This paper addresses the problem of designing robust tracking control for a large class of uncertain robotic systems. A more general model of the external disturbance is employed in the sense that the external disturbance can be expressed as the sum of a modeled disturbance and an unmodeled disturbance, for example, any periodic disturbance can be expressed in this general form. An adaptive neural network system is constructed to approximate the behavior of unknown robot dynamics. An adaptive control algorithm is designed to estimate the behavior of the modeled disturbance, and in turn the robust H∞ control algorithm is required to attenuate the effects of the unmodeled disturbance only. Consequently, an intelligent adaptive/robust tracking control scheme is constructed such that an H∞ tracking control is achieved in the sense that all the states and signals of the closed‐loop system are bounded and the effect due to the unmodeled disturbance on the tracking error can be attenuated to any preassigned level. Finally, simulations are provided to demonstrate the effectiveness and performance of the proposed control algorithm. 相似文献
We study quantum teleportation between two different types of optical qubits using hybrid entanglement as a quantum channel under decoherence effects. One type of qubit employs the vacuum and single-photon states for the basis, called a single-rail single-photon qubit, and the other utilizes coherent states of opposite phases. We find that teleportation from a single-rail single-photon qubit to a coherent-state qubit is better than the opposite direction in terms of fidelity and success probability. We compare our results with those using a different type of hybrid entanglement between a polarized single-photon qubit and a coherent state. 相似文献
This study examines the development of an automated particle tracking algorithm to predict the hindered Brownian movement of fluorescent nanoparticles within an evanescent wave field created using total internal reflection fluorescent microscopy. The two-dimensional motion of the fluorescent nanoparticles was tracked, with sub-pixel resolution, by fitting the intensity distribution of the particles to a known Gaussian distribution, thus providing the particle center within a single pixel. Spherical yellow-green polystyrene nanoparticles (200, 500, and 1000 nm in diameter) were suspended in deionized water (control), 10 wt% d-glucose, and 10 wt% glycerol solutions, with 1 mM of NaCl added to each. The motion of tracked nanoparticles was compared with the theoretical tangential hindered Brownian motion to estimate particle diameters and fluid viscosity using a nonlinear regression technique. The automatic tracking algorithm was initially validated by comparing the automated results with manually tracked particles, 1 µm in size. Our results showed that both particle size and solution viscosity were accurately predicted from the experimental mean square displacement. Specifically, the results show that the error of particle size prediction is below 10 % and the error of solution viscosity prediction is less than 1 %. The proposed automatic analysis tool could prove to be useful in bio-application fields for examination of single protein tracking, drug delivery, and cytotoxicity. Furthermore, the proposed tool could be useful in microfluidic areas such as particle tracking velocimetry and noninvasive viscosimetry. 相似文献
Uncertainty-based multidisciplinary design optimization (UMDO) has been widely acknowledged as an advanced methodology to address competing objectives and reliable constraints of complex systems by coupling relationship of disciplines involved in the system. UMDO process consists of three parts. Two parts are to define the system with uncertainty and to formulate the design optimization problem. The third part is to quantitatively analyze the uncertainty of the system output considering the uncertainty propagation in the multidiscipline analysis. One of the major issues in the UMDO research is that the uncertainty propagation makes uncertainty analysis difficult in the complex system. The conventional methods are based on the parametric approach could possibly cause the error when the parametric approach has ill-estimated distribution because data is often insufficient or limited. Therefore, it is required to develop a nonparametric approach to directly use data. In this work, the nonparametric approach for uncertainty-based multidisciplinary design optimization considering limited data is proposed. To handle limited data, three processes are also adopted. To verify the performance of the proposed method, mathematical and engineering examples are illustrated. 相似文献
Recently, pedestrian detection systems have become an important technology in the development of the advanced driver assistance system (ADAS) for the autonomous car. The histogram of oriented gradients (HOG) is currently the most basic algorithm for detecting pedestrians, but it treats the entire body of the pedestrian as one single feature. In other words, if the entire body of the pedestrian is not visible, the detection rate under HOG decreases markedly. To solve this problem, we propose a detection system using a deformable part model (DPM) that divides the pedestrian data into two parts using a latent support vector machine (SVM)-based machine-learning technique. Experimental results show that our approach achieves better performance in a detection system than the existing method. In practice, there are many occlusions in the environment in front of the vehicle. For example, the surrounding transport facilities, such as a car or another obstacle, can occlude a pedestrian. These occlusions can increase the false detection rate and cause difficulties during the detection process. Our proposed method uses a different approach and can easily be applied in real-world scenarios, regardless of occlusions.