In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theo...
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ISBN:
(纸本)9781509009107
In this paper we formulate and solve a pursuit-evasion game in which a single faster player chases several evaders with the same properties. We analyze the optimal motion strategies of the both sides by using the theory of differential games, which helps simplify computation complexity and meet an ideal result. We discuss the situation of one faster pursuer and one evader under some basic assumptions in which the amount of evaders increases by steps in the full visibility case. We apply the task allocation method to simulate the optimal motion track in both fixed sequence capture mode and free sequence capture mode of the pursuer. The optimal motion strategies acquired by differential games theory respond faster than those acquired in traditional ways. We prove all the chase process discussed with differential games by MATLAB simulation.
For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture accordi...
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ISBN:
(纸本)9781538629185
For the control method based on SLIP model and the trisection method of quadruped robot can not be applied in the parallel quadruped wheel-foot robot,a new walking control method which can control body posture according to ZMP theory is put *** problem that robot can easily tip during trotting is solved by selecting landing *** structure of the parallel quadruped wheel-foot robot is *** planning algorithm is shown in *** prototyping based on Matlab and Adams integrated simulation platform is *** simulation results show the effectiveness of the new control algorithm.
This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnos...
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This research provides a novel approach for detecting multi-legged robot actuator *** most significant concept is to design the Fault Diagnosis Generative Adversarial Network(FD-GAN)to fully adapt to the fault diagnosis problem with insufficient *** found that it is difficult for methods based on classification and prediction to learn failure patterns without enough data.A straightforward solution is to use massive amounts of normal data to drive the diagnostic *** introduce frequency-domain information and fuse multi-sensor data to increase the features and expand the difference between normal data and fault data.A GAN-based framework is designed to calculate the probability that the enhanced data belongs to the normal *** uses a generator network as a feature extractor,and uses a discriminator network as a fault probability evaluator,which creates a new use of GAN in the field of fault *** the many learning strategies of GAN,we find that a key point that can distinguish the two types of data is to use the hidden layer noise with appropriate discrimination as the *** also design a fault location method based on binary search,which greatly improves the search efficiency and engineering value of the entire *** have conducted a lot of experiments to prove the diagnostic effectiveness of our architecture in various road conditions and working *** compared FD-GAN with popular diagnostic *** results show that our method has the highest accuracy and recall rate.
A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendi...
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A nonlinear robust trajectory tracking strategy for a gliding hypersonic vehicle with an aileron stuck at an unknown position is presented in this paper. First, the components of translational motion dynamics perpendicular to the velocity are derived, and then a guidance law based on a time-varying sliding mode method is used to realize trajectory tracking. Furthermore, the rotational equations of motion are separated into an actuated subsystem and an unactuated subsystem. And an adaptive time-varying sliding mode attitude controller is proposed based on the actuated subsystem to track the command attitude and the tracking performance and robustness are therefore enhanced. The proposed guidance law and attitude controller make the hypersonic vehicle fly along the reference trajectory even when the aileron is stuck at an unknown angle. Finally, a hypersonic benchmark platform is used to demonstrate the effectiveness of the proposed strategy.
Analysis and design techniques for cooperative flocking of nonholonomic multi-robot systems with connectivity maintenance on directed graphs are presented. First, a set of bounded and smoothly distributed control prot...
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The problem of flocking of second-order multiagent systems with connectivity preservation is investigated in this paper. First, for estimating the algebraic connectivity as well as the corresponding eigenvector, a new...
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The problem of distributed coordinated tracking control for networked Euler-Lagrange systems without velocity measurements is investigated. Under the condition that only a portion of the followers have access to the l...
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Central pattern generator (CPG) model can form stable periodic signal through self-excited oscillation without high-level central control. Hopf oscillator is an implementation of CPG model, which has the characteristi...
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This paper deals with the problem of 4D pose estimation for large unmanned aerial vehicles (UAVs) in close range. A sensor system consisting of one single point laser range-finder and two cameras is designed and a nov...
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