This paper presents a concrete and practical hydrodynamic analysis for a hybrid gliding robotic *** order to obtain the accurate hydrodynamic performance of both dolphin-like swimming and gliding motion,a Computationa...
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ISBN:
(纸本)9781509009107
This paper presents a concrete and practical hydrodynamic analysis for a hybrid gliding robotic *** order to obtain the accurate hydrodynamic performance of both dolphin-like swimming and gliding motion,a Computational Fluid Dynamics(CFD) method is ***,based on the F1 UENT dynamic mesh interface,a novel dynamic mesh and user-defined function(UDF) are developed to describe the dorsoventral oscillations of the ***,the corresponding turbulent model and SIMPLE algorithm suited to dolphin-like swimming are also meticulously selected for great accuracy and high ***,the FLUENT simulation results reveal the pressure distribution and velocity field distribution around the robotic ***,some important hydrodynamic coefficients including lift coefficients and drag coefficients at different frequencies are also *** simulation results illustrate an expected hydrodynamic performance of the gliding robotic dolphin.
In this paper, a novel learning optimal control scheme is established to design the robust controller of a class of uncertain nonlinear systems. The robust control problem is transformed into the optimal control probl...
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ISBN:
(纸本)9781479900305
In this paper, a novel learning optimal control scheme is established to design the robust controller of a class of uncertain nonlinear systems. The robust control problem is transformed into the optimal control problem by properly choosing a cost function that reflects the uncertainty, regulation, and control. Then, the online policy iteration algorithm is presented to solve the Hamilton-Jacobi-Bellman （HJB） equation by introducing a critic neural network. The approximate expression of the optimal control policy can be derived directly. Moreover, the closed-loop system is proved to be uniformly ultimately bounded. The equivalence of the neural-network-based HJB solution of the optimal control problem and the solution of the robust control problem is developed as well. Finally, an example is provided to verify the effectiveness of the constructed approach.
This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish *** order to acquire the stable image from the came...
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ISBN:
(纸本)9781509009107
This paper presents a novel approach for a visual system of robotic fish to reduce the instability of camera image caused by the inherent periodic yawing of the fish *** order to acquire the stable image from the camera located inside of the fish head,a camera stabilizer for the visual system is ***,an Inertial Measurement Unit(IMU) with nine degrees-of-freedom(DoFs) is employed to maintain the attitude of the camera stable with respect to the inertial *** accurately describe the stabilizer system characteristics,a simple and effective system model is ***,a feedbackfeedforward controller is proposed to mitigate the periodic swing effect and obtain stable and clear camera image when the robotic fish is ***,the simulation and experiments both verified the effectiveness of the mechanism design for camera stabilizer and the corresponding feedback-feedforward control approach for enhancing the stability of images.
The coordinated tracking problem of networked Euler-Lagrange systems is studied in this *** to the knowledge of classical control,an integral term can eliminate the steady-state error when solving the tracking problem...
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ISBN:
(纸本)9781479947249
The coordinated tracking problem of networked Euler-Lagrange systems is studied in this *** to the knowledge of classical control,an integral term can eliminate the steady-state error when solving the tracking problem.A proportional-integral-derivative(PID)tracking protocol is then rst proposed to solve the tracking problem of Euler-Lagrange systems where the leader has a quadratic *** properly choosing parameters,it is proved that all followers can asymptotically track the leader’s quadratic trajectory if the communication topology graph has a spanning ***,a so-called PImD tracking protocol is derived by adding some high-order integral *** is shown that this PImD tracking protocol can solve the tracking problem of networked Euler-Lagrange systems with a leader having the higher-order polynomial ***,two simulation examples are presented to demonstrate the effectiveness of the proposed protocol.
This paper solves distributed consensus tracking problems where the task is to make the multi-agent network, with each agent described by a general linear dynamics, to reach consensus with a leader whose control input...
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ISBN:
(纸本)9781479900305
This paper solves distributed consensus tracking problems where the task is to make the multi-agent network, with each agent described by a general linear dynamics, to reach consensus with a leader whose control input is nonzero and not available to any followers. A set of sliding mode surfaces are defined and then fast sliding mode controllers are designed for both reduced order and non-reduced order cases. It is shown that all the trajectories exponentially converge to the sliding mode surfaces in a finite time if the leader has a directed path to at least one of the followers in a strongly connected and detailed balanced directed interaction graph and the leader’s control input is bounded. The control Lyapunov function for exponential finite time stability, motivated by the fast terminal sliding mode control, is used to prove the reachability of the sliding mode surfaces. Simulation examples are given to illustrate the theoretical results.
In this paper,a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle(BUV)propelled by undulatory ***,the system design and the model of the BUV are *** with traditional autono...
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ISBN:
(纸本)9781509009107
In this paper,a new approach of way-point tracking control is investigated for a biomimetic underwater vehicle(BUV)propelled by undulatory ***,the system design and the model of the BUV are *** with traditional autonomous underwater vehicles(AUVs) propelled by screw propellers,the concept design enhances the maneuverability and stability of AUVs at low *** the way-point tracking problem of the BUV is ***,a way-point tracking control scheme combining a guidance system of low complexity with backstepping technique is proposed to achieve fast and effective convergence to the desired path composed of a series of given way-points for this *** the end,simulations demonstrate the performance of the proposed way-point tracking controller.
Underwater cave exploration has always been a tough problem for autonomous underwater *** a primary step towards this problem,we explore the underwater cave search and entry with a free-swimming robotic fish character...
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ISBN:
(纸本)9781479947249
Underwater cave exploration has always been a tough problem for autonomous underwater *** a primary step towards this problem,we explore the underwater cave search and entry with a free-swimming robotic fish characterized by flexible control and embedded *** particular,we use a colored ring instead of the cave and acquire its contour by its binary *** we propose an algorithm combining the Meanshift algorithm with the bump characteristic of the ring contour to eliminate the mirror image effects and background *** a bio-inspired Central Pattern Generator control method is adopted to smoothly drive the robotic fish to swim towards the *** proposed algorithms are implemented in real time with a hybrid controlsystem consisting of two embedded microprocessors(TI DM3730 and STMicroelectronics STM32F407).Preliminary aquatic experiments demonstrate that a fairly good exploration effect is resulted and the interference caused by mirror image effect and background is largely *** proposed robotic fish-based scheme offers an alternative to cave exploration in complex aquatic environments.
This paper presents a novel adaptive/approximate dynamic programming algorithm to solve the H∞ control problem of constrained-input continuous-time nonlinear systems. The developed algorithm employs a single critic n...
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ISBN:
(纸本)9781467374439
This paper presents a novel adaptive/approximate dynamic programming algorithm to solve the H∞ control problem of constrained-input continuous-time nonlinear systems. The developed algorithm employs a single critic neural network(NN)to derive the approximate solution of the Hamilton-Jacobi-Isaacs equation. With two additional terms introduced, namely, the stabilizing term and the robustifying term to update the critic NN, no initial stabilizing control is required. Meanwhile, the developed critic tuning rule not only ensures that the optimal saddle point can be obtained but also guarantees stability of the closed-loop system. In addition, all signals in the closed-loop system are proved to be uniformly ultimately bounded via Lyapunov's direct method. Finally, an illustrate example is provided to verify the effectiveness of the developed approach.
With the development of urbanization, vehicle violations bring lots of problems for urban traffic. In this paper, we implement an electronic police system based on multiple salient vehicle parts for traffic surveillan...
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ISBN:
(纸本)9781479905300;9781479905294
With the development of urbanization, vehicle violations bring lots of problems for urban traffic. In this paper, we implement an electronic police system based on multiple salient vehicle parts for traffic surveillance. Vehicle is represented by its salient parts and its trajectory is obtained by tracking based on Kalman filter. First of all, multiple salient vehicle parts including the license plate and rear-lamps are localized using their distinctive features. Then vehicle tracking is performed using these parts with a Kalman filter to get vehicle motion trajectories. At last, traffic violations are detected by analyzing the vehicle trajectories and configuring various detection regions. Experiments show that our system is effective and it can achieve real-time performance for real traffic applications.
To detect the racket pose faster and easier, a new method combining the HSV and RGB color spaces are presented. The purpose of using the HSV color space is to get enough information in the RGB color space. By detectin...
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ISBN:
(纸本)9781467374439
To detect the racket pose faster and easier, a new method combining the HSV and RGB color spaces are presented. The purpose of using the HSV color space is to get enough information in the RGB color space. By detecting the mark on the racket in real-time, the racket pose could be obtained. The experimental results show that the proposed method has a great advantage on the robustness of corner extraction of the rectangle on the racket.
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