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.
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.
Fisheye images have a larger field of view than ordinary perspective cameras and can obtain more scene information. Therefore, object detection based on top-view fisheye images has wide applications in security monito...
详细信息
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.
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, a hierarchical formation-containment control scheme is proposed for second-order multi-agent systems. The proposed hierarchical scheme decouples the control task into two layers, i.e., reference signal ...
详细信息
In this paper, we propose a pylon reconstruction method based on Neural Radiance Fields (NeRF) technology. The advantage of this method lies in its ability to reconstruct pylons from images, with a multi-view model ma...
详细信息
Fall events have unique dynamic features, which are not fully utilized by existing fall detection methods. Based on video understanding, we propose Fall-LSTM to learn such features pertinently without additional input...
详细信息
Reconstructing interacting hands from monocular color images plays an important role in promoting the understanding of human behavior and the application of existing AR/VR technology. With the emergence of interacting...
详细信息
Stereo vision plays a crucial role in scientific expeditions and facility maintenance. However, fixed-baseline stereo vision lacks accuracy for long-distance measurements, while wide-baseline stereo vision encounters ...
详细信息
暂无评论