The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From th...The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.展开更多
Time-varying channel modeling plays an important role for many applications in time-variant scenarios,while most clustering algorithms focus on static channels and cannot accurately model the channel time-evolution pr...Time-varying channel modeling plays an important role for many applications in time-variant scenarios,while most clustering algorithms focus on static channels and cannot accurately model the channel time-evolution properties.In this paper,a fuzzy clustering algorithm based on multipath component(MPC)trajectory is proposed.Firstly,both the distance and velocity similarities of the MPCs in different snapshots are taken into account to track the MPC trajectory,in which the fuzzy scheme and a kernel function are used to calculate the distance and velocity similarities,respectively.Secondly,a fuzzy MPC trajectory clustering algorithm is proposed to cluster the MPCs in multiple snapshots.The MPCs in a snapshot are clustered according to the membership,which is defined as the probability that a MPC belongs to different clusters.Finally,time-varying channels at 28 GHz are simulated to validate the performance of our proposed algorithm.The results show that our proposed algorithm is able to accurately identify the clusters in time-varying channels compared with the existing clustering algorithms.展开更多
The FRF estimator based on the errors-in-variables （EV） model of multi-input multi-output （MIMO） system is presented to reduce the bias error of FRF HI estimator. The FRF HI estimator is influenced by the noises i...The FRF estimator based on the errors-in-variables （EV） model of multi-input multi-output （MIMO） system is presented to reduce the bias error of FRF HI estimator. The FRF HI estimator is influenced by the noises in the inputs of the system and generates an under-estimation of the true FRF. The FRF estimator based on the EV model takes into account the errors in both the inputs and outputs of the system and would lead to more accurate FRF estimation. The FRF estimator based on the EV model is applied to the waveform replication on the 6-DOF （degree-of-freedom） hydraulic vibration table. The result shows that it is favorable to improve the control precision of the MIMO vibration control system.展开更多
基金Supported by the National Natural Science Foundation of China(No.11672290)
文摘The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.
基金supported by the National Key Laboratory of Electromagnetic Environment(No.202101004)the National Nature Science of China(NSFC)(No.61931001),respectively。
文摘Time-varying channel modeling plays an important role for many applications in time-variant scenarios,while most clustering algorithms focus on static channels and cannot accurately model the channel time-evolution properties.In this paper,a fuzzy clustering algorithm based on multipath component(MPC)trajectory is proposed.Firstly,both the distance and velocity similarities of the MPCs in different snapshots are taken into account to track the MPC trajectory,in which the fuzzy scheme and a kernel function are used to calculate the distance and velocity similarities,respectively.Secondly,a fuzzy MPC trajectory clustering algorithm is proposed to cluster the MPCs in multiple snapshots.The MPCs in a snapshot are clustered according to the membership,which is defined as the probability that a MPC belongs to different clusters.Finally,time-varying channels at 28 GHz are simulated to validate the performance of our proposed algorithm.The results show that our proposed algorithm is able to accurately identify the clusters in time-varying channels compared with the existing clustering algorithms.
基金This project is supported by Program for New Century Excellent Talents in University,China(No.NCET-04-0325).
文摘The FRF estimator based on the errors-in-variables （EV） model of multi-input multi-output （MIMO） system is presented to reduce the bias error of FRF HI estimator. The FRF HI estimator is influenced by the noises in the inputs of the system and generates an under-estimation of the true FRF. The FRF estimator based on the EV model takes into account the errors in both the inputs and outputs of the system and would lead to more accurate FRF estimation. The FRF estimator based on the EV model is applied to the waveform replication on the 6-DOF （degree-of-freedom） hydraulic vibration table. The result shows that it is favorable to improve the control precision of the MIMO vibration control system.
