中国科学院机构知识库网格系统: 检索

浏览/检索结果: 共5条，第1-5条

帮助

条数/页：排序方式：
	Robust Sliding Mode-Based Learning Control for Lane-Keeping Systems in Autonomous Vehicles 会议论文 OAI收割 Chengdu, China, August 1-4, 2021 作者: Ge ZK(葛志康); Wang Z(王卓); Bai XP(白晓平); Wang XX(王枭雄) \| 收藏 \| 浏览/下载：69/0 \| 提交时间：2021/10/03 sliding mode-based learning control (SMLC) Lipschitz-like condition strong robustness
	Trajectory tracking control of a quad-rotor UAV based on command filtered backstepping (EI CONFERENCE) 会议论文 OAI收割 2012 3rd International Conference on Intelligent Control and Information Processing, ICICIP 2012, July 15, 2012 - July 17, 2012, Dalian, China Gong X.; Bai Y.; Peng C.; Zhao C.; Tian Y. 收藏 \| 浏览/下载：30/0 \| 提交时间：2013/03/25 A quad-rotor unmanned aerial vehicle is an under-actuated strong coupled nonlinear system with parameters uncertainty and unknown external aerodynamic disturbance. The trajectory tracking control system with a nested double-loops structure is designed in this paper according to the coupling characteristic between the attitude angles and translational position. A PD control algorithm is proposed in the translational outer-loop to export the desired attitude signals to the attitude inner-loop. An adaptive backstepping control algorithm is designed in the inner-loop with respect to the uncertain rotational inertia and un-modeled disturbance while in order to reduce the computational complexity the command filtered approach is introduced into the designing procedure. And finally the numerical simulation results are presented for the trajectory tracking stabilization of a Quad-rotor which demonstrates the excellent performance of the proposed control system and illustrate its robustness in face of disturbance and uncertain parameters. 2012 IEEE.
	Image matching using a bat algorithm with mutation (EI CONFERENCE) 会议论文 OAI收割 2012 International Conference on Mechatronic Systems and Automation Systems, MSAS 2012, July 21, 2012 - July 21, 2012, Wuhan, China 作者: Zhang J.; Wang G.; Zhang J.; Zhang J. 收藏 \| 浏览/下载：38/0 \| 提交时间：2013/03/25 Due to shortcoming of traditional image matching for computing the fitness for every pixel in the searching space a new bat algorithm with mutation (BAM) is proposed to solve image matching problem and a modification is applied to mutate between bats during the process of the new solutions updating. This new approach can accelerate the global convergence speed while preserving the strong robustness of the basic BA. The realization procedure for this improved meta-heuristic approach BAM is also presented. To prove the performance of this proposed meta-heuristic method BAM is compared with BA and other population-based optimization methods DE and SGA. The experiment shows that the proposed approach is more effective and feasible in image matching than the other model. (2012) Trans Tech Publications Switzerland.
	Linear auto disturbance rejection controller for vector-controlled PMSM drive system (EI CONFERENCE) 会议论文 OAI收割 2011 International Conference on Transportation, Mechanical, and Electrical Engineering, TMEE 2011, December 16, 2011 - December 18, 2011, Changchun, China 作者: Zhang K.; Zhang K.; Zhang K.; Zhang K. 收藏 \| 浏览/下载：34/0 \| 提交时间：2013/03/25 A high-performance robust controller of permanent-magnet synchronous motor (PMSM) drive with cascade linear auto disturbance rejection controller (LADRC) is proposed. The robust controller combines the simplicity of linear controller and the merit of the auto disturbance rejection controller (ADRC). First a systematic mathematical model is derived according to the required specifications for the PMSM drive system. Then for the model this paper designs the controller that includes three first-order LADRCs. The controller does not rely on the accurate mathematical model of motor. The controller can estimate and compensate the disturbances that include load disturbance and systematic parameters changes by the linear extended state observer (LESO). Simulation results show that compared with conventional PI controller the proposed approach has strong robustness. In the same load disturbance the speed fluctuation of the LADRCs accounts for 30% of PI controller. 2011 IEEE.
	Robust optimal control technology for four-wheel steering vehicle (EI CONFERENCE) 会议论文 OAI收割 2007 IEEE International Conference on Mechatronics and Automation, ICMA 2007, August 5, 2007 - August 8, 2007, Harbin, China Zhang R.-H.; Cheng G.-Y.; Wang G.-Q.; Jia H.-G.; Chen T. 收藏 \| 浏览/下载：23/0 \| 提交时间：2013/03/25 Establish the two degree of freedom model of four-wheel steering vehicle. A H2 optimal controller and Kalman filter is designed when the control mathematics model is certainty. Aim at the parameter uncertainty of tire a four-wheel vehicle steering system uncertain model was founded and analyzed. A H optimal controller is designed with the method of H control theory to solve the problem about model uncertainty. The simulation results show that the controller designed by the proposed method has good robustness it can easily attenuate the model uncertainty and also has the strong ability to resist the disturbance. 2007 IEEE. adaptability and stability