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Particle impoverishment, which always leads to accuracy decreasing, is a classical problem of the traditional particle filter resampling. A particle filter resampling method based on improved genetic algorithm is proposed in this paper to solve the problem. In the improved algorithm, a genetic resampling step is applied for particle reproduction. The main work of the improved algorithm include two...
This paper develops a multiple-model switching control based adaptive failure compensation scheme for hypersonic vehicles with some stuck actuators. The system uncertainties, caused by failures and unknown inertia parameters, are first parameterized. Then multiple adaptive dynamic estimators are designed, based on which, multiple adaptive control signals are designed using an error transformation...
The power curve of a wind turbine plays a significant role in design, operation, control and monitoring of wind turbines. Especially, it provides necessary information for wind farm maintenance decisions, allowing for not only comparison among the same type of wind turbines installed in different place but also the same one at different time stamps. In this study, a standardized wind turbine power...
In this paper, the vehicle dynamics model for a cooperative platoon with leader-following communication strategy is established by feedback linearization method when considering the slope angle of the road. Based on the model, a distributed control law is proposed with the state information of leading and preceding vehicles. In order to ensure individual vehicle stability, Routh-Hurwitz criterion...
In this paper, constrained model predictive control (MPC) based on parallel neural network optimization is proposed to apply to pulse width modulation (PWM) rectifier and improve power quality. An decoupled model of three-phase rectifier in abc coordinates is built. Then, the constrained MPC method is proposed. This method breaks the limits of predictive control with finite set and without constraints...
Ophthalmic surgery is a typical microsurgery, where the surgical progress imposes huge challenges on delicate operations to surgeons. The fixation plays an important role in restriction the head movement and also providing a friendly interaction with both patients and surgeons. A fixation specific for ophthalmic robotic set-ups is developed in this paper for a hybrid parallel-serial robot. Evaluations...
In order to meet the requirement of autonomous navigation in deep space exploration, this paper presents a novel visual navigation method. The visual navigation algorithm based on single feature matching is a common visual method to calculate the attitude and position of a lander. However, the algorithm based on feature line matching or crater matching is great limited due to the feature line extracted...
In view of the shortcomings of the previous genetic algorithm in solving the problem of path planning of robot, this paper has improved it on the basis of the traditional genetic algorithm. The environment model is built by the grids and the fixed length serial number coding is used to encode. The random search method and the ascending order method are combined to generate the initial population....
In view of the shortcoming that the traditional video monitoring device is inconvenient to move, in this paper, we take the tracked intelligent vehicle as the research object and design a mobile video monitoring system based on Android. The system collects the video information of the environment around the intelligent vehicle through the camera and then transmits the video information to the Android...
In order to reduce the error caused by the inaccuracy of the sensor data and the wear of the mechanical structure in the motion control of manipulator and improve the self-learning ability of manipulator, this paper investigates a new method. We first use Kalman filter to compensate the error by fusing sensor data and the state error of the manipulator. Then, we use Q-learning to make manipulators...
It is difficult to obtain failure data in stability analysis of long lifetime gyro such as hemispherical resonator gyro. Therefore, traditional stability analysis methods based on failure data is useless in stability analysis of long lifetime gyro. A stability analysis method based on probability statistics is proposed in this paper to solve this problem. In this method, Weibull distribution is applied...
Periodic event-triggered control for the consensus problem of multi-agent systems is investigated in this paper. Triggering conditions are discussed in two cases: 1) with communication between neighbors at each verification time, 2) with communication at triggering times. Based on Lyapunov theory and algebraic graph theory, consensus conditions on the verification period and triggering condition parameters...
In order to solve a series of problems about IT service management in Enterprise, such as lower efficiency and service quality, complexed business processes and communication patterns, huge static management data and dynamic control data, etc., an intelligence-awareness IT service management platform, which is based on the Cyber Physical System (CPS) for constructing smart Industry 4.0, is proposed...
With the rapid development of wind power generation technology, how to enhance the capture efficiency of wind turbines is still a challenging problem due to the stochastic characteristics of wind speed. In this paper, an effective wind speed estimation (EWSE) based Maximum Power Point Tracking (MPPT) controller for variable-speed wind turbines (VSWT) is presented. A wind speed estimation model is...
This paper presents a fast and accurate method for real-time 3D reconstruction by using a depth camera and inertial sensor. Generally, the localization information of the camera is obtained from the depth data by using the ICP (Iterative Closest Point) algorithm. When the depth camera moves fast, ICP will converge to a bad local minimum which results in tracking failure. To prevent this case, a camera...
In the AHRS using accelerometer can correct the error when calculating the attitude information of gyroscope. However, in the AHRS work process, the accelerometer measures the acceleration of gravity is affected by the external acceleration, and the accuracy is lost, which leads to the increase of the error of the attitude information. In order to estimate the external acceleration, this paper proposes...
The dual-channel SiC MESFET is ameliorated for application in high power fields. The current density and breakdown performance are simulated by using ISE-TCAD. The maximum saturation current density and breakdown voltage are about 420 pA/pm and 155 V, respectively, which are larger than those of the dual-channel 4H-SiC MESFET, 270 pA/pm and 141 V. The resultant maximum output power density is 7.4...
Model predictive control (MPC) relies heavily on the accurate mathematical model which is usually difficult to be obtained. Parameters of permanent magnet synchronous motor (PMSM) would be changed in real time and influenced by uncertain factors. For this purpose, this paper proposes a multiparameter identification strategy for PMSM based on MPC. The simulation is carried out and its results show...
Traffic retention is an important factor of intelligent transportation system, which can vividly reflect current state of the road. Accurate estimation of traffic retention can provide support for the dynamic allocation of the traffic signal, thus alleviating the problem of urban traffic congestion. The traditional method can only estimate the long-term or red light traffic retention according to...
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