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A sliding mode position tracking control scheme is proposed for a two-link robotic manipulator in this paper. A nonlinear disturbance observer (NDO) is taken to enhance trajectory tracking precision and system robustness since the robotic manipulator usually suffers from system uncertainty and disturbance in complex external environment. The closed-loop system stability is analyzed based on the Lyapunov...
In general, the use of genetic algorithms (GA) for unmanned aerial vehicle (UAV) path planning in the whole mission area will cause detours. To improve this issue, a hierarchical genetic algorithm with optimized search region (OSR-HGA) is proposed. This algorithm reduces the search area of hierarchical genetic algorithm automatically by evaluating the distribution of threat sources in the mission...
In this article, a sliding mode control strategy is developed for the position tracking of a two-degree-of-freedom serial flexible link (2DOFSFL) robot. Considering that the 2DOFSFL robot usually suffers disturbances from internal friction produced by direct current motors and unknown external environment, a nonlinear disturbance observer (NDO) is introduced to improve the accuracy and robustness...
The problem of unsteady aerodynamic is a significant research topic in the post-stall maneuver of the new generation jet fighter. The modeling development of the unsteady aerodynamic is important to the further study on the deep stall and spin. However, the conventional method can hardly handle the unsteady aerodynamic with immeasurable and time-varying characteristic. In this paper, a deep-stall...
In this paper, a sliding mode attitude controller with a two-cascaded loop structure is designed for the attitude control of a quadrotor micro unmanned aircraft vehicle. Considering that the quadrotor systems usually suffer external disturbances in the practical flight, a nonlinear disturbance observer is introduced to improve the robustness of the attitude controller. Extensive simulations show that...
In order to guarantee the flight safety of aircraft during the post-stall maneuver, different flight state boundaries are calculated by using numerical calculation technique under the condition of high dynamic pressure and low dynamic pressure, respectively. Under the high dynamic pressure, the angle of attack boundary is calculated for the pitching maneuver on the basis of the limit load factor value...
Wing rock is a highly nonlinear phenomenon, which is a main limit-cycle oscillation for an aircraft operating at subsonic speeds and high angles of attack. It is a challenge to design a valid controller under the condition that there exists model error and external disturbance. In this paper, a sliding mode disturbance observer based on homogeneity is proposed to improve the disturbance estimate performance...
In this paper, the flight motion model for near-space vehicle with an oblique wing is presented, and the flight control system is developed using dynamic inversion method. Firstly, based on its asymmetry configuration and special aerodynamic characteristic, the six-degree-of-freedom nonlinear equations of flight motion are derived using Newton's second law and law of inertia via considering the influence...
Formation control using feedback linearization is developed in this paper. The purpose of the work is that the relative trajectory between follower and leader is linearized in velocity coordinate system in order to accurately control its dynamic process. Considering not all states of the leader which are necessary for complete linearization can be measured in some cases, both full state feedback and...
In order to analysis models of fault management systems in power plants, a method combining software engineering techniques and DEDS (discrete event dynamic system, DEDS) models was put forward in this paper. Fault detection system was proposed as an example to set up models. Firstly, the UML charts and corresponding Petri nets were founded. Then, in order to optimize the model, reduction rules were...
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