Because the general object of ship steering control system is singular, the state Of rudder force and the state of disturbance are separated, and the generalized yaw output disturhance is obtained. Furthermore, singul...Because the general object of ship steering control system is singular, the state Of rudder force and the state of disturbance are separated, and the generalized yaw output disturhance is obtained. Furthermore, singular system control problem of ship yaw and sway coupled system is transferred into nonsingular standard control problem. Then according to the linear fractional denoting algorithm of the rational function parameter perturbation system, the Linear Fractional Transform （LFT） model of yaw and sway coupled motion is solved, which is used to design the ship steering robust control system. For the ship steering system with the uncertain parameters, the robust control law is designed based on H^∞ μ-synthesis. And the robust performance of the system is analyzed and the simulation validation is made. Simulation results show that the designed control system has excellent control effect and robustness.展开更多
A novel approach to realistic collision-free animation of the upper limb was proposed.According to the obstacle-avoidance strategy of human hand,the movement trajectory was computed by manipulability model and minimum...A novel approach to realistic collision-free animation of the upper limb was proposed.According to the obstacle-avoidance strategy of human hand,the movement trajectory was computed by manipulability model and minimum-jerk based interpolation.In each key frame,an improved in～verse kinematics method was adopted to obtain a believable posture of the upper limb.By comparing with the real movement data obtained from the motion capture device,the resultant animation was testified to be natural.This method can be performed in interactive time,and therefore is applicable in animation edit and control of virtual humans.展开更多
文摘Because the general object of ship steering control system is singular, the state Of rudder force and the state of disturbance are separated, and the generalized yaw output disturhance is obtained. Furthermore, singular system control problem of ship yaw and sway coupled system is transferred into nonsingular standard control problem. Then according to the linear fractional denoting algorithm of the rational function parameter perturbation system, the Linear Fractional Transform （LFT） model of yaw and sway coupled motion is solved, which is used to design the ship steering robust control system. For the ship steering system with the uncertain parameters, the robust control law is designed based on H^∞ μ-synthesis. And the robust performance of the system is analyzed and the simulation validation is made. Simulation results show that the designed control system has excellent control effect and robustness.
基金Supported by Science and Technology Project of Tianjin(No.06YFGZGX06200).
文摘A novel approach to realistic collision-free animation of the upper limb was proposed.According to the obstacle-avoidance strategy of human hand,the movement trajectory was computed by manipulability model and minimum-jerk based interpolation.In each key frame,an improved in～verse kinematics method was adopted to obtain a believable posture of the upper limb.By comparing with the real movement data obtained from the motion capture device,the resultant animation was testified to be natural.This method can be performed in interactive time,and therefore is applicable in animation edit and control of virtual humans.
