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This paper considers the generalized projective synchronization problem for an array of non-identical coupled chaotic systems with ring connections. By using the direct design method, the control laws, which transform the error system into a nonlinear system with special antisymmetric structure, are designed to realize the generalized projective synchronization. Some simple stability criteria are...
In this paper, a coordinated tracking control problem is studied for coupled nonholonomic mobile robots with limited information of a reference trajectory. A distributed control law with adaptive time-varying gains is proposed to guarantee that the robots can form a prespecified geometric pattern while the centroid of the geometric pattern can track the reference signal. By designing the adaptive...
Crawler robot has been used widely in many areas because of its excellent adaptation for all kinds of complex terrain. As one of automatic control methods for the trajectory trace of robot, sliding mode control has advantages over others because of its non-sensitivity and capability of quick response when the system parameters change, it will be used in this paper for the trace of trajectory. To begin...
A direct method is discussed for multistage launch vehicle ascent trajectory optimization. First the optimal control problem is modeled with the performance index as maximum terminal mass. A modified Gauss Pseudospectral method is used to design a rapid optimal algorithm for multistage launch vehicle ascent trajectory. The nonlinear terminal state constraints are converted into linear terminal state...
Compared with the conventional optimization approaches, Gauss Pseudospectral Method (GPM) can deal better with optimal problems with complex constraints and is less time consuming. As a numerical technique, GPM transforms the optimal control problem to a nonlinear programming problem (NLP) by using discrete approximation. This paper considers a cruise missile's mission which is to hit a fixed target...
An integrated guidance and control model for missile control system design is established in this paper. Finite-time stability theory is used to design a finite-time convergent guidance and control law based on the proposed model. Some simulation tests are done to verify the validity of the control law designed in this paper and the advantages compared with other guidance laws. The results show the...
In this paper, a fractional-order sliding mode controller is proposed to realize the finite-time stabilization of fractional order (FO) system. The FO systems are perturbed by model uncertainties and external disturbances. First, a new fractional non-singular terminal sliding surface with desired dynamics is proposed. Subsequently, on the basis of Lyapunov function and finite-time control theory,...
In this paper, we study the problem of path following control for a non-minimum phase vertical take-off and landing (VTOL) aircraft. To locate the point on the desired path that corresponds to the minimum distance between the aircraft's position and the desired path, the projection method is used. Thus the proposed controller, consisting of feed-forward and state-feedback, not only forces the VTOL...
The Boolean network is a powerful tool in describing, analyzing, and simulating the cellular networks. In this paper, we investigate stability of given subsets (or set stability) for Boolean networks which includes synchronization problem as a special case. First of all, based on the semi-tensor product of matrices and the algebraic expression of Boolean networks, we derive some necessary and sufficient...
Following the de Broglie's idea of pilot wave, this paper treats quantum mechanics as a problem of stochastic optimal guidance law design. The guidance scenario considered in the quantum world is that an electron is the flight vehicle to be guided and its accompanying pilot wave is the guidance law to be designed so as to guide the electron to a random target driven by Wiener process, while minimizing...
In this paper, distributed containment control problems of the second-order multi-agent systems under the undirected communication topology are investigated. Based on the LaSalle's Invariance Principle and the control protocols proposed in this paper, some necessary and sufficient conditions for the achievement of containment control are respectively proposed in the presence of multiple stationary...
This paper studies the synchronization problem of multi-agent systems with nonlinear dynamics in mean square. It is supposed that the measurement of relative-state is disturbed. For the nonlinear multi-agent systems, we show that the conventional consensus protocols are robust against the measurement noises which are dependent to the relative-state. Simulations are provided to demonstrate the theoretical...
A tracking guidance scheme based on nonlinear model predictive control is proposed for low-thrust transfer trajectory. According to the optimal nominal transfer trajectory, the NMPC is used to design the predictive model of perturbed orbit. Performance index of receding optimization is established, which can indicate the difference between the nominal trajectory and prediction trajectory. Taking the...
This paper extends the General-Weighted Least-Norm (GWLN) method to the control problem of redundant manipulators with time dependent constraints. By defining virtual joints presenting the time dependent constraint and a time-dependent coordinates transformation, a middle kinematic control problem with only joint limits is obtained. We then apply the GWLN method on the middle problem that is time...
Flexibility, parameter uncertainty and joint friction restrict the control performance of flexible joint robots. In this paper, an adaptive backstepping method with friction compensation is presented for the control of flexible joint robots with parameter inaccuracies, in which the joint friction is described by LuGre model and compensated base on a friction observer, and the inaccuracies of robot...
In order to analyze a five-degree-of-freedom (DOF) manipulator for special applications, this paper establishes its kinematics model firstly, and then analyzes its workspace and characteristics, and gets its inverse kinematics solution. Finally, its advantages and disadvantages are presented. On the basis of kinematics analysis, combining with the typical operating cases, we point out the existing...
Path planning is one of the critical issues in mobile robot applications. Traditional methods for path planning in unknown dynamic environment generally plan one step rather than multiple controlling steps. This paper proposes an approach with multiple controlling steps which integrates receding horizon control (RHC) for mobile robot path planning in which the obstacle avoidance problem is converted...
This paper presents the transient stability enhancement of power transmission system by adopting immersion and invariant (I&I) stabilization and sliding-mode observer in designing Thyrister Controlled Series Compensation (TCSC) adaptive controller. In designing the TCSC controller, a deduced-order target system is first defined and the dynamics of the controlled system will be “immersed” into...
In this paper, an improved trajectory tracking control law is proposed for a four-wheel differential nonholonomic drive intelligent vehicle. Based on the kinematics model and Euler-Lagrange (EL) system of the vehicle, the control laws adopt an improved typical backstepping method to design the kinematics controller and a fast terminal sliding mode technique to devise the dynamic control law, which...
This paper mainly describes the omnidirectional walking motion design of humanoid robot soccer team called Apollo3D. In this paper, we employed a model which is based on double linear inverted pendulum with a predictive control to generate a motion trajectory of the robot's trunk in the premise of keeping dynamic balance of robots. Parameters for walk are optimized for maximum speed through an approach...
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