The look-ahead is a forbidding condition formalized by a set of forbidden rules that are checked after all assignment of objects to rules are done. The look-ahead mode can decrease the inherent non-determinism of P sy...
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To drive a single joint of rehabilitation robotic arm, we propose a new PM-TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Unlike the traditional agonist/antagonist PM actuator, the PM is arr...
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ISBN:
(纸本)9780955529337
To drive a single joint of rehabilitation robotic arm, we propose a new PM-TS actuator comprising a Pneumatic Muscle (PM) and a Torsion Spring (TS). Unlike the traditional agonist/antagonist PM actuator, the PM is arranged in appropriate place as agonist and the torsion spring provides opposing torque as antagonist in the proposed actuator. The I-DOF and 2-DOF rehabilitation robotic arm models are derived considering the PM-TS dynamic model. To realize a high-accurate trajectory tracking control of the robotic arms, an intelligent PID controller based on an Echo state Neural Network (ESN) is proposed, where the ESN state is updated by the online Recursive Least Square (RLS) algorithm. Simulation results demonstrate the validity of PM-TS actuators. The performance of RLS-ESN based PID controller is found more satisfactory than conventional PID controller in our study.
Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in liter...
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ISBN:
(纸本)9787894631046
Joint flexibility is an important factor to consider in the robot control design if high performance is expected for the robot manipulators. Research works on control of rigid-link flexible-joint (RLFJ) robot in literature have assumed that the kinematics of the robot is known exactly. There have been few results that can deal with the kinematics uncertainty in RLFJ robot. In this paper, we propose an adaptive tracking control method which can deal with the kinematics uncertainty and uncertainties in both link and actuator dynamics of the RLFJ robot system. Nonlinear observers are designed to avoid accelerations measurement due to the fourth-order overall system dynamics. Asymptotic stability of the closed-loop system is shown and sufficient conditions are presented to guarantee the stability.
The protocol stack plays a critical role in determining the performance of networked control system (NCS), which governs the communication activities and directly affects the communication quality of service (QoS). Fu...
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To achieve better performance with various load and system parameters in controlling a current-source rectifier (CSR) with less computing cost, a neural-network-based implementation of three-logic space-vector modulat...
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The protocol stack plays a critical role in determining the performance of Networked control System (NCS), which governs the communication activities and directly affects the communication Quality of Service (QoS). Fu...
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In this paper,a novel algorithm for color image enhancement is *** proposed method,which is based on Retinex theory and total variational framework,improves the original variational method by using a TV penalty term t...
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In this paper,a novel algorithm for color image enhancement is *** proposed method,which is based on Retinex theory and total variational framework,improves the original variational method by using a TV penalty term to force spatial smoothness on the reflectance *** split Bregman algorithm is employed to solve the proposed *** practical experiments,it is verified that our method obtains better enhancement performance and much better calculation efficiency.
This paper presents a robust tracking algorithm for infrared objects in the image sequence, which is based on particle filer. Particle filter is a powerful tool for tracking especially in non-Gaussian condition, but t...
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The sufficient and necessary conditions for Lyapunov stability of the zero equilibrium point of Lorenz system are discussed, and some brief criteria are presented for globally exponential stability, globally asymptoti...
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The sufficient and necessary conditions for Lyapunov stability of the zero equilibrium point of Lorenz system are discussed, and some brief criteria are presented for globally exponential stability, globally asymptotical stability and instability. Furthermore, the behavior of the non-zero equilibrium point of Lorenz system is also investigated, and several sufficient and necessary conditions are provided for locally exponential stability and instability. The established theorems in this paper develop and extend the existing achievements on Lyapunov stability of Lorenz system. In conclusion, by applying the obtained results, some less conservative feedback-control laws are derived to guarantee the globally exponential stability of the chaos control of Chen system, Lu¨ system, Yang-Chen system and Yu-Xia Li system.
DNA tile self-assembly has been proved to enable programmable manipulation of biological systems as a tool of molecular computation. It is mainly based on the property that is the spontaneous self-ordering of substruc...
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