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This paper studies the distributed coordinated tracking problem for multiple Euler-Lagrange systems (MELSs) with full-state constraints. Firstly, a distributed finite-time sliding-mode estimator (DFSE) is introduced to access precise estimations of the leader's position and velocity. Then, to guarantee the full-state constraints of MELSs, we use the barrier Lyapunov function (BLF) technique and a...
With the diversified development of electrical loads, and the large-scale integration of volatile renewable generations, power system operation, control and planning face the challenge of increasing injection uncertainties. In this paper, a new method for reference network considering nodal injection uncertainties is proposed. The actual operation mode optimization and reserve configuration of power...
For a class of discrete-time nonlinear switched systems which contains stable and unstable subsystems, the issue for stability analysis and L2-gain is studied. The Takagi and Sugeno (T-S) fuzzy model is adopted to represent each subsystem. By this means, the class of discrete-time nonlinear switched systems are modeled into the discrete-time switched T-S fuzzy systems. The mode-dependent average dwell...
With the development of logistics industry, the logistics automated warehouse is ahead in the race toward the direction of multi-user, multi-variety and flexibility automated warehouse. Traditional AGVs (automatic guided vehicle) are difficult to meet the new demands of logistics warehouse. This paper presents a method to extract the deviation of AGV's navigation path based on threshold segmentation...
This paper studies the problem of fault estimation (FE) and fault tolerant control (FTC) for a class of Takagi-Sugeno (T-S) fuzzy system with interval time-varying delay. We design an adaptive observer-based controller to obtain the estimation of fault, and while guaranteeing the filtering error system to be asymptotically stable, then, based on the information of online fault estimation, a dynamic...
This paper considers the relative position control of the Line-of-Sight (LOS) based relative motion model, which is highly complicated and strongly coupling nonlinear with the matched disturbance. By employing a novel nonsingular fast terminal sliding mode (NFTSM) surface, the adaptive control law is designed to guarantee the bounded stability of the closed-loop error system without prior knowledge...
The safety problem is an important factor restricting the development of electric vehicles which caused by many kinds of faults in the power battery pack. How to diagnose the multiple faults in the battery pack becomes the focus and difficulty. This paper proposes a multi-fault detection method for battery management systems. Instead of measuring the voltage of individual cells, an interleaved connected...
It is one of the common tasks of machine vision defect detection to judge whether the resistance of PCB board is correct or not. The traditional detection method is to use the color industrial camera to take pictures, then transform the image from the RGB color model to the HSI / HSV color model, according to different colors in the new color space have different characteristics to split it out. However,...
The article designed a military grade switchboard with Gigabit POE power capacity through 5 ports by researching switch principle and actual requirement. Firstly, the whole circuit and associated systems were introduced. Secondly, the circuit which used network management chip 88E6161 of Marvel Company and microcontroller chip PD69104B of Micro-semi Company was designed and emulated, the specific...
In this paper using BP neural network as core algorithm, Java and MATLAB as development tools, build a fault intelligent analysis system of electric energy data acquire network which have machine self-learning ability. This diagnosis system adopts the model of cloud computing in structure, artificial intelligence calculation in the cloud, friendly humancomputer interaction at the front-end. Lab simulation...
This paper presents a novel nonlinear velocity estimation method for robotic joints based on inverse hyperbolic sine tracing differential algorithm. Unlike the conventional methods that using the motor-side position measurements to obtain the joint velocity, this paper addresses the problem of joint velocity estimation that using the link-side absolute encoder data, so that the kinematic error caused...
Aiming at the shortcomings of current evaluations on determining the weight coefficient of all the indicators, a comprehensive condition assessment model based on health index is proposed for power transmission and transformation. The evaluation index system, which is using hierarchical analysis, is established and then the weight is determined by the statistical and expertise method. The system is...
As the walking speed of the discontinuous crawl gait of the quadruped robot is rather slow, an optimized method is proposed for improving the forward walking velocity. To ensure the walking stability, the adjustment process of the center of gravity (COG) of the robot is divided in two types, lateral movement and forward movement respectively. Based on the definition of the inner support polygon, the...
An improved forward considering car-following model was proposed to describe the automated vehicle's flow behavior. A theorem was proved as a criterion for judging the stability of homogenous automated vehicles flow. The greater forward considering vehicles' number means more stability. A series of simulations were carried out to verify the new model and analyze the stability of automated flow. From...
Aim to the problem of engine fault diagnostic accuracy, research an engine fault diagnosis technologies based on adaptive neuro-fuzzy inference system. The method is proposed that using known input and output data, construct a fuzzy inference system, internal systems adjust the membership function using a least squares method based on hybrid learning algorithm and reverse the spread of the combination...
In order to reduce the online calculation amount and improve the response speed, this paper proposes a robust model predictive control algorithm for nonlinear uncertain systems based on linear matrix inequality (LMI). The algorithm is divided into two parts: offline algorithm and online algorithm. In the offline algorithm, a sequence of asymptotically stable invariant ellipsoids and the corresponding...
The Cardinalized probability hypothesis density(CPHD) filter based on box-particle(BP) technology can effectively enhance the tracking accuracy of numbers of the multi-target tracking. And it also solved the tracking problem with unknown number of targets and missing targets. Point the problems of lack of tracking accuracy and missing tracking targets in the BP-CPHD algorithm, this paper presents...
In order to reduce the error caused by the inaccuracy of the sensor data and the wear of the mechanical structure in the motion control of manipulator and improve the self-learning ability of manipulator, this paper investigates a new method. We first use Kalman filter to compensate the error by fusing sensor data and the state error of the manipulator. Then, we use Q-learning to make manipulators...
Because of the wind power generation has good economic and social benefits, which has been aroused more and more people's attention. The variable pitch control has an important part in the wind turbine. The indexes of the variable pitch has great influence on the dynamic performance with the unit, which can become an important index to measure the performance of the wind turbine. Due to the non-linearity...
In this paper, we investigate the finite-time stabilization of a class of nonlinear systems using output feedback. The system nonlinearities are only assumed to be Holder continuous with output-dependent Hôlder coefficients. A new continuous, finite-time, output-feedback controller design is proposed based on a finite-time observer. The jet engine control model is adopted to demonstrate the effectiveness...
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