach to discrete-time networked controlsystems with multiple sensor nodes that are subject to time-varying transmission intervals,time-varying transmission delays and communicati...
详细信息
ISBN:
(纸本)9781509009107
This paper extends the time-delay approach to discrete-time networked controlsystems with multiple sensor nodes that are subject to time-varying transmission intervals,time-varying transmission delays and communication *** system sensor nodes are supposed to be distributed over a *** scheduling of sensor communication is ruled by an independent and identically-distributed stochastic *** activation probability of each sensor node is a given constant,whereas it is assumed that collisions occur with a certain *** closed-loop system is modelled as a discrete-time stochastic hybrid system with time-varying delays in the dynamics and in the reset *** Lyapunov method a new condition is derived for the exponential mean-square stability of the delayed hybrid systems with respect to the full state and not only to the partial *** communication delays are allowed to be greater than the sampling *** efficiency of the proposed method is illustrated on the example of cart-pendulum.
A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navi...
详细信息
A new method based on adaptive Hessian matrix threshold of finding key SRUF （ speeded up robust features） features is proposed and is applied to an unmanned vehicle for its dynamic object recognition and guided navigation. First, the object recognition algorithm based on SURF feature matching for unmanned vehicle guided navigation is introduced. Then, the standard local invariant feature extraction algorithm SRUF is analyzed, the Hessian Metrix is especially discussed, and a method of adaptive Hessian threshold is proposed which is based on correct matching point pairs threshold feedback under a close loop frame. At last, different dynamic object recognition experi- ments under different weather light conditions are discussed. The experimental result shows that the key SURF feature abstract algorithm and the dynamic object recognition method can be used for un- manned vehicle systems.
In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an in...
详细信息
In this paper, a new 3-D trajectory tracking problem for an uncertain high fidelity six-degree-of-freedom (6-DOF) aerodynamic system is considered. Instead of designing controllers for each subsystem separately, an integrated trajectory tracking control algorithm is proposed to exploit beneficial relationships among interacting subsystems. The high-order aerodynamic model is first transformed into a quasi-strict-feedback form. Then, backstepping technique is utilized to resolve the coupling effect problem of three control channels resulting from the bank-to-turn (BTT) control mode. In addition, command filters are introduced to handle state and actuator constraints caused by the physical limitations and the coordinated turn requirement. Furthermore, the uncertain aerodynamic force and moment coefficients are reconstructed by using the B-spline neural network approximation and adaptive learning approaches. With Lyapunov stability analysis, all the states in the closed-loop system are shown to be semi-globally uniformly ultimately bounded (SUUB), and the tracking errors will asymptotically converge into a small compact set around zero by properly adjusting the control parameters. Finally, numerical simulations are conducted to demonstrate the effectiveness of the proposed algorithm.
暂无评论