This paper proposes a neural approximation based model predictive control approach for tracking control of a nonholonomic wheel-legged robot in complex environments, which features mechanical model uncertainty and unknown disturbances. In order to guarantee the tracking performance of wheel-legged robots in an uncertain environment, effective approaches for reliable tracking control should be investigated with the consideration of the disturbances, including internal-robot friction and external physical interactions in the robot’s dynamical system. In this paper, a radial basis function neural network (RBFNN) approximation based model predictive controller (NMPC) is designed and employed to improve the tracking performance for nonholonomic wheel-legged robots. Some demonstrations using a BIT-NAZA robot are performed to illustrate the performance of the proposed hybrid control strategy. The results indicate that the proposed methodology can achieve promising tracking performance in terms of accuracy and stability.
This research conducts a series of industrial tests on coal reburning of a 600 MW pulverized coal boiler firing lignite, which
is one part of a coal reburning demonstration project. When running steadily under 600 MW load, the boiler has an average
NOx emission of 274 mg/m3 (O2 content in flue gas is converted to 6%), the NOx emission is reduced by 65.36%. In the meanwhile, loss of ignition (LOI) under coal reburning rarely increases. Three operation
conditions — traditional air feeding, air staging and coal reburning — are realized, respectively, during the industrial tests,
and the results indicate that coal reburning has the lowest NOx emission, while the traditional air feeding has the highest NOx emission. Under the test conditions, the higher the proportion of the reburning coal, the higher the NOx control can reach.
This work was presented at the 6th Korea-China Workshop on Clean Energy Technology held at Busan, Korea, July 4–7, 2006. 相似文献
Authenticating users for mobile cloud apps has been a major security issue in recent years. Traditional passwords ensure the security of mobile applications, but it also requires extra effort from users to memorize complex passwords. Seed-based authentication can simplify the process of authentication for mobile users. In the seed-based authentication, images can be used as credentials for a mobile app. A seed is extracted from an image and used to generate one-time tokens for login. Compared to complex passwords, images are more friendly to mobile users. Previous work had been done in seed-based authentication which focused on providing authentication from a single device. It is common that a mobile user may have two or more mobile devices. Authenticating the same user on different devices is challenging due to several aspects, such as maintaining the same credential for multiple devices and distinguishing different users. In this article, we aimed at developing a solution to address these issues. We proposed multiple-device authentication algorithms to identify users. We adopted a one-time token paradigm to ensure the security of mobile applications. In addition, we tried to minimize the authentication latency for better performance. Our simulation showed that the proposed algorithms can improve the average latency of authentication for 40% at most, compared to single-device solutions. 相似文献