In this paper,we propose a control algorithm for quadruped walking robots to track the Zero Moment Point(ZMP)trajectory using Preview *** critical moment of trot pace,we can assume the robot as a linear inverted pendu...
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ISBN:
(纸本)9781479947249
In this paper,we propose a control algorithm for quadruped walking robots to track the Zero Moment Point(ZMP)trajectory using Preview *** critical moment of trot pace,we can assume the robot as a linear inverted pendulum so that the linear inverted pendulum model can be applied to describe the dynamic behavior of our quadruped robot.A preview controller therefore is designed for this non-minimum phase system to get the optimal input of the *** reference trajectory can be decomposed into two *** is on the direction of movement,and the other is on the vertical direction of *** the preview controller we can track the reference in both two directions and the optimal trajectory tracking can be achieved.
This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters a...
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This paper is concerned with the parameter and state estimation problem in the presence of the observer gain perturbations for a class of fractional order nonlinear systems which are linear in the unknown parameters and nonlinear in the states. According to the equivalent frequency distributed model of fractional integrator, the direct Lyapunov approach is adopted to derive a nonlinear adaptive non-fragile observer. The gain for the non-fragile observer is systematically obtained in terms of linear matrix inequality(LMI). A numerical example is provided to illustrate the efficiency and validity of the proposed approach.
In this paper, two multiple description coding schemes are developed, based on prediction-induced randomly offset quantizers and unequal-deadzone-induced near-uniformly offset quantizers, respectively. In both schemes...
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Recently with the development of high-speed railways, the traditional train communication network (TCN) can barely meet the increasing demand of realtime and high data rate transmission requirements. In this study, a ...
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As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. Ho...
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As one of key technologies in photovoltaic converter control, Maximum Power Point Tracking (MPPT) methods can keep the power conversion efficiency as high as nearly 99% under the uniform solar irradiance condition. However, these methods may fail when shading conditions occur and the power loss can over as much as 70% due to the multiple maxima in I – P curve in shading conditions v.s. single maximum point in uniformly solar irradiance. In this paper, a Real Maximum Power Point Tracking (RMPPT) strategy under Partially Shaded Conditions (PSCs) is introduced to deal with this kind of problems. An optimization problem, based on a predictive model which will change adaptively with environment, is developed to tracking the global maxima and corresponding adaptive control strategy is presented. No additional circuits are required to obtain the environment uncertainties. Finally, simulations show the effectiveness of proposed method.
Fractional order proportional-integral-derivative (FOPID) controller generalizes the standard PID controller. Compared to PID controller, FOPID controller has more parameters and the tuning of parameters is more compl...
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Fractional order proportional-integral-derivative (FOPID) controller generalizes the standard PID controller. Compared to PID controller, FOPID controller has more parameters and the tuning of parameters is more complex. In this paper, an improved artificial bee colony algorithm, which combines cyclic exchange neighborhood with chaos (CNC-ABC), is proposed for the sake of tuning the parameters of FOPID controller. The characteristic of the proposed CNC-ABC exists in two folds: one is that it enlarges the search scope of the solution by utilizing cyclic exchange neighborhood techniques, speeds up the convergence of artificial bee colony algorithm (ABC). The other is that it has potential to get out of local optima by exploiting the ergodicity of chaos. The proposed CNC-ABC algorithm is used to optimize the parameters of the FOPID controller for an automatic voltage regulator (AVR) system. Numerical simulations show that the CNC-ABC FOPID controller has better performance than other FOPID and PID controllers.
In this paper, new Lyapunov-based reset rules are constructed to improve ℒ 2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and fin...
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In this paper, new Lyapunov-based reset rules are constructed to improve ℒ 2 gain performance of linear-time-invariant (LTI) systems. By using the hybrid system framework, sufficient conditions for exponential and finite gain ℒ 2 stability are presented. It is shown that the ℒ 2 gain of the closed loop system with resets can be improved compared with the base system. Numerical example supports our results.
Track-before-detect (TBD) is effective on weak target detection in passive bistatic radar (PBR). The probability of false alarm (PFA) and the probability of detection (PD) in TBD based on dynamic programming algorithm...
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Track-before-detect (TBD) is effective on weak target detection in passive bistatic radar (PBR). The probability of false alarm (PFA) and the probability of detection (PD) in TBD based on dynamic programming algorithm (DPA) are determined by threshold. The extreme value theory and generalized Pareto distribution are usually used to obtain the relationship between PD, PFA and threshold. However, DPA must be performed several times to estimate parameters resulting in much processing time. An iterative method based on Gaussian distribution is another solution but is not suitable for the Chi-square distribution in PBR. Therefore fast threshold determination methods without Gaussian assumption are proposed in this paper. First, a data simulation method is presented. Then an approximation of PD is introduced to further reduce the complexity. Moreover, empirical formulas based on the hypothesis of Chi-square distribution are developed for real-time processing. Simulations verify that the methods are more suitable for real-time processing.
Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-fr...
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Map-matching algorithms integrated with GPS/DR are widely used for high precise self-localization in everyday ***,GPS signal is not available in many places,*** or jammed signals.A state-of-theart solution is a GPS-free map-matching algorithm with a probabilistic model as well as an efficient approximate inference *** that algorithm is computationally efficient,it still puts high demands on the computation and driving *** paper adopts the model and presents an extended probabilistic self-localization algorithm using hybrid maps which include terrain maps and road network *** show that the extended probabilistic algorithm enhances the real-time performance and relaxes the requirement of the shape of the *** proposed vehicle self-localization algorithm meets positioning requirements of ITS and it can provide references for actual use of map-matching algorithm in ITS.
作者：
Liang, HailiSu, HoushengWang, XiaofanChen, Michael Z.Q.[a] Department of Automation
Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai 200240 China[b] School of Automation Key Laboratory of Ministry of Education for Image Processing and Intelligent Control Huazhong University of Science and Technology Luoyu Road 1037 Wuhan 430074 China[c] Department of Mechanical Engineering The University of Hong Kong Hong Kong
This paper investigates the problem of swarm aggregations of heterogeneous multi-agent systems. Comparing with the existing studies on swarm aggregations of homogeneous multi-agent systems, this paper is much more res...
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This paper investigates the problem of swarm aggregations of heterogeneous multi-agent systems. Comparing with the existing studies on swarm aggregations of homogeneous multi-agent systems, this paper is much more resembling the practical situations, where the agents have different dynamics. We show that the heterogeneous agents will gather with a certain error under some assumptions and conditions. The stability properties have been proven by theoretical analysis and verified via numerical simulation. The stability of the heterogeneous multi-agent systems has been achieved based on matrix theory and the Lyapunov stability theorem. Numerical simulation is given to demonstrate the effectiveness of the theoretical result. [PUBLICATION ABSTRACT]
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