In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear sa...In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its simple fuzzy rules and control strategies. The simulation results show that the present control strategy effectively reduces the control effort with negligible chattering in control torque signals in comparison to the existing nonlinear saturation controller.展开更多
An adaptive actuator failure compensation control scheme is developed using an indirect adaptive control method,by calculating the controller parameters from adaptive estimates of system parameters and actuator failur...An adaptive actuator failure compensation control scheme is developed using an indirect adaptive control method,by calculating the controller parameters from adaptive estimates of system parameters and actuator failure parameters.A key technical issue is how to deal with the actuator failure uncertainties such as failure pattern,time and values.A complete parametrization covering all possible failures is used to solve this issue for adaptive parameter estimation.A simultaneous mapping from the estimated system/failure parameters to the controller parameters is employed to make the control system capable of ensuring the desired system performance under failures,which is verified by simulation results.展开更多
Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the ...Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the controller design for these quadrotors is considered the challenging issue of the day.In this work,an adaptive sliding mode controller based on neural network is proposed to control the altitude of a quadrotor.The error and error derivative of the altitude of a quadrotor are the inputs of neural network and altitude sliding surface variable is its output.Neural network estimates the sliding surface variable adaptively according to the conditions of quadrotor and sets the altitude of a quadrotor equal to the desired value.The proposed controller stability has been proven by Lyapunov theory and it is shown that all system states reach to sliding surface and are remaining in it.The superiority of the proposed control method has been proven by comparison and simulation results.展开更多
This work concerns the study of problems relating to the adaptive internal model control of DC motor in both cases conventional and neural. The most important aspects of design building blocks of adaptive internal mod...This work concerns the study of problems relating to the adaptive internal model control of DC motor in both cases conventional and neural. The most important aspects of design building blocks of adaptive internal model control are the choice of architectures, learning algorithms, and examples of learning. The choice of parametric adaptation algorithm for updating elements of the conventional adaptive internal model control shows limitations. To overcome these limitations, we chose the architectures of neural networks deduced from the conventional models and the Levenberg-marquardt during the adjustment of system parameters of the adaptive neural internal model control. The results of this latest control showed compensation for disturbance, good trajectory tracking performance and system stability.展开更多
Contour following is one of the most important issues faced by many computer-numerical-control(CNC) machine tools to achieve high machining precision. This paper presents a new real-time error compensation method aimi...Contour following is one of the most important issues faced by many computer-numerical-control(CNC) machine tools to achieve high machining precision. This paper presents a new real-time error compensation method aiming at reducing the contouring error caused by facts such as servo lag and dynamics mismatch in parametric curved contour-following tasks. Due to the lack of high-precision contouring-error estimation method for free-form parametric curved toolpath, the error can hardly be compensated effectively. Therefore, an adaptive accurate contouring-error estimation algorithm is proposed first, where a tangential-error backstepping method based on Taylor's expansion is developed to rapidly find the closest point on the parametric curve to the actual motion position. On this foundation, the contouring error is compensated using a proposed nonlinear variable-gain compensation method, where the compensation gain is obtained according to not only the contouring-error magnitude but also its direction variation. The stability of the system after compensation is analyzed afterwards according to the Jury stability criterion.By design of the compensator in accordance with the presented contouring-error compensation method as well as the stability analyzation result, the balance between the response speed and the contour control stability can be effectively made. Experimental tests demonstrate the feasibility of the presented methods in both contouring-error estimation and contour-accuracy improvement.Contributions of this research are significant for enhancing the contour-following performance of the CNC machine tools.展开更多
The spinodal decomposition method emerges as a promising methodology,showcasing its potential in exploring the design space for metamaterial structures.However,spinodal structures design is still largely limited to re...The spinodal decomposition method emerges as a promising methodology,showcasing its potential in exploring the design space for metamaterial structures.However,spinodal structures design is still largely limited to regular structures,due to their relatively easy parameterization and controllability.Efficiently predicting the mechanical properties of 3D spinodal membrane structure remains a challenge,given that the features of the membrane necessitate adaptive mesh through the modelling process.This paper proposes an integrated approach for morphological design with customized mechanical properties,incorporating the spinodal decomposition method and adaptive coarse-grained modeling,which can produce various morphologies such as lamellar,columnar,and cubic structures.Pseudo-periodic parameterβand orientational parameterΘ(θ_(1),θ_(2),θ_(3))are identified to achieve the optimal goal of anisotropic mechanical properties.Parametric analysis is conducted to reveal the correlation between the customized spinodal structure and mechanical performance.Our work provides an integrated approach for morphological variation and tuning mechanical properties,paving the way for the design and development of customized functional materials similar to 3D spinodal membrane structures.展开更多
The power capture performance of an adaptive bistable point absorber wave energy converter(WEC)in irregular waves is investigated in this paper.Based on the linear potential flow theory and Cummins equations,the equat...The power capture performance of an adaptive bistable point absorber wave energy converter(WEC)in irregular waves is investigated in this paper.Based on the linear potential flow theory and Cummins equations,the equation of motion for the WEC is established in time domain.Then a parametric study is performed on the power capture performance of the WEC by considering the influences of different wave and system parameters such as the spring combination parameter,the stiffness of auxiliary springs and main springs,the original length value of the main spring,damping coefficient of the PTO systems and the significant wave height.The results show that in an irregular wave,each parameter will have a certain impact on the performance of the device.Appropriate device parameters need to be selected according to actual environmental parameters to ensure that the adaptive bistable WEC has better power capture performance than its linear and conventional bistable counterparts.展开更多
文摘In this paper, an adaptive fuzzy control algorithm is proposed for trajectory tracking of an n-DOF robot manipulator subjected to parametric uncertainty and it is advantageous compared to the conventional nonlinear saturation controller. The asymptotic stability of the proposed controller has been derived based on Lyapunaov energy function. The design procedure is straightforward due to its simple fuzzy rules and control strategies. The simulation results show that the present control strategy effectively reduces the control effort with negligible chattering in control torque signals in comparison to the existing nonlinear saturation controller.
基金supported by the US National Science Foundation (ECS0601475)the National Natural Science Foundation of China (60904042)
文摘An adaptive actuator failure compensation control scheme is developed using an indirect adaptive control method,by calculating the controller parameters from adaptive estimates of system parameters and actuator failure parameters.A key technical issue is how to deal with the actuator failure uncertainties such as failure pattern,time and values.A complete parametrization covering all possible failures is used to solve this issue for adaptive parameter estimation.A simultaneous mapping from the estimated system/failure parameters to the controller parameters is employed to make the control system capable of ensuring the desired system performance under failures,which is verified by simulation results.
基金authorities of East Tehran Branch,Islamic Azad University,Tehran,Iran,for providing support and necessary facilities
文摘Reasons and realities such as being non-linear of dynamical equations,being lightweight and unstable nature of quadrotor,along with internal and external disturbances and parametric uncertainties,have caused that the controller design for these quadrotors is considered the challenging issue of the day.In this work,an adaptive sliding mode controller based on neural network is proposed to control the altitude of a quadrotor.The error and error derivative of the altitude of a quadrotor are the inputs of neural network and altitude sliding surface variable is its output.Neural network estimates the sliding surface variable adaptively according to the conditions of quadrotor and sets the altitude of a quadrotor equal to the desired value.The proposed controller stability has been proven by Lyapunov theory and it is shown that all system states reach to sliding surface and are remaining in it.The superiority of the proposed control method has been proven by comparison and simulation results.
文摘This work concerns the study of problems relating to the adaptive internal model control of DC motor in both cases conventional and neural. The most important aspects of design building blocks of adaptive internal model control are the choice of architectures, learning algorithms, and examples of learning. The choice of parametric adaptation algorithm for updating elements of the conventional adaptive internal model control shows limitations. To overcome these limitations, we chose the architectures of neural networks deduced from the conventional models and the Levenberg-marquardt during the adjustment of system parameters of the adaptive neural internal model control. The results of this latest control showed compensation for disturbance, good trajectory tracking performance and system stability.
基金the National Natural Science Foundation of China(Grant Nos 51515081 and 51675081)National Science and Tech-nology Major Project of China(Grant No 2016ZX04001-002)+2 种基金Innovation Project for Supporting High-level Talent in Dalian(Grant No 2016RQ012)Science Fund for Creative Research Groups(Grant No 51621064)the Fundamental Research Funds for the Central Universities(Grant NoDUT17LAB13)
文摘Contour following is one of the most important issues faced by many computer-numerical-control(CNC) machine tools to achieve high machining precision. This paper presents a new real-time error compensation method aiming at reducing the contouring error caused by facts such as servo lag and dynamics mismatch in parametric curved contour-following tasks. Due to the lack of high-precision contouring-error estimation method for free-form parametric curved toolpath, the error can hardly be compensated effectively. Therefore, an adaptive accurate contouring-error estimation algorithm is proposed first, where a tangential-error backstepping method based on Taylor's expansion is developed to rapidly find the closest point on the parametric curve to the actual motion position. On this foundation, the contouring error is compensated using a proposed nonlinear variable-gain compensation method, where the compensation gain is obtained according to not only the contouring-error magnitude but also its direction variation. The stability of the system after compensation is analyzed afterwards according to the Jury stability criterion.By design of the compensator in accordance with the presented contouring-error compensation method as well as the stability analyzation result, the balance between the response speed and the contour control stability can be effectively made. Experimental tests demonstrate the feasibility of the presented methods in both contouring-error estimation and contour-accuracy improvement.Contributions of this research are significant for enhancing the contour-following performance of the CNC machine tools.
基金supported by the National Natural Science Foundation of China(Grant No.11872278)the Science and Technology Commission of Shanghai Municipality(Grant No.21ZR1467200)the Fundamental Research Funds for the Central Universities.
文摘The spinodal decomposition method emerges as a promising methodology,showcasing its potential in exploring the design space for metamaterial structures.However,spinodal structures design is still largely limited to regular structures,due to their relatively easy parameterization and controllability.Efficiently predicting the mechanical properties of 3D spinodal membrane structure remains a challenge,given that the features of the membrane necessitate adaptive mesh through the modelling process.This paper proposes an integrated approach for morphological design with customized mechanical properties,incorporating the spinodal decomposition method and adaptive coarse-grained modeling,which can produce various morphologies such as lamellar,columnar,and cubic structures.Pseudo-periodic parameterβand orientational parameterΘ(θ_(1),θ_(2),θ_(3))are identified to achieve the optimal goal of anisotropic mechanical properties.Parametric analysis is conducted to reveal the correlation between the customized spinodal structure and mechanical performance.Our work provides an integrated approach for morphological variation and tuning mechanical properties,paving the way for the design and development of customized functional materials similar to 3D spinodal membrane structures.
基金This work is supported by Shanghai Pujiang Program(Grant No.19PJ1405400)the 2020 Research Program of Sanya Yazhou Bay Science and Technology City(Grant No.SKJC-2020-01-006)and Hainan Provincial Natural Science Foundation of China(Grant no.520QN290).
文摘The power capture performance of an adaptive bistable point absorber wave energy converter(WEC)in irregular waves is investigated in this paper.Based on the linear potential flow theory and Cummins equations,the equation of motion for the WEC is established in time domain.Then a parametric study is performed on the power capture performance of the WEC by considering the influences of different wave and system parameters such as the spring combination parameter,the stiffness of auxiliary springs and main springs,the original length value of the main spring,damping coefficient of the PTO systems and the significant wave height.The results show that in an irregular wave,each parameter will have a certain impact on the performance of the device.Appropriate device parameters need to be selected according to actual environmental parameters to ensure that the adaptive bistable WEC has better power capture performance than its linear and conventional bistable counterparts.
