Nowadays,distance is usually used to evaluate the error of trajectory compression.These methods can effectively indicate the level of geometric similarity between the compressed and the raw trajectory,but it ignores t...Nowadays,distance is usually used to evaluate the error of trajectory compression.These methods can effectively indicate the level of geometric similarity between the compressed and the raw trajectory,but it ignores the velocity error in the compression.To fill the gap of these methods,assuming the velocity changes linearly,a mathematical model called SVE(Time Synchronized Velocity Error)for evaluating compression error is designed,which can evaluate the velocity error effectively,conveniently and accurately.Based on this model,an innovative algorithm called SW-MSVE(Minimum Time Synchronized Velocity Error Based on Sliding Window)is proposed,which can minimize the velocity error in trajectory compression under the premise of local optimization.Two elaborate experiments are designed to demonstrate the advancements of the SVE and the SW-MSVE respectively.In the first experiment,we use the PED,the SED and the SVE to evaluate the error under four compression algorithms,one of which is the SW-MSVE algorithm.The results show that the SVE is less influenced by noise with stronger performance and more applicability.In the second experiment,by marking the raw trajectory,we compare the SW-MSVE algorithm with three others algorithms at information retention.The results show that the SW-MSVE algorithm can take into account both velocity and geometric structure constraints and retains more information of the raw trajectory at the same compression ratio.展开更多
A novel adaptive robust control （ARC） is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximat...A novel adaptive robust control （ARC） is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in L2 norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method.展开更多
基金the National Natural Science Foundation of China under Grants 61873160 and 61672338.
文摘Nowadays,distance is usually used to evaluate the error of trajectory compression.These methods can effectively indicate the level of geometric similarity between the compressed and the raw trajectory,but it ignores the velocity error in the compression.To fill the gap of these methods,assuming the velocity changes linearly,a mathematical model called SVE(Time Synchronized Velocity Error)for evaluating compression error is designed,which can evaluate the velocity error effectively,conveniently and accurately.Based on this model,an innovative algorithm called SW-MSVE(Minimum Time Synchronized Velocity Error Based on Sliding Window)is proposed,which can minimize the velocity error in trajectory compression under the premise of local optimization.Two elaborate experiments are designed to demonstrate the advancements of the SVE and the SW-MSVE respectively.In the first experiment,we use the PED,the SED and the SVE to evaluate the error under four compression algorithms,one of which is the SW-MSVE algorithm.The results show that the SVE is less influenced by noise with stronger performance and more applicability.In the second experiment,by marking the raw trajectory,we compare the SW-MSVE algorithm with three others algorithms at information retention.The results show that the SW-MSVE algorithm can take into account both velocity and geometric structure constraints and retains more information of the raw trajectory at the same compression ratio.
基金This work was supported by the National Natural Science Foundation of China （Nos. 61433003, 61273150）, the Foundation for Innovative Research Groups of the National Natural Science Foundation of China （No. 61321002） and the Doctoral Program of Higher Education of China （No. 20121101110029）.
文摘A novel adaptive robust control （ARC） is presented for the four-motor driving servo systems with the uncertain nonlinearities and actuation failures, such that the load tracking control is achieved with the proximate optimal-time. By applying the proposed scheme, several control objectives are achieved. First, the nonlinear synchronization algorithm is presented to maintain the velocity synchronization of each motor, which provides fast convergence without chatting. Moreover, the time-varying bias torque is applied to eliminate the effect of backlash and reduce the waste of energy. Then, the ARC is designed to achieve the proximate optimal-time output tracking with the transient performance in L2 norm, where the friction and actuation failures are addressed by the adaptive scheme based on the norm estimation of unknown parameter vector. Finally, the extensive simulated and experimental results validate the effectiveness of the proposed method.
