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In order to meet the special control requests of an intercept missile, a new boost-phase guidance law is proposed based on the theory of pesudospcetral method and artificial neural network. A group of optimal trajectories with multiple constraints, obtained by hp-adaptive pesudospcetral method, is used as samples to train the neural network. To show the effect of training patterns on the guidance...
In this paper, a new method is proposed to design a sliding mode controller with variable boundary layer for a nonlinear system. In this method, model predictive control (MPC) is used to predict the future boundary layer thickness. In order to predict the behavior of the nonlinear system, a neural network model is used as an internal model. The simulation results show the supremacy of this method...
A virtual robot deploys its joints and linkages step by step in a 2-D region with presented obstacles. Each step of deployment constructs a piece of virtual robot trajectory based on only a few obstacles in front. The virtual robot trajectory serves as an envelope for obstacle clusters. Sequential clustering is thus called to solve this issue. The innovation of triangle cascading, composed of joint...
Windscreen wiper is important components of automobile, and it must clear the dirt, rain and snow effectively. The state trajectory of the system and nominal trajectory of controlled quantity can be obtained based on differential flatness method, which is the two-degree feed-for-word control of controller. Feedback can be designed by PID controller with integral separation and it regulate the trajectory...
In this work, we focus on tracking iteration-varying densities, which are described by an internal model between two consecutive iterations, with iterative learning control (ILC) based ramp metering. The internal model is used to construct the ILC law, which is different from the classical one. Rigorous analyses show that the revised ILC method can deal with the problem that the desired trajectories...
The PID (proportional-integral-derivative) neural network (PIDNN) controller based on genetic algorithm (GA) for ball and plate system is proposed in this paper. Genetic algorithm is applied in training weighting factor of multilayered forward neural network, thus the disadvantage of BP algorithm that easily fall into partial extreme value can be overcome and at the same time, the advantage of PID...
This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. The fundamental requirement for constant depth flight is the knowledge of the depth, and a properly designed controller...
The main problem of sliding mode controllers is that a whole knowledge system parameters is required to compute the equivalent control. Neural networks are used to compute the equivalent control. Standard two layer feedforward neural network training with the backpropagation algorithm and Radial Basis Function Neural Networks (RBFNN) are the most popular methods that used on robot control. This paper...
In this paper, a wavelet-neural-based adaptive control (WNBAC) with a PI type learning algorithm is proposed. The proposed WNBAC system is composed of a wavelet neural controller and a fuzzy compensation controller. The wavelet neural control is utilized to approximate an ideal controller and the fuzzy compensation controller with a fuzzy logic system in it is used to remove the chattering phenomena...
This paper focuses on a critical component of the situational awareness (SA), the neural control of depth flight of an autonomous underwater vehicle (AUV). Constant depth flight is a challenging but important task for AUVs to achieve high level of autonomy under adverse conditions. The fundamental requirement for constant depth flight is the knowledge of the depth, and a properly designed controller...
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