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In this paper, sampled-data repetitive learning control of electro-hydraulic actuator used in lower limb exoskeleton for rehabilitation is addressed. The controller is proposed entirely in the discrete-time domain. First, the discrete-time model of the electro-hydraulic actuator is derived by direct discretization using Euler approximation, where the equivalent mass and force acted on the electro-hydraulic...
This paper proposes an effective method to balance the confliction between higher steady-state precision and stronger robustness in sliding-mode control systems. Based on the relationship between steady-state precision and sliding-mode surface parameters, three sliding surfaces are used in the design of sliding-mode control (SMC). The first and the second sliding-mode surfaces are mainly responsible...
In 2008, we proposed a clustering algorithm called improved kernel based fuzzy c-means clustering algorithm (IKFCM) to improve the performance of the original fuzzy c-means clustering algorithm. In this paper, we analyze the convergence of the IKFCM by means of Zangwill's convergence theorem. The result shows that arbitrary sequences generated by IKFCM always terminates at a local minimum or saddle...
B. Kamgar-Parsi applies iterative closest contour point (ICCP) algorithm into underwater gravity matching, in which simplex algorithm is used to estimate the optimal trace of vehicle. However, simplex algorithm is usually convergent to the local optimization so that there is mismatching or even diverging. In this paper, the rule of mismatching judgment for ICCP is established to reduce mismatching...
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