This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnos...
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This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.
A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendi...
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A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendicular to the velocity are derived, and then a guidance law based on a time-varying sliding mode method is used to realize trajectory tracking. Furthermore, the rotational equations of motion are separated into an actuated subsystem and an unactuated subsystem. And an adaptive time-varying sliding mode attitude controller is proposed based on the actuated subsystem to track the command attitude and the tracking performance and robustness are therefore enhanced. The proposed guidance law and attitude controller make the hypersonic vehicle fly along the reference trajectory even when the aileron is stuck at an unknown angle. Finally, a hypersonic benchmark platform is used to demonstrate the effectiveness of the proposed strategy.
Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control prot...
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The problem of flocking of second-order multiagent systems with connectivity preservation is investigated in this paper. First, for estimating the algebraic connectivity as well as the corresponding eigenvector, a new...
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Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristi...
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The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the l...
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This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a nov...
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This study addresses the distributed coordination problem for multiple Lagrangian systems under a directed graph. Two cases are considered, namely, the distributed tracking control problem with a dynamic leader and th...
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In this paper, two event-triggered nonlinear model predictive control(NMPC) strategies based on Lyapunov function method for discrete-time nonlinear systems with bounded disturbances and state-dependent uncertainties ...
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