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An off-line min-max MPC strategy is proposed for constrained nonlinear systems, whose trajectories can be embedded within those of a bank of linear parameter varying models via an embedding scheme. The off-line min-max MPC algorithm is used to determine the control law for each LPV embedding model corresponding to invariant ellipsoidal sets constructed off-line. The control law which will be implemented...
This paper addresses the problem of planning paths for multiple mobile robots moving in the same environments. We try to decrease the computational complexity of path planning, which is one of the fundamental limiting characteristics in the existing work of path planning. Unlike many other approaches to this problem, we assume the robots are restricted by the limited-communication range such that...
The feedback control problem for the parabolic distributed parameter systems without or with time-delay are investigated. The system model contains convection terms. Firstly, the feedback control law is designed for a class of the parabolic distributed parameter systems without time delay. Then this result is extended to the case with time delay and the feedback control law is designed for a class...
Current vehicle navigation systems estimate the vehicle position from the Global Positioning System (GPS) signals and INS signals. However, because of the unknown GPS noise, the estimated position has an undesirable error. To solve this problem, a novel map matching method based on adaptive fuzzy-neural network (AFNN) is proposed in the paper, two important parameters are selected as the networks...
The potential filed method is proposed to solve the bottom navigation problem of an underactuated autonomous underwater vehicle, including the bottom avoidance problem and the bottom following problem. The desired depth is treated as a stationary goal and the sea bottom is a moving obstacle in the bottom avoidance problem. And the desired altitude above the bottom is a moving goal and the maximum...
A controller is designed to drive buck DC power converter systems based on smooth sliding mode control and backstepping design method. The controller can limitly track the reference output voltage trajectory and make the tracking error arbitrarily small, at the same time considering the parameter uncertainty of load resistance and the attenuation of electrical source. It belongs to practice tracking...
The purpose of this paper is to design robust guidance laws of the missile to the maneuvering target based on guaranteed cost (GC) control. The robust stabilizing GC controller is designed in terms of linear matrix inequalities (LMIs), and the optimal guaranteed cost (OGC) controller is given. Simulations are implemented by digital control in several cases of maneuvering targets and launching sites,...
In this paper, a new variable structure control method involving fuzzy adaptive regulation of reaching law is presented for seismically-excited building structures. The undue chattering effect, the major disadvantage of conventional variable structure controllers, has been avoided by introducing this new method without losing the robustness against parametric uncertainties and modelling inaccuracies...
A novel robust Hinfin decentralized intelligent control (RHDIC) strategy is proposed for the trajectory following problem of robot manipulators. The proposed system is comprised of a computed torque controller and neural robust controller with new learning algorithm. Based on Lyapunov stability theorem, it is shown that the proposed controller can guarantee stability of closed-loop systems and satisfactory...
A new trajectory planning approach for robot manipulators is proposed. The state space for manipulator system is defined and constructed, by which the reachable scope of the system state is traced out according to the systempsilas internal and external constraints. Conditions of performing successfully the task are given. For realizable task, the optimal strategy for task execution is obtained. If...
A fuzzy sliding mode controller for permanent magnet synchronous motor (PMSM) is designed to solve the chatting problem in this paper. The sliding mode controller based the assumption of known uncertainty bounds often cause the chattering phenomena in the control system. So a simple fuzzy controller with sliding mode technique is used to evaluate the uncertainty bounds of PMSM which are caused by...
The kinematical model of Wheeled Mobile Robots (WMRs) in discretized form was analyzed and established. A fuzzy controller, which can benefit from the driving experience of human, was designed to control the WMRs for the path tracking. In order to obtain stop position as accurately as possible while keeping a reasonable speed, an algorithm named slow-down PID control is proposed for the stopping control...
The real-time torque calculation and dynamic modeling have been the difficulties in the motion control of the permanent magnet spherical stepper motor. Based on the presented continuous trajectory tracking control mode, a simplified torque calculation method and the non-linear system dynamic model have been proposed. The perturbation of the system parameters, the model error and the external disturbance...
Autonomous behavior motion planning with kinematics constrains is improved for lunar rovers. The behavior controller is implemented by fuzzy system, and the hybrid architecture is adopted to ensure both the robustness and optimization. Velocity and turning radius are chosen as the output of fuzzy behavior to decouple the velocity and angle velocity. Behavior decision field (BDF) is presented, and...
A new ANN (artificial neural network) structure is proposed to learn dynamics model of robot. The characterizing feature is that some integral units are appended to a recurrent ANN structure, so it can image dynamic process commendably. Generalization capacity of the learning dynamics model is discussed, as well as its application in optimization, etc. The effectiveness of the method is confirmed...
Different cases of master-slave configurations are considered, which involve time delays in their communication and eventually in their interconnections. The master system is assumed to track a reference trajectory and the slave is subject to the tracking of the master. The challenge is the design of causal control solutions.
S-shape acceleration/deceleration algorithms play a key role in the development of high speed CNC.This paper first describes the basic formulation of S-shape Acc/Dec, in which the jerk, acceleration, velocity, displacement are discussed in detail. Based on the above considerations, a novel S-shape Acc/Dec algorithm equipped with rounding error compensation tactic is employed which compensates the...
This paper describes a new human-machine interface based on mouth open/close motions. User attached the developed controller with the skin surface to observe the moth open/close states. The controller equipped a tiny magnet sensor by which the slight relative displacement between the upper and lower skin point of mouth could be measured. For a higher recognition ratio, the controller had a flexible...
This paper puts forward a teleoperation system to control humanoid robot BHR-02 using joystick, which is convenient and simple for manipulation. This teleoperation system gives a friendly and human-based operation interface. And the system provides a switching command method for users to choose the part of the robot to operate using the joystick. Moreover the on-line trajectory switching is realized...
The control problem of coordinated motion of free-floating dual-arm space robot with external disturbance is discussed. Combined the linear momentum conversation and the Lagrangian approach, the full-controlled dynamic equations of free-floating space robot with dual-arms is established and then inverted to the state equation for control design. Based on the terminal sliding mode control (SMC) technique,...
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