为实现欠驱动四旋翼飞行器的位置及偏航渐近跟踪,本文基于浸入和不变技术(immersion and invariance,I&I)提出非线性跟踪控制方法.针对四旋翼飞行器的欠驱动特性,设计了内/外环分别为姿态和位置的双闭环结构,并采用浸入和不变技术...为实现欠驱动四旋翼飞行器的位置及偏航渐近跟踪,本文基于浸入和不变技术(immersion and invariance,I&I)提出非线性跟踪控制方法.针对四旋翼飞行器的欠驱动特性,设计了内/外环分别为姿态和位置的双闭环结构,并采用浸入和不变技术构建内/外环的稳定跟踪控制器,利用李雅普诺夫定理保证闭环系统的渐近稳定性.最后,在MATLAB/Simulink环境下进行数值仿真,验证了I&I控制方案的有效性.展开更多
In this paper,the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach.In order to compensate the input d...In this paper,the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach.In order to compensate the input delays,a prediction scheme is presented to predict future states based on the closed-loop linear system.Then,a stabilizing law is constructed for nonlinear delayed systems by replacing the future states in the control law for the corresponding delay-free systems with their prediction.Finally,numerical examples are given to verify the effectiveness of the proposed approach.展开更多
To solve the problem that the accurate information of hand cannot be obtained by particle filter, a hand tracking algorithm based on particle filter combined with skin-color adaptive gradient vector flow(GVF) snake mo...To solve the problem that the accurate information of hand cannot be obtained by particle filter, a hand tracking algorithm based on particle filter combined with skin-color adaptive gradient vector flow(GVF) snake model is proposed. Adaptive GVF and skin color adaptive external guidance force are introduced to the traditional GVF snake model, guiding the curve to quickly converge to the deep concave region of hand contour and obtaining the complex hand contour accurately. This algorithm realizes a real-time correction of the particle filter parameters, avoiding the particle drift phenomenon. Experimental results show that the proposed algorithm can reduce the root mean square error of the hand tracking by 53%, and improve the accuracy of hand tracking in the case of complex and moving background, even with a large range of occlusion.展开更多
Since 1960s,the first-order state space approach has been dominant in analysis and design of control systems.In a state-space model of a dynamical system,the state variable is emphasized.Therefore,some problems releva...Since 1960s,the first-order state space approach has been dominant in analysis and design of control systems.In a state-space model of a dynamical system,the state variable is emphasized.Therefore,some problems relevant to state estimation and the seeking of state solution can be conveniently solved.However,the control variable is the core in the design of controllers.展开更多
文摘为实现欠驱动四旋翼飞行器的位置及偏航渐近跟踪,本文基于浸入和不变技术(immersion and invariance,I&I)提出非线性跟踪控制方法.针对四旋翼飞行器的欠驱动特性,设计了内/外环分别为姿态和位置的双闭环结构,并采用浸入和不变技术构建内/外环的稳定跟踪控制器,利用李雅普诺夫定理保证闭环系统的渐近稳定性.最后,在MATLAB/Simulink环境下进行数值仿真,验证了I&I控制方案的有效性.
基金This work was supported by the Science Center Program of National Natural Science Foundation of China under Grant No.62188101,HIT Wuhu Robot Technology Research Institute,the National Natural Science Foundation of China under Grant No.62173112Guangdong Natural Science Foundation under Grant No.2019A1515011576Shenzhen Science and Technology Program under Project No.JCYJ20210324132413034.
文摘In this paper,the problem of stabilization is considered for discrete-time multiple-input nonlinear systems with distinct input delays law based on the fully actuated system approach.In order to compensate the input delays,a prediction scheme is presented to predict future states based on the closed-loop linear system.Then,a stabilizing law is constructed for nonlinear delayed systems by replacing the future states in the control law for the corresponding delay-free systems with their prediction.Finally,numerical examples are given to verify the effectiveness of the proposed approach.
基金supported by the National Natural Sciencal Foundation of China(No.61403274)the Tianjin Technology Project of Intelligent Manufacturing(No.15ZXZNGX00160)
文摘To solve the problem that the accurate information of hand cannot be obtained by particle filter, a hand tracking algorithm based on particle filter combined with skin-color adaptive gradient vector flow(GVF) snake model is proposed. Adaptive GVF and skin color adaptive external guidance force are introduced to the traditional GVF snake model, guiding the curve to quickly converge to the deep concave region of hand contour and obtaining the complex hand contour accurately. This algorithm realizes a real-time correction of the particle filter parameters, avoiding the particle drift phenomenon. Experimental results show that the proposed algorithm can reduce the root mean square error of the hand tracking by 53%, and improve the accuracy of hand tracking in the case of complex and moving background, even with a large range of occlusion.
文摘Since 1960s,the first-order state space approach has been dominant in analysis and design of control systems.In a state-space model of a dynamical system,the state variable is emphasized.Therefore,some problems relevant to state estimation and the seeking of state solution can be conveniently solved.However,the control variable is the core in the design of controllers.
