A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signa...A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape.The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.展开更多
设计了多天线全双工(full-duplex,FD)中继信道下联合优化功率分裂因子和波束成形矩阵的能量与信息同传(simultaneous wireless information and power transfer,SWIPT)算法。不同于现有的FD-SWIPT方案,考虑较为复杂的多天线中继系统,并...设计了多天线全双工(full-duplex,FD)中继信道下联合优化功率分裂因子和波束成形矩阵的能量与信息同传(simultaneous wireless information and power transfer,SWIPT)算法。不同于现有的FD-SWIPT方案,考虑较为复杂的多天线中继系统,并用功率分裂(power splitting,PS)代替传统的时间切换(time switching,TS),使得信息传输和能量采集过程可以同时进行。给出了基于迫零算法(zero-forcing algorithm,ZF)的波束成形方案,研究了系统低复杂度的次优解,其中波束成形的使用增强了能量采集和回路自干扰抑制的能力,从而达到更大的吞吐量。还优化了PS,并利用二次插值法求出最优的PS因子,最终得到整个系统的次优解。仿真结果表明,联合优化方案可以提升系统的最大吞吐量,另外,PS因子的选择对系统吞吐量起着至关重要的作用,同时这2个优化因子都与发射功率的大小有关。展开更多
文摘A global relay switching control scheme with finite time convergence (FTC) is proposed for multi-joint rigid robotic manipulator systems with uncertain dynamics. For a general finite time controller, the control signals may tend to infinity in finite time when the initial states of the system are in some specified area, causing the singularity problem of the closed-loop system and finite escape.The design scheme for finite time tracking control uses a relay switching control method so that the boundedness of the control signal is guaranteed and the singularity phenomenon is avoided. The validity of our scheme is demonstrated by simulation results.
文摘设计了多天线全双工(full-duplex,FD)中继信道下联合优化功率分裂因子和波束成形矩阵的能量与信息同传(simultaneous wireless information and power transfer,SWIPT)算法。不同于现有的FD-SWIPT方案,考虑较为复杂的多天线中继系统,并用功率分裂(power splitting,PS)代替传统的时间切换(time switching,TS),使得信息传输和能量采集过程可以同时进行。给出了基于迫零算法(zero-forcing algorithm,ZF)的波束成形方案,研究了系统低复杂度的次优解,其中波束成形的使用增强了能量采集和回路自干扰抑制的能力,从而达到更大的吞吐量。还优化了PS,并利用二次插值法求出最优的PS因子,最终得到整个系统的次优解。仿真结果表明,联合优化方案可以提升系统的最大吞吐量,另外,PS因子的选择对系统吞吐量起着至关重要的作用,同时这2个优化因子都与发射功率的大小有关。
