A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and ...
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ISBN:
(纸本)9781479936519
A new kind of nonlinear control law is proposed for the purpose of improving servo platform tracking performance under condition of rapid movement. On the basis of linear ADRC, an arctangent function is selected, and smoothly extended to an anti-S curve. The new method retains the feature of estimating and compensating the internal un-modeled dynamics and external disturbances. Simulation and comparison tests show that system using new control method has faster and more accurate tracking results.
In this paper, the asymptotical stabilization problem for ordinary differential equations switched systems has been extended to distributed parameter switched systems(DPSS) in Hilbert space. Based on semigroup and ope...
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In this paper, the asymptotical stabilization problem for ordinary differential equations switched systems has been extended to distributed parameter switched systems(DPSS) in Hilbert space. Based on semigroup and operator theory, sufficient conditions of asymptotical stabilization for linear DPSS are derived in linear operator inequalities(LOIs)framework. Being applied to three dimensional switched heat propagation equations, we transform the LOIs into the linear matrix inequalities(LMIs), which has the advantage of being numerically well tractable by using matlab software. In particular, the state feedback gain matrices are designed. Two examples are given to illustrate the proposed results.
With the rapid growth of Web services on the Internet, the atomic Web services as nodes and their functionality dependency relationships as edges form a complex Web service network. Various interactions between Web se...
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This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measur...
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This paper introduces an approach to estimate the true states for stochastic Boolean dynamic system(SBDS), where the state evolution is governed by Boolean functions with additive binary process noise while the measurement is an arbitrary function of the state yet with additive binary measurement *** problem of figuring out the true state using the only available noisy outputs is crucial for practical applications of Boolean dynamic system models, however, for such Boolean systems with wide background, there are no ready-to-use convenient tools like Kalman filter for linear systems. To resolve this challenging problem, an approach based on Bayesian filtering called Boolean Bayesian Filter(BBF) is put forward to estimate the true states of SBDS, and an efficient algorithm is presented for their exact computation. An index to evaluate the filtering performance,named estimation error rate, is put forward in this paper as well. In addition, extensive simulations via actual examples have illustrated the effectiveness of the proposed algorithm based on BBF.
A novel method is presented to solve many problems of joints for space manipulator, such as large volume, large flexibility, complex routing and low system-control precision, which can realize integrated design for sp...
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In the presence of negative weights in communication graph, bipartite consensus is an extension of the traditional consensus problems where the communication weights are all positive. An output-based distributed contr...
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ISBN:
(纸本)9781479944873
In the presence of negative weights in communication graph, bipartite consensus is an extension of the traditional consensus problems where the communication weights are all positive. An output-based distributed control protocol is established to solve the bipartite consensus of the homogeneous multi-agent systems. Bipartite consensus problem is equivalent to a linear stabilizable and detectable problem by introducing a gauge transformation. If the multi-agent systems can reach the bipartite consensus, then the signed digraph should be structurally balanced and contains a spanning tree. Finally, the implementation provides three cases to validate the effectiveness of our developed criteria.
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 paper. The ...
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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 paper. The 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 time. Besides, special forms of load torque, hinge moment, and sinusoidal torque disturbances have been taken into consideration in this paper. The proposed control strategy is verified via simulation. High performance with respect to position tracking and robustness to load disturbances and parametric uncertainties of the motor have been demonstrated.
This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve high-performance attitude control in the absence of dis...
This paper aims to present a robust attitude control strategy with guaranteed transient performance. Firstly, a Lyapunov-based control law is designed to achieve high-performance attitude control in the absence of disturbance and parameter variation. The proposed control law uses small feedback gains to suppress the control torque at large attitude error, and increases those gains with the convergence of attitude error to accelerate the system response. The overshooting phenomenon is also avoided by imposing a restriction on the parameter selection. Then, the integral sliding mode control technique is employed to improve the robustness, where the Lyapunov-based control law is used as the equivalent control part. Theoretical analysis and simulation results verify the effectiveness of the proposed strategy.
A pose estimation approach for the navigation of mobile robot in unknown environments is proposed. Compared with the existing mainstream SLAM, the proposed approach has a better generality without the help of odometer...
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A pose estimation approach for the navigation of mobile robot in unknown environments is proposed. Compared with the existing mainstream SLAM, the proposed approach has a better generality without the help of odometers or motion models and it is completely based on external environment perceived by a laser sensor. In each of the laser frames, landmark points are first determined and they are then coded into a series of description matrixes. On this basis, by considering the landmarks matching in two neighboring laser frames, the pose change of the robot may be calculated, and the understanding of laser-based landmarks by geometric coding is achieved. The proposed approach is proved to be effective by the experiments of a tracked robot.
An optimal control problem of switched affine systems with continuous-time inequality constraints is considered in this paper. By introducing auxiliary piecewise constant function, Fischer-Burmeister function, control...
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An optimal control problem of switched affine systems with continuous-time inequality constraints is considered in this paper. By introducing auxiliary piecewise constant function, Fischer-Burmeister function, control parametrization enhancing transform (CPET) and smoothing technique, the optimal control problem is transformed into a parameter optimization problem with a single linear equality constraint and simple bounds on the variables. Then, the original problem can be solved using any gradient-based method. Finally, a flying capacitor converter is solved to illustrate the efficiency of our method.
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