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In the process of automatic welding based on structured light vision, the precise localization of the welding seam in an image has an important influence on the quality of the welding. However, in practice, there is much interference, such as spatter and arc, which introduces great challenges for accurate welding seam localization. In this paper, we considered welding seam localization problem as...
This paper proposes a novel approach, Simultaneous Path Planning and Topological Mapping (SP2ATM), to address the problem of path planning by registering the topology of the perceived dynamic environment as opposed to the conventional grid representation. The local topology is encoded, concurrent and incremental with path planning, by extracting only the admissible free space. The resulting Admissible...
In this paper, adaptive control is studied for a class of nonlinear discrete-time systems in parameter-strict-feedback form with both parametric and non-parametric uncertainties. The non-parametric uncertainty function is assumed to satisfy the Lipschitz condition. To achieve asymptotical tracking performance, estimation of both uncertainties is constructed. Future states are predicted to overcome...
In this paper, we investigate the control design for a class of strict-feedback nonlinear systems preceded by unknown backlash-like hysteresis. Using the characteristics of backlash-like hysteresis, adaptive dynamic surface control (DSC) is developed without constructing a hysteresis inverse. The explosion of complexity in traditional backstepping design is avoided by utilizing DSC. Function uncertainties...
In this paper, adaptive control is studied for a class of discrete-time nonlinear systems in strict-feedback form. The systems are with unknown control gains and are proceeded by hysteresis. Prandtl-Ishlinskii (PI) model is used to describe the hysteresis. The control design is based on the predicted future states and discrete Nussbaum gain is employed in the parameter update law to deal with the...
Adaptive control is presented for a class of electrostatic micro-actuators with bidirectional drive. The objective is to track a reference trajectory within the air gap without knowledge of the plant parameters. Motivated by practical difficulties in measuring velocity of the moving plate, an output feedback scheme is developed. After transforming the plant into the parametric output feedback form,...
In this paper, we investigate the leader-follower formation control of underactuated autonomous underwater vehicles (AUVs). By using position measurements from the leader, we design a virtual vehicle such that the trajectory of the virtual vehicle converges to the reference trajectory of the follower. A position tracking control is designed for the follower to track the virtual vehicle using Lyapunov...
In this paper, adaptive neural network (NN) control is investigated for a class of block triangular multi-inputmulti-output (MIMO) nonlinear discrete-time systems with each subsystem in pure-feedback form with unknown control directions. Each subsystem is transformed into a predictor form such that the noncausal problem can be avoided in the control design. By exploring the properties of block triangular...
In this paper, we develop decentralized control to drive a swarm of mobile agents into a moving target region while avoiding collisions among themselves. This is achieved with the help of target potential functions and collision avoidance potential functions in Lyapunov synthesis. A basic control framework is designed on a kinematic model. There are neither requirements for pre-specified desired trajectories...
This paper investigates the stability of switched linear systems with the perturbed switching. In premises of introducing the notions of common child-path and parent-path, we define distance between switching paths. A constructive procedure is proposed for finding common child-paths, then we reveal a relationship between common child-path and parent-path, and subsequently formulate the distance. Finally,...
This paper is concerned with simultaneous stability of a collection of continuous-time linear plants whose feedback control loops are closed via a shared digital communication network. Because of the limitation of communication capacity, only a limited number of controller-plant connections can be accommodated at any time instant. Therefore, it is necessary to carefully design the scheduling policy...
In this paper, robust adaptive neural tracking control is developed for a class of uncertain SISO nonlinear systems in a Brunovsky form with unknown nonlinear dead-zone and unknown control gain & its sign. The design is based on the principle of sliding mode control and the use of Nussbaum-type function in solving the problem of the completely unknown function control gain. A novel description...
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