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In this study, a general U-model based design procedure is expanded to super twisting control of nonlinear polynomial systems, which is named as U-super twisting control in short. A discrete time super twisting reference model is proposed with proper convergence precision and convergence time for nonlinear dynamic plants including non-affine systems. Two bench test examples (non-affine plants which...
An ant colony algorithm using endpoint approximation is proposed for robot path planning under a unknown and static environment. In this algorithm the model of robot's workspace is established with grid method and fold-back iterating is used to search the aims. A heuristic factor based on the most pheromone in a moving direction range and a goal guiding function is used during the searching process...
To resolve the problem of the non-integrability of non-linear dynamic equation, the concept of “time-status space” is introduced, and the integrated function is expanded as Taylor series of independent variables at initial status in the space of time-status. And then, the non-linear dynamic equation is changed to be integrability, and the any order approximate solutions for independent variables of...
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