Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composit...
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ISBN:
(纸本)9781479947249
Considering the uncertainties parameters and unknown dynamics of permanent-magnet synchronous motors in real applications,a composite controller strategy for electromechanical actuator is proposed in this *** composite strategy consists of a disturbances observer based on linear extended state observer that suppresses disturbances by feedforward compensation and a Lyapunov stability-based position controller.A non-singular terminal sliding mode position controller is used here due to its good performance,under which state errors would converge to zero in finite ***,special forms of load torque,hinge moment,and sinusoidal torque disturbances have been taken into consideration in this *** proposed control strategy is verified via *** performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free ...
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ISBN:
(纸本)9781479947249
Special Re-use TDMA(STDMA) emerges as a promising channel access technique for providing Quality of Service(QoS) guarantees in multi-hop ad Hoc networks such as community mesh and sensor networks. The contention-free channel access combined with special reuse of the channel provides significant benefits in the energy/throughput trade-off. However, the protocol may introduce scheduling delay if, on the same path, an outbound link on a router is scheduled to transmit before an inbound link on that router. The total scheduling delay can be quite large since it accumulates at every hop on a path. This paper presents a method to solve this problem to improve the performance of the network system. Compared to the origin STDMA protocol, simulation results present us the superior performance of the proposed algorithm.
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 presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Volta...
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ISBN:
(纸本)9781479947249
This paper presents a novel maximum power point(MPP) tracking(MPPT) method to increase photovoltaic(PV)system performance during partially shaded conditions(PSCs). The method is based on voltage scanning method. Voltage band method and restricted voltage scanning method is used to increase the scanning speed. A method is proposed to determine whether partial shading occurs. The main advantage of the proposed method is the ability to search the global peak *** results shows the good performance of proposed method.
In fighting the coronary heart diseases,percutaneous coronary intervention is proved to be a powerful and reliable clinical procedure in the modern catheterization labs all over the *** to its minimally invasive chara...
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ISBN:
(纸本)9781479947249
In fighting the coronary heart diseases,percutaneous coronary intervention is proved to be a powerful and reliable clinical procedure in the modern catheterization labs all over the *** to its minimally invasive characteristics,the procedure must be performed in the image-guided way,which makes this important skill very difficult to *** make the learning more accessible,a computer-aided surgical simulator is planned to be implemented in our *** now,the prototyping model is completed and the further validation is being *** implementing the virtual anatomic environment,we aim to provide the trainee an intuitive visual effect so that the models of the organs bear resemblance to their counterpart of the human'*** the blood vessels per se,the surrounding organs seen in the real surgery also need to be visualized during the *** heart is undoubtedly the most critical one among *** segmentation of the heart is a challenging task because of the noisy and indistinct boundaries of the heart in the images due to the natural heart beating during the image *** this paper,an approach based on the active contours method is developed to fulfill this *** experimental results demonstrate the effectiveness of our approach.
This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication ...
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ISBN:
(纸本)9781479947249
This paper studies the output consensus problem of single-input single-output(SISO)multi-agent *** is assumed that the multi-agent system works in a noisy environment(state noises,measurement noises and communication noises).A dynamic output-feedback based protocol is proposed to solve the stochastic output consensus problem in this *** is proved that the mathematical expectations of relative outputs between agents are convergent to zero,and the second-order moments of relative outputs between agents are uniformly ***,some simulation examples are presented to demonstrate this phenomenon.
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 control system 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.
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 hystere...
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ISBN:
(纸本)9781479947249
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 ***,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 *** feasibility of the proposed control scheme is verified by experiment of a *** result shows that when faced with a fast-rate control input,the proposed method can also ensure the system a good performance.
In this paper,the containment control problem of continuous-time double-integrator multi-agent systems is *** aperiodic sampled-data based protocol is induced by using neighboring information with uncertainly time-var...
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ISBN:
(纸本)9781479947249
In this paper,the containment control problem of continuous-time double-integrator multi-agent systems is *** aperiodic sampled-data based protocol is induced by using neighboring information with uncertainly time-varying sampling *** the obtained protocol and properties of Laplacian matrix,the containment control problem of continuoustime multi-agent systems is equivalently transformed into a stability problem of discrete-time *** fixing a sampling length in the given range,a time-invariant discrete-time system is *** the systems with variation of sampling intervals can be considered as uncertain systems of the time-invariant discrete-time *** using small-gain theorem,sufficient conditions are obtained to guarantee stability of uncertain discrete-time *** theoretical results are illustrated by some simulations.
Real-time bidding(RTB)advertising is a promising business model emerging with the integration of big data and online *** on analysis of Web users' Cookie data,RTB has the potential of identifying target audiences ...
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Real-time bidding(RTB)advertising is a promising business model emerging with the integration of big data and online *** on analysis of Web users' Cookie data,RTB has the potential of identifying target audiences and delivering best matched ads in real time,and also enabling advertisers bid for each matched ad impression via auction-based programmatic buying *** RTB markets,publishers are suppliers of ad impressions(or ad inventory),and typically they have multiple channels to sell these ad *** this paper,we analyze three commonly-used strategies for publishers to allocate the ad inventory,i.e.,the offline guaranteed contract,the online RTB channel,and the hybrid *** explicitly take the quality of ad impressions into consideration,since it is a key parameter for publishers' decision when choosing a proper channel to sell these ad *** establish models to optimize the reserve price for maximizing the revenue of those publishers choosing the online RTB channel and the hybrid *** also compared these three strategies in pursuit of finding the proper strategy for publishers when selling ad impressions with different qualities.
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