Machine Intelligence Research - One of the most significant challenges in the neuroscience community is to understand how the human brain works. Recent progress in neuroimaging techniques have... 相似文献
International Journal of Control, Automation and Systems - This paper aims to provide a generic robust controller that is able to manipulate all kinds of quadrotor unmanned aerial vehicle (UAV)... 相似文献
This paper presents a position control strategy for a planar active-passive-active (APA) underactuated manipulator with second-order nonholonomic characteristics. According to the structural characteristics of the planar APA system, we divide the system into two parts: a planar virtual Pendubot (PVP) and a planar virtual Acrobot (PVA). For the PVP, we mainly fulfill the target angle of the first link, which is calculated through the geometry method, and make the system stable. In this stage, via keeping the states of the third link being zero, the system is reduced to the PVP. Meanwhile, we design an open-loop control law based on the nilpotent approximation (NA) model of the PVP to make the second link stable and the first link stabilize at its target angle. Then, the planar APA system is reduced to a PVA with all links’ angular velocities being zero. For the PVA, we mainly realize the other two links’ target angles obtained via the particle swarm optimization (PSO) algorithm. Thus, the control objective of the planar APA system is achieved. Finally, above control strategy is verified by simulation results.
International Journal of Control, Automation and Systems - The fault and disturbances estimation has an important role in the modern traction railway system. This paper proposes a unique method for... 相似文献
The paper presents a novel control design, which is based on the idea of active disturbance rejection control (ADRC), for a kind of fexible aerocraft whose controlled variable cannot be measured directly. Since the original frame of ADRC cannot be directly applied, the paper puts forward a new extended state observer (ESO) and the corresponding ADRC law. In order to assign the poles of the closed-loop system to ideal positions such that the vibration can be quickly suppressed, an elastic damping term is added into feedback law. The advantages of the new ESO for efectively estimating both the rigid mode and elastic mode from the measurements are discussed. Moreover, the analysis on the stability, the relative stability and the steady state of the closed-loop system is given. Finally, the efectiveness and robustness of the proposed ADRC are
verifed by simulations. 相似文献
Discarded train brake shoes mainly consist of steel-backed friction material. To be better reutilized, its essential features and its interaction in cement-based material need to be studied. Consequently, particle size analysis, SEM, IR and TGA were used to investigate two types of waste brake shoes, i e, mechanical grinding friction reclaimed material of waste brake-shoe (G-FRMWBS) and pyrolysis-friction reclaimed materials of waste brake-shoe (P-FRMWBS). The latter exhibited less organic content, larger range of particle size distribution and smaller medium particle diameter. Both types contained inorganic particles of spherical and irregular shapes, striped with steel fiber. Upon isometric substituting fine aggregates, G-FRMWBS lifted the strength of mortar effectively that was increased by 16.6% and 17.5% when the replacing rate was 5%; the value went up to 19.2% and 19.2% when the replacing rate was 10%. Moreover, inclusion of FRMWBS enhanced the chloride penetration resistance, and optimized the pore characteristic and ITZ (interfacial transition zone) as well. 相似文献
In order to improve the oxidation resistance of Ti Al alloy, silicide coatings were prepared by pack cementation method at 1273, 1323, and 1373 K for 1-3 hours. Scanning electron microscopy(SEM), energy dispersive spectrometry(EDS) and X-ray diffraction(XRD) were employed to investigate the microstructures and phase constitutions of the coatings. The experimental results show that all silicon deposition coatings have multi-layer structure. The microstructure and composition of silicide coatings strongly depend on siliconizing temperatures. In order to investigate the rate controlling step of pack siliconizing on Ti Al alloy, coating growth kinetics was analyzed by measuring the mass gains per unit area of silicided samples as a function of time and temperature. The results showed that the rate controlling step was gas-phase diffusion step and the growth rate constant(k) ranged from 1.53 mg~2/(cm~4·h~2) to 2.3 mg~2/(cm~4·h~2). Activation energy(Q) for the process was calculated as 109 k J/mol, determined by Arrhenius' equation: k = k0 exp[–Q/(RT)]. 相似文献