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	Real-Time Iterative Compensation Framework for Precision Mechatronic Motion Control Systems 期刊论文 OAI收割 IEEE/CAA Journal of Automatica Sinica, 2022, 卷号: 9, 期号: 7, 页码: 1218-1232 作者: Chuxiong Hu; Ran Zhou; Ze Wang; Yu Zhu; Masayoshi Tomizuka \| 收藏 \| 浏览/下载：24/0 \| 提交时间：2022/06/27 Precision motion control prediction model real-time iterative compensation trajectory tracking
	A real-time tracking controller for piezoelectric actuators based on reinforcement learning and inverse compensation 期刊论文 OAI收割 SUSTAINABLE CITIES AND SOCIETY, 2021, 卷号: 69, 页码: 9 作者: Qin, Shijie; Cheng, Long \| 收藏 \| 浏览/下载：37/0 \| 提交时间：2021/11/03 Piezoelectric actuators Real-time tracking control Reinforcement learning Adaptive dynamic programming Hysteresis compensation
	Backstepping Active Disturbance Rejection Control for Lower Triangular Nonlinear Systems With Mismatched Stochastic Disturbances 期刊论文 OAI收割 IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS, 2021, 页码: 15 作者: Wu, Ze-Hao; Deng, Feiqi; Guo, Bao-Zhu; Wu, Chufen; Xiang, Qiaomin \| 收藏 \| 浏览/下载：27/0 \| 提交时间：2022/04/02 Backstepping Nonlinear systems Observers Real-time systems Robust control Attenuation Stochastic systems Active disturbance rejection control (ADRC) backstepping control extended state observer (ESO) lower triangular nonlinear systems mismatched bounded stochastic disturbances output tracking
	Analysis of the Subdivision Errors of Photoelectric Angle Encoders and Improvement of the Tracking Precision of a Telescope Control System 期刊论文 OAI收割 SENSORS, 2018, 卷号: 18, 期号: 9, 页码: 2998 作者: Yu, Jiawei; Wang, Qiang; Zhou, Guozhong; He, Dong; Xia, Yunxia \| 收藏 \| 浏览/下载：60/0 \| 提交时间：2019/08/23 telescope control systems photoelectric angle encoders tracking precision subdivision errors amplitude error real-time compensation
	Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE) 会议论文 OAI收割 10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China Xie M.-J.; Li L.-T.; Wang Z.-Q. 收藏 \| 浏览/下载：26/0 \| 提交时间：2013/03/25 The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking and reduces the tracking error and the chattering of the control output. 2012 IEEE.
	Research on computer control strategy for optical electric tracking system (EI CONFERENCE) 会议论文 OAI收割 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, August 7, 2011 - August 10, 2011, Beijing, China 作者: Li M. 收藏 \| 浏览/下载：23/0 \| 提交时间：2013/03/25 In this paper mathematic model and computer control strategy for optical electrical tracking system have been researched and discussed. First the system's structure and its work process have been analyzed. Second according to the system's moving law the system's mathematic model has been built. As to the computer control strategy trigger guiding two closed loop PID control method as well as compound control method have been applied to satisfy the tracking accuracy. Third we apply the bilinear transformation to get the digital system and the sample time is 800Hz. The simulation results indicate that the maximum tracking error can be limited to less than 0.5 and the regulator time can be 0.04s. Then the control project resonance frequency should be more than 200Hz and the sample frequency should be more than 400Hz to meet the control accuracy requirement. So we can conclude that the system indexes such as swiftness high accuracy as long as real time have been satisfied. And the requirement of mechanical property has been present which is very useful to mechanical working. 2011 IEEE.
	Application of multi-sensors parallel fusion system in photoelectric tracing (EI CONFERENCE) 会议论文 OAI收割 2008 International Conference on Optical Instruments and Technology: Optoelectronic Measurement Technology and Applications, November 16, 2008 - November 19, 2008, Beijing, China Cheng G.-Y.; Cai S.; Gao H.-B.; Zhang S.-M.; Qiao Y.-F. 收藏 \| 浏览/下载：23/0 \| 提交时间：2013/03/25 To solve the real-time and reliability problem of tracking servo-control system in optoelectronic theodolite a multisensors parallel processing system was proposed. Misdistances of three different wavebands were imported into system and then prediction was done in DSP1 to get the actual position information. Data fusion was accomplished in PPGA imported by multi channel buffer serial port. The compound position information was used to control the theodolite. The results were compared with external guide data in DSP2 to implement correction of above calculation and then were imported to epistemic machine through PXI interface. The simulation experiment of each calculation unit showed that this system could solve the real-time problem of feature level data fusion. The simulation result showed that the system can satisfy the real-time requirement with 1.25ms in theodolite with three imaging systems while sampling frequency of photoelectric encoder was 800 Hz. 2009 SPIE.
	Software design for the control system of Small LAMOST 会议论文 OAI收割 Marseille, France, 2008-6-23 作者: Shihai Yang 收藏 \| 浏览/下载：20/0 \| 提交时间：2014/01/02 software servo control real time tracking drive system Small LAMOST
	Study on bandwidth mutual-benefit between the azimuth and pitch in an optoelectronic tracking system (EI CONFERENCE) 会议论文 OAI收割 MEMS/MOEMS Technologies and Applications III, November 12, 2007 - November 14, 2007, Beijing, China 作者: Guo J.; Guo J.; Chen J. 收藏 \| 浏览/下载：16/0 \| 提交时间：2013/03/25 Two-axis optoelectronic tracking equipments generally use such mode that azimuth and pitch system are independently controlled. It leads to the two structures completely uncoupled therefore and reduces the state space dimension. But the main problem is that the rotational inertia of azimuth is much larger than that of pitch it is an effective control mode to the two-axis photoelectric tracking equipments. which leads its dynamic tracking performance is worse. So to find a more suitable mechanics and more effective control strategy is necessary. Considering the tracking ability this paper designs BMC (bandwidth mutual compensation) to uniformly correct the error of both the azimuth and pitch system in real time it is realized by cross coupling control to the azimuth and pitch. The simulation result verified that compared with classical uncoupling system BMS not only guarantees the state space dimension but improves systematic tracking performance about 2