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基于图像的非标定视觉反馈控制机器人全局定位方法 被引量:7
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作者 仲训杲 徐敏 +1 位作者 仲训昱 彭侠夫 《厦门大学学报(自然科学版)》 CAS CSCD 北大核心 2018年第3期413-419,共7页
针对机器人非标定全局定位问题,研究Kalman滤波(Kalman filtering,KF)算法联合反馈型Elman神经网络(Elman neural network,ENN)学习机器人图像空间与运动空间非线性映射关系,从而建立基于图像的视觉反馈控制方法.首先利用ENN学习得到机... 针对机器人非标定全局定位问题,研究Kalman滤波(Kalman filtering,KF)算法联合反馈型Elman神经网络(Elman neural network,ENN)学习机器人图像空间与运动空间非线性映射关系,从而建立基于图像的视觉反馈控制方法.首先利用ENN学习得到机器人全局定位的次优状态,以此为系统状态向量构建伺服系统状态方程与观测方程,进而利用KF估计得到机器人图像雅可比矩阵.其次,采用KF对ENN网络权重进行在线微调,KF联合ENN满足机器人全局定位稳定收敛的要求,并对环境干扰具有一定的自适应性.最后在摄像机参数未标定条件下,进行六自由度机器人"眼在手"(eye-in-hand)定位比较试验,结果验证了提出的非标定视觉伺服控制方法的有效性. 展开更多
关键词 机器人视觉定位 全局状态空间 视觉反馈控制 联合学习
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Harmonic Impedance Modeling and Oscillation Analysis of Modular Multilevel Converter
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作者 Wang Yuhong Chen Wensheng +2 位作者 Gao Shilin Liao Jianquan Cheng Yangfan 《系统仿真学报》 CAS 2024年第12期2755-2770,共16页
To facilitate rapid analysis of the oscillation stability mechanism in modular multilevel converter-based high voltage direct current(MMC-HVDC)systems and streamline the simulation process for determining MMC impedanc... To facilitate rapid analysis of the oscillation stability mechanism in modular multilevel converter-based high voltage direct current(MMC-HVDC)systems and streamline the simulation process for determining MMC impedance characteristics,a simplified mathematical simulation model for MMC closed-loop impedance is developed using the harmonic state space method.This model considers various control strategies and includes both AC-side and DC-side impedance models.By applying a Nyquist criterion-based impedance analysis method,the stability mechanisms on the AC and DC sides of the MMC are examined.In addition,a data-driven oscillation stability analysis method is also proposed,leveraging a global sensitivity algorithm based on fast model results to identify key parameters influencing MMC oscillation stability.Based on sensitivity analysis results,a parameter adjustment strategy for oscillation suppression is proposed.The simulation results from the MATLAB/Simulinkbased MMC model validate the effectiveness of the proposed method. 展开更多
关键词 modular multilevel converter impedance modeling harmonic state space global sensitivity impedance analysis
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