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This paper first establishes the kinematic model and dynamic model of Selective Compliance Assembly Robot Arm(SCARA) robot based on Denavit-Hartenberg method and Lagrange equation. Then the model is simplified to reduce the computation, the kinetic equation is transformed into a linear form to get the observation matrix and the parameters to be identified. An incentive trajectory is designed to finish...
Release region boundary is related with the utmost trajectory of guided bombs. As a result, the boundary issue can be transformed into many rounds of optimal range calculation through a simple translation transformation. Particle trajectory models for a certain guided bomb on surfaced-launched and off-axis are built. Then, genetic algorithm's inevitable shortcomings of immature convergence phenomenon...
Optimal control has been a very attractive and desirable feature for many dynamic and static systems, An effective online technique for finite-horizon nonlinear control problem is offered in this paper. The idea of the proposed technique is to combine the differential State Dependent Riccati equation filter algorithm and the finite-horizon SDRE technique. Genetic algorithm is used to calculate the...
Optimal control of aircraft descent is important to efficiency, safety and environmental impact near airports. This paper presents an approach to time-series flight trajectory optimization for a civil aircraft. The equations of motion are resolved by evaluating aerodynamic force prediction at each time step. The microburst effect during descent is considered in the equations of motion, and the results...
Two different control schemes about the control system and development of 3-UPU parallel robot research are proposed in this paper, which can realize three-dimensional translation. One of the schemes is using fuzzy PID control based on robot kinematics, the other is using the improved robust PI control based on robot dynamics. On the basis of the established simulation model of parallel mechanism...
Based on multi-objective generic algorithms, a novel approach to optimizing control parameters for rigid spacecraft attitude was proposed. In this technical note, optimization control method based on Collaborative adaptive and Modified Rodrigo parameters (MRP), studies in the uncertain disturbance of rigid spacecraft attitude tracking control problem. To optimize the controller parameters, the alterable...
An Unmanned aerial vehicle (UAV) guidance law is addressed as an optimal regulator (LQR) problem. An adaptive optimal path following nomenclature is derived and defined. The state weighting matrix of the LQR is defined in term of intrinsic parameter error thereby enabling the guidance law to regulate the UAV disturbance errors effectively. The state weighing matrix is tuned using a genetic algorithm...
In this paper, trajectory generation for a 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a four DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired trajectory for...
Application of different optimization techniques for nonlinear controller parameters of a skid steering mobile robot (SSMR) with its inherited slip characteristics is crucial in saving designer's time and effort. In this paper, two computational optimization techniques, particle swarm optimization (PSO) and genetic algorithms (GA), are applied, evaluated and compared to optimize the nonlinear controller...
Load identification is an important issue in power system representations to ensure that simulations will reproduce the dynamic response of a system during a disturbance. For a load model to be accurate, its parameter must be appropriately estimated by a parameter fitness algorithm. The success of the estimation depends mainly on the availability of a good initial parameter guess. If it is not available,...
The paper deals with a soft computing state control method for multi input — multi output (MIMO) non-linear dynamic model of a robot. Soft methods based on neural networks and genetic algorithms have proven their effectiveness for this application. They are based on quite simple principles, but take advantage of their mathematical nature: non-linear iterative computation solutions. One way of controlling...
A new guidance law with terminal trajectory angle constraint is designed for bank to turn flight vehicle, which aims at the fixed position ground target. The general form of guidance law with sight angle and sight angle velocity as feedback variables is presented, and the stability of it is proved via finite time convergent stability theory, which makes traditional optimal guidance as a specific example...
The development of an efficient and flexible guidance system is one of the most important aspects of studies on reusable space transportation systems such as winged rockets. We therefore propose a flight path generation method that uses a dynamic distributed genetic algorithm. This method dynamically divides and merges the individuals of some groups and thus maintains diversity in its optimization...
In this paper we present a mathematical model of a quadrocopter, together with a complete supervisor solution for path planning to cover a designated area with a quadrocopter type UAV. The supervisor is also able to optimize and recalibrate its route in the case of unexpected events during flight, such as sudden changes in wind, or someone physically altering its position in the path. Simulations...
Two-impulse fuel-optimal rendezvous under J2 perturbation with constrained transfer time is studied in this paper. First, the mathematic model of two-body Lambert transfer of spacecraft is established. Then, J2 perturbed Lambert's problem is solved Based on analytical orbit theory via error iteration method. Furthermore, the procedure of the improved genetic algorithm for this problem is proposed,...
Evolutionary algorithms (EAs) have been successfully used in many studies for evolving both the structure and parameters of biological networks including gene regulatory networks that demonstrate different functionalities. However, most of these studies have used only mutation as the genetic operator in the evolutionary framework, perhaps due to the difficulty of implementing the crossover operation...
The energy consumption of near-space airship during the ascending phase has an direct effect on its payload capability. Because of that, it is necessary to research on trajectory optimization of airship. At first, the models of various wind interference are given from the ground to the stratosphere and the trajectory optimization scheme of airship based on numerical method is proposed. Secondly, direct...
Many research efforts have been made to develop the slider-crank mechanism. Design of a genetic-fuzzy inverse controller for a slider crank mechanism with the piston cylinder drive is studied. This mechanism converts the translating motion into rotating motion. In this approach, the computed torque is implemented to obtain high speed and precise position tracking also; compensation of unknown uncertainties...
In this paper, we present the optimum objective function for snatch weightlifting using genetic algorithm optimization. Therefore, it would be possible to study snatch weightlifting more accurately, because the biomechanical parameters in this movement including the body trajectory and forces and torques acting in the joints, depend on the objective function. In this study, kinematics and dynamics...
The optimal trajectory of a swim-out acoustic decoy defending against an acoustic homing torpedo is studied. First, the dynamic models of the torpedo and submarine, and several trajectory models of the decoy are established. The factors that affect the countermeasure effectiveness are analyzed. Then based on the assessment criterion, genetic algorithm is used to obtain the optimal parameters of the...
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