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新型空间绳系机器人逼近动力学建模及控制
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作者 孟中杰 黄攀峰 闫杰 《火力与指挥控制》 CSCD 北大核心 2012年第5期128-131,共4页
为弥补传统空间机器人操作范围小,风险高的缺点,介绍了一种新型空间绳系机器人系统。建立其任务核心的逼近动力学模型,基于反馈线性化技术和神经网络控制技术设计智能逼近控制系统,仿真结果验证了控制系统的有效性,为新型近距离空间操... 为弥补传统空间机器人操作范围小,风险高的缺点,介绍了一种新型空间绳系机器人系统。建立其任务核心的逼近动力学模型,基于反馈线性化技术和神经网络控制技术设计智能逼近控制系统,仿真结果验证了控制系统的有效性,为新型近距离空间操作技术的发展奠定基础。 展开更多
关键词 空间绳系机器人 建模 逼近动力学 智能控制
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Solution of Chemical Dynamic Optimization Using the Simultaneous Strategies 被引量:2
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作者 刘兴高 陈珑 胡云卿 《Chinese Journal of Chemical Engineering》 SCIE EI CAS CSCD 2013年第1期55-63,共9页
An approach of simultaneous strategies with two novel techniques is proposed to improve the solution accuracy of chemical dynamic optimization problems. The first technique is to handle constraints on control vari- ab... An approach of simultaneous strategies with two novel techniques is proposed to improve the solution accuracy of chemical dynamic optimization problems. The first technique is to handle constraints on control vari- ables based on the finite-element collocation so as to control the approximation error for discrete optimal problems, where a set of control constraints at dement knots are integrated with the procedure for optimization leading to a significant gain in the accuracy of the simultaneous strategies. The second technique is to make the mesh refine- ment more feasible and reliable by introducing length constraints and guideline in designing appropriate element length boundaries, so that the proposed approach becomes more efficient in adjusting dements to track optimal control profile breakpoints and ensure accurate state and centrol profiles. Four classic benchmarks of dynamic op- timization problems are used as illustrations, and the proposed approach is compared with literature reports. The research results reveal that the proposed approach is preferz,ble in improving the solution accuracy of chemical dy- namic optimization problem. 展开更多
关键词 dynamic optimization simultaneous strategy control constraints mesh refinement solution accuracy
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