In this paper, the control design and stability analysis are presented for a three-dimensional string system with the payload dynamics. A set of partial-ordinary differential equations (PDEs-ODEs) are developed by usi...
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In this paper, we consider the problem of tracking a desired trajectory for an uncertain robot in the presence of constraints and uncertainties. The dynamics of the uncertain robot are represented by an n-link rigid r...
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A micro attitude and heading reference system (AHRS) is developed based on low-cost MEMS devices to meet the requirement for the flight control of micro unmanned aerial vehicles (UAV). One main drawback associated wit...
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A micro attitude and heading reference system (AHRS) is developed based on low-cost MEMS devices to meet the requirement for the flight control of micro unmanned aerial vehicles (UAV). One main drawback associated with the MEMS attitude senor is the drifting issue, which makes that the raw date can not be used directly in the flight control. A quaternion attitude compensation algorithm based on gradient descent method is developed to process the raw data from MEMS sensors, and then high accurate attitude measurements including pitch angle, roll angle and yaw angle are obtained. Experiment results show that the proposed algorithm and the AHRS can obtain high accurate attitude measurements.
A micro altitude measurement unit is developed. A barometer is utilized as the pressure sensor, and a digital signal processor (DSP) is employed as the on-board micro processor. The media average filter is designed to...
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A micro altitude measurement unit is developed. A barometer is utilized as the pressure sensor, and a digital signal processor (DSP) is employed as the on-board micro processor. The media average filter is designed to process the raw data from the barometer to obtain high accurate measurement of the altitude. Experiment results show that the proposed design can achieve an accuracy of 0.23 m for the altitude measurement, and the output bandwidth can reach 360 Hz. The results are good enough for the autonomous control of quadrotor unmanned aerial vehicle (UAV).
Aimed at protecting synthetic gemstone processing workers from silicosis that caused by continuously working along machines,a remote-control machine based on CAN-bus is *** paper focuses on introducing the hardware an...
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Aimed at protecting synthetic gemstone processing workers from silicosis that caused by continuously working along machines,a remote-control machine based on CAN-bus is *** paper focuses on introducing the hardware and software of its control *** processor STM32F103VET6 with Cortex-M3 core is selected as the MCU,and with the application of motor driver,touch screen and special software,the system can implement auto-operation and manual-operation *** data indicates that the control system is stable,easy to operate and suitable to be promoted in factory.
Effective cooperation of multi-robots in unknown environments is essential in many robotic applications, such as environment exploration and target searching. In this paper, a MAXQ and Option combined hierarchical rei...
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Effective cooperation of multi-robots in unknown environments is essential in many robotic applications, such as environment exploration and target searching. In this paper, a MAXQ and Option combined hierarchical reinforcement learning approach, together with a multi-agent cooperation strategy, are proposed for the real-time cooperation of multi-robots in completely unknown environments. Unlike other algorithms that need an explicit environment model or selected parameters by trial and error, the proposed cooperation method obtains all the required parameters automatically through learning. By integrating segmental options with the MAXQ algorithm, a multi-agent cooperation strategy is designed. In new tasks, the designed cooperation method can control the multi-robot system to complete the task effectively. The simulation results demonstrate that the proposed scheme is able to effectively and efficiently guide a team of robots to cooperatively accomplish target searching tasks in completely unknown environments.
Focus variation is an optical contact-free method that allows the measurement of three-dimensional surface metrology using optics with limited depths of field and vertical scanning. It was documented in the ISO 25178-...
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Focus variation is an optical contact-free method that allows the measurement of three-dimensional surface metrology using optics with limited depths of field and vertical scanning. It was documented in the ISO 25178-6 first time in *** one method of image capture, it has very crucial influence to get an excellent quality image that some key parameters are selected correctly for different workpiece. Those key parameters are including the exposure time, contrast, filters and so on. In this paper, a few of applications were selected to demonstrate the capabilities of the system using different measurement parameters including measurements on cutting-insert tool, stainless steel ball, stepped workpiece and VDI standard workpiece with silver colour surface. Some principles were concluded for optical three-dimensional surface measurement with focus variation after comparing the practical results with different parameters, serving as measurement strategies.
For direct drive XY table servo system, position control is designed. Considering the error which is caused by the disturbance of the system, friction factor and so on. The control method combing the zero phase error ...
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In this paper, we consider the unknown non-affine nonlinear systems with the input deadzone and external disturbance. To solve the deadzone effects, a Radial Basis Function Neural Network (RBFNN) is introduced to appr...
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In this paper, we consider the trajectory tracking of a marine surface vessel in the presence of constraints and uncertainties. An Asymmetric Barrier Lyapunov Function (ABLF) is employed to deal with the output constr...
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In this paper, we consider the trajectory tracking of a marine surface vessel in the presence of constraints and uncertainties. An Asymmetric Barrier Lyapunov Function (ABLF) is employed to deal with the output constraints. Neural networks are used to approximate the system uncertainties, and state feedback control law is designed by using Backstepping techniques and the Moore-penrose inverse in case that all states are known. Under the proposed control, the multiple output constraints are never violated, the signals of the closed loop system are semiglobally uniformly bounded (SGUB), and the asymptotic tracing is achieved. Subsequently, numerical simulations are carried to verify the feasibility of the proposed control law.
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