It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on l...It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.展开更多
This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sl...This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.展开更多
In order to guarantee the overall return on investment (ROI), improve user experience and quality of service (QoS), save energy, reduce electra magnetic interference (EMI) and radiation pollution, and enable the susta...In order to guarantee the overall return on investment (ROI), improve user experience and quality of service (QoS), save energy, reduce electra magnetic interference (EMI) and radiation pollution, and enable the sustainable deployment of new profitable applications and services in heterogeneous wireless networks coexistence reality, this paper proposes a cross-network cooperation mechanism to effectively share network resources and infrastructures, and then adaptively control and match multi-network energy distribution characteristics according to actual user/service requirements in different geographic areas. Some idle or lightly-loaded base stations (BS or BSs) will be temporally turned off for saving energy and reducing EMI. Initial simulation results show that the proposed approach can significantly improve the overall energy efficiency and QoS performance across multiple cooperative wireless networks.展开更多
文摘It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.
文摘This paper describes an intelligent integrated control of an acrobot, which is an underactuated mechanical system with second-order nonholonomic constraints. The control combines a model-free fuzzy control, a fuzzy sliding-mode control and a model-based fuzzy control. The model-free fuzzy controller designed for the upswing ensures that the energy of the acrobot increases with each swing. Then the fuzzy sliding-mode controller is employed to control the movement that the acrobot enters the balance area from the swing-up area. The model-based fuzzy controller, which is based on a Takagi-Sugeno fuzzy model, is used to balance the acrobot. The stability of the fuzzy control system for balance control is guaranteed by a common symmetric positive matrix, which satisfies linear matrix inequalities.
基金supported by the National Natural Science Foundation of China ( NSFC)( No. 60902041)Chinese Academy of Sciences ( No. 2010045)the Ministry of Science and Technology( MOST) of China ( No. 2010DFB10410,No. 2009DFB13080 and No. 2009ZX03003-009)
文摘In order to guarantee the overall return on investment (ROI), improve user experience and quality of service (QoS), save energy, reduce electra magnetic interference (EMI) and radiation pollution, and enable the sustainable deployment of new profitable applications and services in heterogeneous wireless networks coexistence reality, this paper proposes a cross-network cooperation mechanism to effectively share network resources and infrastructures, and then adaptively control and match multi-network energy distribution characteristics according to actual user/service requirements in different geographic areas. Some idle or lightly-loaded base stations (BS or BSs) will be temporally turned off for saving energy and reducing EMI. Initial simulation results show that the proposed approach can significantly improve the overall energy efficiency and QoS performance across multiple cooperative wireless networks.
