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An approach to design of electromechanical system control based on the speed bi-gradient method is considered. The design procedure is applied for a control system consisting of Lagrangian output subsystem and affine input subsystem. The simulation results show well-enough tracking of output subsystem trajectories to reference signal under parametric uncertainties.
In this paper, we proposed the adaptive RISE control algorithm for flexible-link manipulator. Via Singular Perturbation theory and the concept of integral manifolds, we divided the coupled nonlinear flexible-link manipulator dynamic system into two time-scaled decoupling subsystems. For slow-varying subsystem, we proposed the gain-varying RISE control algorithm to achieve trajectory tracking in spite...
This paper proposes an effective method to balance the confliction between higher steady-state precision and stronger robustness in sliding-mode control systems. Based on the relationship between steady-state precision and sliding-mode surface parameters, three sliding surfaces are used in the design of sliding-mode control (SMC). The first and the second sliding-mode surfaces are mainly responsible...
Trajectory tracking and stabilization of a nonlinear single stage inverted pendulum is a complicated control problem, as nonlinearity is present inherently and external factors affect the equilibrium position. Sliding mode control (SMC) is a robust control technique, most popular for nonlinear system's controlling. In this paper, a new model based robust control law, called PID (Proportional-Integral-Derivative)...
Video stabilization enhances video quality by stabilizing unstable motion. This paper proposes a new video stabilization method that simultaneously factors and smooths motion trajectories. We model the trajectories with a time-variant local subspace constraint. Every column of the trajectory matrix is factored and smoothed in separate local subspace. This model makes our method more flexible and accurate...
This paper studies the design and optimization method of Moon-Mars transfer trajectory with mixed propulsion technology. Previous researches imply that dividing the mission into three phases according to different three body dynamic system the explorer suffers sequentially can facilitate this design problem. Halo orbits about the Earth-Moon L2 and the Mars-Sun L1 points are chosen to insert to the...
This paper presents the concept of an unmanned robotic team, consisting of an aerial and a ground vehicle, and a power-tethering physical link between them, and proposes a strategy that addresses their collaborative navigation problem. The purpose of such a team is to exploit the technical advantages of differentiated unmanned vehicle classes in an approach that benefits the global navigation objective,...
This paper addresses the finite-time formation tracking problem for vehicles with dynamics model on SE(3) (the specific Euclidean group of rigid body motions), under the condition that the tracking time is given according to task requirements in advance. By using Pontryagin's maximum principle (PMP) on Lie groups, a finite-time optimal tracking control law is designed for vehicles to track a desired...
The level of uncertainty in power systems is increasing due to substantial growth in renewable generation and increasing reliance on cyber-enabled system-wide responsiveness. In order to guarantee dynamic security of networks, power system designers are in need of practical reachability analysis tools that allow them to assess vulnerability of the system to undesirable outcomes and evaluate the impact...
The parametric identification of models with uncertain time-varying parameters, especially for nonlinear systems, remains an open field of research. The desirable performance of the system depends, to some extent, on the accuracy of parameter estimation. In this research, the concept of invariant manifold is used to find an implicit mapping from known variables of the system to the unknown variables...
The paper presents the results of a robust Model Predictive Control (MPC) development for the diesel engine air path. The objective is to regulate the intake manifold pressure (MAP) and exhaust gas recirculation (EGR) rate to the specified set-points by coordinated control of the variable geometry turbine (VGT), EGR valve, and EGR throttle. The approach uses tube-MPC to robustly enforce state constraints...
In this article we consider the distributed output agreement problem in a class of heterogeneous multi-agent dynamic systems composed of single input single output linear systems with system uncertainties. Under very mild assumptions local adaptive internal model based controllers augmented with high gain observers are designed to achieve agreement of the agent outputs. The performance of the proposed...
In this paper, we present a factor graph framework to solve both estimation and deterministic optimal control problems, and apply it to an obstacle avoidance task on Unmanned Aerial Vehicles (UAVs). We show that factor graphs allow us to consistently use the same optimization method, system dynamics, uncertainty models and other internal and external parameters, which potentially improves the UAV...
Conventional location fingerprint techniques usually require a prebuilt training set of fingerprints sampled at known locations, so that locations of future fingerprints can be determined by comparing to this set. For good accuracy, the training set should be large enough to appropriately cover the area. However, it is not always feasible to obtain a quality training set in practice, and so recent...
Many adaptive sensing and sensor management strategies seek to determine a sequence of sensor actions that successively optimizes an objective function. Frequently the goal is to adjust a sensor to best estimate a partially observed state variable, for example, the objective function may be the final mean-squared state estimation error. Information-driven sensor planning strategies adopt an objective...
In estimation of parameters residing in a smooth manifold from sensor data, the Fisher information induces a Riemannian metric on the parameter manifold. If the collection of sensors is reconfigured, this metric changes. In this way, sensor configurations are identified with Riemannian metrics on the parameter manifold. The collection of all Riemannian metrics on a manifold forms a (weak) Riemannian...
This paper seeks to develop simple yet efficient modelling and control scheme for robotic manipulators in joint space wherein a control law is developed based on sliding mode that provides robustness against uncertainties and perturbations and a stability analysis guarantees the asymptotic stability of origin. Given the bounds of disturbance and a switching manifold that enforces trajectory tracking,...
In this paper, the oscillation behaviors of terminal sliding mode control systems due to Euler discretization are studied. Periodic orbits are observed. Necessary and sufficient conditions for the existence of periodic orbits with a specific period are given. Simulations are presented to verify the theoretical results.
This paper makes an attempt to explore the fundamental properties of distributed methods for minimizing a sum of objective functions with each component only known to a particular node, given a certain level of node knowledge and computation capacity. The information each node receives from its neighbors can be any nonlinear function of its neighbors' states as long as the function takes value zero...
In this paper, we propose a novel way of constructing a humanoid robot interface by embedding a low-dimensional command space into observed high-dimensional joint angle action space. It is almost impossible for users to independently and simultaneously control all the joints of a humanoid robot. On the other hand, for a given target task, not all the degrees of freedom (DOFs) of the robot may necessarily...
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