Model-based robust control design and experimental validation of collaborative industrial robot system with uncertainty

Based on the traditional PID control and robust control algorithm, a novel practical robust control method is designed for the 6-DOF collaborative industrial robot with uncertainty. The proposed algorithm consists of a robust term and a model-based PD control term, which we call MPDP controller. It is demonstrated by Lyapunov theoretical analysis that the algorithm is able to guarantee uniform boundedness and uniform ultimate boundedness of the system. Simulations and experiments show the good performance of MPDP control in a robot with smaller steady-state tracking errors and better robustness compared to PID controllers.     

Neural network robust control of a 3-DOF hydraulic manipulator with asymptotic tracking

Multiaxial hydraulic manipulators are complicated systems with highly nonlinear dynamics and various modeling uncertainties, which hinders the development of high-performance controller. In this paper, a neural network feedforward with a robust integral of the sign of the error (RISE) feedback is proposed for high precise tracking control of hydraulic manipulator systems. The established nonlinear model takes three-axis dynamic coupling, hydraulic actuator dynamics, and nonlinear friction effects into consideration. A radial basis function neural network (RBFNN) is synthesized to approximate the uncertain system dynamics and external disturbance, which can greatly reduce the dependence on accurate system model. In addition, a continuous RISE feedback law is judiciously integrated to deal with the residual unknown dynamics. Since the major unknown dynamics can be estimated by the RBFNN and then compensated in the feedforward design, the high-gain feedback issue in RISE feedback control will be avoided. The proposed RISE-based neural network robust controller theoretically guarantees an excellent semi-global asymptotic stability. Comparative simulation is performed on a 3-DOF hydraulic manipulator, and the obtained results verify the effectiveness of the proposed controller.     

Output feedback adaptive RISE control for uncertain nonlinear systems

In this article, committed to extending the robust integral of the sign of the error (RISE) feedback control to the working condition of output feedback, a novel output feedback controller with a continuously bounded control input which combines the adaptive control and integral robust feedback will be proposed for trajectory tracking of a family of nonlinear systems subject to modeling uncertainties. A novel adaptive state observer (ASO) with disturbance rejection performance is creatively constructed to derive real-time estimation of the unmeasured state signals. Moreover, a projection-type adaption law is integrated to handle parameter uncertainties and an integral robust term is employed to deal with external disturbances. It is shown that asymptotic estimation performance and meanwhile asymptotic tracking result can eventually be derived. Simulation validations are implemented to demonstrate the high tracking performance of the presented controller. Notably, the synthesized control algorithm can be readily extended to the Euler–Lagrange systems. Typically, it can be extended to practical electromechanical equipment such as three-dimensional vector forming robots to improve the real-time forming accuracy.     

融合YOLOV5+DSST+KCF的目标检测跟踪算法在激光通信中的应用

在空间激光通信中,两通信设备实现激光通信需要经过粗瞄准与精瞄准的过程,而粗瞄准过程在大部分场景下需借助光学望远镜和信标激光等辅助实现,实施不易;针对在粗瞄准过程中如何快速、准确识别出激光通信设备,并辅助完成激光通信,提出将不同目标检测算法与长时跟踪KCF算法相结合;通过对比发现,YOLOV5+DSST+KCF(YDK)算法的平均帧率为12帧,在帧率满足系统要求情况下,YDK算法的响应峰值要比原KCF算法、HAAR+DSST+KCF(HDK)算法分别提高了43.5%、31.4%,且有效解决目标尺度变化问题。     

基于BP神经网络与改进粒子群的光伏MPPT算法

针对光伏阵列在环境突变情况下尤其是局部阴影下的多峰值现象,提出一种基于反向传播(BP)神经网络与改进粒子群的最大功率点跟踪(MPPT)算法。该算法利用BP神经网络近似定位最大功率点,并利用对粒子群算法中的惯性权重值进行非线性动态优化后的改进粒子群精确定位最大功率点。仿真结果表明,复合算法可以更好地跟踪最大功率点,有效避免前期易陷入局部极值的问题,提高了精度,减小了功率振荡。     

考虑储能备用的电动汽车负荷连续追踪弃风曲线优化模型

在大力推动高比例可再生能源并网的背景下,风电的强随机波动特征导致的大量弃风问题给电力系统的经济可靠运行带来了挑战,而电动汽车、储能等作为需求侧的灵活性资源参与曲线追踪交易为弃风问题带来了解决方案。首先,分析了电动汽车消纳风电的可行性;然后,对电动汽车聚合负荷消纳风电的交易模式进行了梳理,聚焦连续曲线追踪交易,在充分考虑电动汽车聚合的物理经济约束下建立了混合整数线性规划模型以求解聚合调用方案。由于电动汽车的移动储能能力与追踪效果有限,引入储能系统进行联合优化,采用逐步搜索法在降低聚合成本的同时,得到储能的最优容量与功率配置以及同时优化物理弃风电量与经济成本的聚合方案。算例分析结果表明：考虑储能备用的聚合方法能够提高风电曲线的追踪精度,减小聚合成本,验证了所建模型在连续曲线追踪中的可行性与适用性,可为曲线追踪交易市场的完善与新型电力系统的建设提供借鉴。     

扩频体制低轨卫星通信信号捕获与跟踪系统设计

针对扩频体制下低轨卫星信号的捕获及跟踪等系统设计实现问题,根据卫星信号模型进行了捕获及跟踪算法设计,重点对基于快速傅里叶变换的快速捕获算法、锁频环、锁相环和码跟踪环路进行了设计,并进行了工程系统实现。试验验证表明,该系统可以实现码分多址体制低轨卫星信号捕获、跟踪处理,工作性能参数满足系统需求。     

面向多波束卫星通信网络的步进跟踪方法

面向多波束覆盖的卫星通信网络,为解决相控阵用户终端位置姿态信息无法获取时程序跟踪卫星失效的问题,提出了一种步进扫描跟踪方法。在该方法中,终端仅需比较单个波束的信标接收能量即可判断波束指向,从而降低跟踪时延。在此基础上,为满足终端在动中通场景下的业务通信需求,进一步研究动态条件下的跟踪方法,并讨论跟踪时延的影响因素。实验结果表明,当终端位置姿态变化较小时,所提方法的跟踪性能接近程序跟踪。     

Structural and optical properties of AIN sputtering deposited on sapphire substrates with various orientations

AIN thin films were deposited on c-,a-and r-plane sapphire substrates by the magnetron sputtering technique.The in-fluence of high-temperature thermal annealing (HTTA) on the structural,optical properties as well as surface stoichiometry were comprehensively investigated.The significant narrowing of the (0002) diffraction peak to as low as 68 arcsec of AIN after HTTA implies a reduction of tilt component inside the AIN thin films,and consequently much-reduced dislocation densities.This is also supported by the appearance of E2(high) Raman peak and better Al-N stoichiometry after HTTA.Furthermore,the in-creased absorption edge after HTTA suggests a reduction of point defects acting as the absorption centers.It is concluded that HTTA is a universal post-treatment technique in improving the crystalline quality of sputtered AIN regardless of sapphire orienta-tion.     

视场非完全重叠的分布式雷达多目标跟踪方法

在探测能力、波形设计及天线指向等因素制约下,分布式雷达视场并非完全重合,由此造成的观测信息差异给后续信息融合带来了巨大挑战。该文基于高斯混合实现的集势概率假设密度(CPHD)滤波器,提出了一种视场部分重叠下的分布式雷达多目标跟踪方法。首先,利用多目标密度乘积切分出概率假设密度(PHD)中表征共同观测信息的部分;之后,标准的分布式融合(算术平均或几何平均融合)方法作用于切分出的共同观测目标信息以提升跟踪性能,补偿融合则作用于雷达单独观测目标信息以扩展视场范围。该文方法无须视场先验信息,能够适应雷达视场未知时的分布式融合多目标跟踪场景。仿真实验验证了所提出方法在未知、时变雷达视场下跟踪多目标的性能,表明了该文方法比基于高斯混合的聚类方法性能更好。