中国科学院机构知识库网格系统: 检索

Fuzzy sliding mode variable structure control of a high-speed parallel PnP robot 期刊论文 OAI收割
Mechanism and Machine Theory, 2021, 卷号: 162, 页码: 1-13
作者: Wu GL(吴广磊); Zhang, Xuping; Zhu, Lina; Lin, Zirong; Liu JG(刘金国)

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收藏 | 浏览/下载：30/0 | 提交时间：2021/05/10

Parallel Schönflies-motion generator Pick-and-place Fuzzy sliding mode variable structure control Robot dynamics

Two-layer structure predictive control of target tracking mode for dual time-scale system 会议论文 OAI收割
Shanghai, China, November 6-8, 2022
作者: Wang HR(王洪瑞); Zou T(邹涛); Yang ZJ(杨志家); Zheng HY(郑洪宇)

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收藏 | 浏览/下载：40/0 | 提交时间：2021/03/14

Dual time-scale Analogy integral variable Two-layer structure Predictive control

Augmented fixed-time observer-based continuous robust control for hypersonic vehicles with measurement noises 期刊论文 OAI收割
IET CONTROL THEORY AND APPLICATIONS, 2019, 卷号: 13, 期号: 3, 页码: 422-433
作者: Sun, Jinlin; Yi, Jianqiang; Pu, Zhiqiang

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收藏 | 浏览/下载：72/0 | 提交时间：2019/07/12

linearisation techniques observers control system synthesis vehicle dynamics adaptive control aircraft control uncertain systems robust control variable structure systems space vehicles augmented fixed-time observer measurement noises cruise control flexible air-breathing hypersonic vehicles controller gains finite-time convergence fixed convergence time FAHV gain adaptation law continuous robust control input-output linearisation technique

Stabilisation of unstable cascaded heat partial differential equation system subject to boundary disturbance 期刊论文 OAI收割
IET CONTROL THEORY AND APPLICATIONS, 2016, 卷号: 10, 期号: 9, 页码: 1027-1039
作者: Kang, Wen; Guo, Bao-Zhu

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收藏 | 浏览/下载：35/0 | 提交时间：2018/07/30

stability partial differential equations observers variable structure systems state feedback control system synthesis numerical analysis unstable cascaded heat partial differential equation systems boundary disturbance boundary stabilisation interconnection unknown input type observer sliding mode control method Filippov type solution state feedback backstepping transformation active disturbance rejection control disturbance estimator output feedback control closed loop system stability numerical simulations

Experiments on fuzzy sliding mode variable structure control for vibration suppression of a rotating flexible beam 期刊论文 OAI收割
Journal of Vibration and Control, 2015, 卷号: 21, 期号: 2, 页码: 343-358
作者: Qiu ZC(邱志成); Han JD(韩建达); Liu JG(刘金国)

收藏 | 浏览/下载：34/0 | 提交时间：2013/12/26

Flexible smart manipulator active vibration control fuzzy sliding mode control experiments variable structure control

Design and implementation of a single actuated bio-mimetic robotic fish (EI CONFERENCE) 会议论文 OAI收割
2012 9th IEEE International Conference on Mechatronics and Automation, ICMA 2012, August 5, 2012 - August 8, 2012, Chengdu, China
作者: Wang X.; Wang X.; Wang X.

收藏 | 浏览/下载：52/0 | 提交时间：2013/03/25

The mechanical structure of a single actuated bio-mimetic robotic fish was designed based on forced vibration responses of a non-prismatic cantilever which mimicked the fish body deformation. To realize the cruising turning and burst-and-coast moving modes the hardware system based on the micro controller unit STM32F103C8T6 and the control were developed. The state variable feedback method and PID method were used to design the control algorithms respectively. The simulation and experimental results showed that the whole system could imitate the swimming of the real fish. 2012 IEEE.

Modeling and variable structure control of a vehicle flexible manipulator (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
作者: Wang Z.; Li Y.; Li Y.; Li Y.; Li Y.

收藏 | 浏览/下载：23/0 | 提交时间：2013/03/25

In this paper the mathematical modeling and the application of a new trajectory tracking control technique for hydraulic-driven rigid-flexible manipulator are concerned. To get a closer dynamic behavior of the real system both the flexible manipulator linkage and the actuator dynamics are considered. The exact dynamic model of flexible manipulator is derived using Lagrange principle and assumed modes method. The partial decoupled dynamic equation is derived using nonlinear decoupling feedback control method. The whole dynamic model is established by a driven Jacobin matrix which represents the coupling between hydraulic servo system and mechanical system. A variable structure controller with inverse dynamics is designed for trajectory tracking. To weaken the chattering of control signal saturation function is used to instead of sign function. The experimental results investigate the effectiveness of the proposed approaches. 2012 IEEE.

Research on model reference sliding mode control in roll stabilization of aerocraft (EI CONFERENCE) 会议论文 OAI收割
2011 International Conference on Electric Information and Control Engineering, ICEICE 2011, April 15, 2011 - April 17, 2011, Wuhan, China
Chu H.-R.

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Aimed at aerospace roll stabilization control arithmetic based on model reference sliding mode variable structure theory and chattering reduction arithmetic are formulated. Correctness and validity of arithmetic are analyzed. With flight dynamics the roll-loop mathematic model and reference model are established. Sliding hyperplane is deduced based on model reference sliding mode variable structure theory. Combing with reaching law control law is derived and stability of roll-loop is analyzed. Chattering of aileron instructions is alleviate by using boundary layer approach. Digital flying simulation result shows that variable structure control arithmetic realized roll stabilization control the roll angle is less than 5.3 under powered flight and that of unpowered flight is less than 0.5 respectively. The command fin angle is less than 1.5. High frequency chattering of fin command nearby the minimum velocity was trailed off by chattering reduction arithmetic. The sliding mode control arithmetic show good performance when aerodynamic coefficients varies 20%. The control arithmetic is easy to be implemented for its simplicity. 2011 IEEE.

Control strategies and error compensation methods of high precision gyro stabilized platform (EI CONFERENCE) 会议论文 OAI收割
30th Chinese Control Conference, CCC 2011, July 22, 2011 - July 24, 2011, Yantai, China
Deng K.; Cong S.; Shen H.

收藏 | 浏览/下载：30/0 | 提交时间：2013/03/25

Based on the principle of gyroscope and the structure of gyro stabilized platform this paper gives the analysis and comparison of control strategies for stable platform included classical PID control and three kinds of advanced strategies: Fuzzy Control Sliding Mode Variable Structure Control and Active Disturbance Rejection Control. The compensation methods for stable platform's error are also discussed and evaluated based on the sources of error especially for the non-linear friction and gyro drift. The paper provides the reliable methods for recognizing and improving the accuracy of gyro stabilized platform from the control strategies and error compensations. 2011 Chinese Assoc of Automation.

Analysis of inertia dyadic uncertainty for small agile satellite with control moment gyros (EI CONFERENCE) 会议论文 OAI收割
2010 IEEE International Conference on Mechatronics and Automation, ICMA 2010, August 4, 2010 - August 7, 2010, Xi'an, China
作者: Zhang L.; Zhang L.; Sun Z.

收藏 | 浏览/下载：20/0 | 提交时间：2013/03/25

With the increasing demands for the agility of the next earth imaging satellite control moment gyro (CMG) is considered to be the most suitable actuator because of its torque amplification capability. However a CMG system may introduce uncertainty of inertia dyadic to a satellite's attitude control system. The uncertainty is negligible for large space vehicles but it has not been tested whether it can be ignored for small agile satellites. How to model the CMG system inertia dyadic varying with gimbal angles and what influence it will put on the performance of attitude control system haven't been test accurately as well. All of them are dealt with mathematically and accurately in this paper. This paper firstly gives mathematic descriptions of the inertia dyadic of the 4-CMG pyramid configuration system varying with gimbal angles and then designs a variable structure control law for small agile satellite using CMGs. Finally numerical simulation suggests that the inertia dyadic variation of a 4-CMG pyramid configuration system is approximately centesimal of the total inertia dyadic of the satellite and that the designed variable structure control law is of good robust performance for an example of large-angle attitude maneuver despite of the variation of the inertia dyadic. 2010 IEEE.