In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hyste...
详细信息
In this paper, a sliding mode control using LESO coupled with an inverse hysteresis compensator is proposed for the motion tracking control of a microposition system with piezoelectric actuator(PEA). The inverse hysteresis compensator is involved in eliminating the hysteresis nonlinearity reducing the nonlinear system to a linear system. Then, a sliding mode controller combining with LESO is adopted to handle all the unmodeled dynamics and disturbances, with an intention of improving and enhancing the dynamic performance and the robustness of system. The feasibility of the proposed control scheme is verified by experiment of a PEA. The result shows that when faced with a fast-rate control input, the proposed method can also ensure the system a good performance.
This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to con...
详细信息
ISBN:
(纸本)9781479920747
This paper describes our preliminary development of a virtual robot teleoperation platform based on hand gesture recognition using visual information. Hand gestures in images captured by a camera are recognised to control a virtual iCub. We employ two methods to realise the classification: Adaptive Neuro-fuzzy Inference systems (ANFIS) and Support Vector Machines (SVM). We realise the teleoperation of a virtual robot using iCubSimulator. The technique in the paper will enable us to teleoperate a physical robot in the future work. In addition, a video server is set up to monitor the real robot. By using the parallel system we are able to improve the robot's performance. Based on the techniques presented in this paper, the virtual iCub can perform the specified actions remotely in a natural manner.
An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed...
详细信息
An adaptive unscented Kalman filter （AUKF） and an augmented state method are employed to estimate the timevarying parameters and states of a kind of nonlinear high-speed objects. A strong tracking filter is employed to improve the tracking ability and robustness of unscented Kalman filter （UKF） when the process noise is inaccuracy, and wavelet transform is used to improve the estimate accuracy by the variance of measurement noise. An augmented square-root framework is utilized to improve the numerical stability and accuracy of UKF. Monte Carlo simulations and applications in the rapid trajectory estimation of hypersonic artillery shells confirm the effectiveness of the proposed method.
This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save netwo...
详细信息
ISBN:
(纸本)9781479947249
This paper is concerned with the controller design for networked controlsystems(NCSs). A novel eventtriggered networked predictive control scheme is proposed to compensate for the network-induced delay and save network bandwidth. The closed-loop system is modeled as a switched system with time-varying delay. By constructing a common Lyapunov function, a sufficient stability condition is derived and presented in terms of linear matrix inequalities(LMIs). In order to prove the validity of the proposed method, both a simulation and an experiment are carried out. Both simulation results and experimental results show that this method can compensate for the network-induced delay actively and reduce the burden of the network significantly.
This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the in...
详细信息
This paper is concerned with the stability analysis problem of a linear system with interval time-varying delay.A new augmented Lyapunov functional is proposed which contains some triple integral terms and uses the information about the interval delay appropriately.A recently proposed Wirtinger-based integral inequality is used to estimate the derivative of the Lyapunov *** conservative stability conditions are obtained and expressed in terms of linear matrix inequalities(LMIs).Finally,two numerical examples are given to confirm the efficacy of the proposed method.
This paper addresses the unimodal and hysteresis thresholding, where a pair of low and high thresholds is under investigation targeted with the unimodal image histogram. The novel bowstring is introduced to make an ac...
详细信息
This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order in...
详细信息
This paper focuses on the cooperative adaptive fuzzy control of high-order nonlinear multi-agent systems. The communication network is a undirected graph with a fixed topology. Each agent is modeled by a high-order integrator incorporating with unknown nonlinear dynamics and an unknown disturbance. Under the backstepping framework, a robust adaptive fuzzy controller is designed for each agent such that all agents ultimately achieve consensus. Moreover, these controllers are distributed in the sense that the controller design for each agent only requires relative state information between itself and its neighbors. A four-order simulation example demonstrates the effectiveness of the algorithm.
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keep...
详细信息
ISBN:
(纸本)9781479947249
In this paper,a novel particle swarm algorithm for solving constrained multiobjective optimization problems is *** new algorithm is able to utilize valuable information from the infeasible region by intentionally keeping a set of infeasible solutions in each *** enhance the diversity of these preserved infeasible solutions,a modified version of adaptive grid is *** addition,a voting mechanism is designed to balance the preference of infeasible solutions with smaller constraint violation and the exploration of the infeasible *** effectiveness of the proposed method is validated by simulations on several commonly used benchmark *** using the hypervolume indicator,it is shown that the proposed algorithm is more powerful than two other state-of-the-art algorithms.
In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some com...
详细信息
In this paper,an effective approach to vehicle license plate recognition based on Extremal Regions(ERs) and Self-adaptive Evolutionary Extreme Learning Machine(Sa EELM) is *** the license plate detection step,some computations including morphological operations,various filters,different contours and validations are sequentially performed to extract some image regions as candidate license ***,accurate character segmentation is achieved through a proper selection of *** the character recognition step,the HOG(histogram of oriented gradients) feature vector in each character region is extracted,and then the characters are recognized using an offline trained pattern classifier of Sa *** results show that our approach works quite well in complex traffic environments.
This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a unif...
详细信息
This paper proposes an approach to moving vehicle tracking in surveillance videos based on conditional random fields(CRF).The key idea is to integrate a variety of relevant knowledge about vehicle tracking into a uniform probabilistic framework by using the CRF *** this work,the CRF model integrates spatial and temporal contextual information of vehicle motion,and the appearance information of the *** approximate inference algorithm,loopy belief propagation,is used to recursively estimate the vehicle region from the history of observed ***,the background model is updated adaptively to cope with non-stationary background *** results show that the proposed approach is able to accurately track moving vehicles in monocular image ***,region-level tracking realizes precise localization of vehicles.
暂无评论