期刊文献+
共找到4篇文章
< 1 >
每页显示 20 50 100
带不确定性上界估计的移动机器人编队控制
1
作者 李艳东 朱玲 +1 位作者 么洪飞 金涛 《计算机仿真》 北大核心 2019年第8期315-319,324,共6页
针对含有驱动器及编队动力学的多非完整移动机器人编队控制问题,基于领航者-跟随者法,以驱动器电压作为控制量,通过反步法设计了一种移动机器人编队鲁棒自适应控制方法。采用单输入径向基神经网络(RBFNN)对含驱动器动力学的机器人动力... 针对含有驱动器及编队动力学的多非完整移动机器人编队控制问题,基于领航者-跟随者法,以驱动器电压作为控制量,通过反步法设计了一种移动机器人编队鲁棒自适应控制方法。采用单输入径向基神经网络(RBFNN)对含驱动器动力学的机器人动力学非线性不确定部分的上界值进行在线估计,并通过非线性元对建模估计误差进行补偿。所提方法既解决了移动机器人编队控制的多不确定性问题,也确保了机器人编队期望队形下的轨迹跟踪。基于Lyapunov方法设计了参数自适应律,并进行了系统稳定性分析。最后,通过两个仿真实例验证了该方法对不确定性估计的准确性,减低了计算复杂度,提高了抗干扰能力。 展开更多
关键词 鲁棒自适应控制 上界估计 编队控制 驱动器动力学 非线性元 非完整移动机器人
下载PDF
移动机器人自适应模糊神经滑模控制 被引量:2
2
作者 朱玲 李艳东 郭媛 《微电机》 北大核心 2020年第1期59-64,共6页
针对含有驱动器动力学的非完整移动机器人轨迹跟踪控制问题,以驱动器电压作为控制输入,提出了一种新型非完整移动机器人自适应模糊神经滑模控制算法,采用自适应动态递归模糊神经网络在线估计由于参数不确定和外加干扰而引起的未知时变函... 针对含有驱动器动力学的非完整移动机器人轨迹跟踪控制问题,以驱动器电压作为控制输入,提出了一种新型非完整移动机器人自适应模糊神经滑模控制算法,采用自适应动态递归模糊神经网络在线估计由于参数不确定和外加干扰而引起的未知时变函数,减小了不确定性的估计误差;结合自适应鲁棒控制器,不但克服了移动机器人所受的参数与非参数的多不确定性问题,同时也确保了机器人对指定轨迹的跟踪;基于Lyapunov方法进行了参数自适应律设计和系统稳定性分析,保证了控制系统跟踪误差的收敛性,仿真结果表明了该方法的有效性。 展开更多
关键词 非完整移动机器人 滑模控制 不确定性 驱动器动力学 自适应递归模糊神经网络
下载PDF
Dynamics of mechanical system for electromechanical integrated toroidal drive under electric disturbance 被引量:1
3
作者 许立忠 郝秀红 《Journal of Central South University》 SCIE EI CAS 2014年第4期1296-1306,共11页
Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were... Based on electromagnetics and mechanics, electromechanical coupled dynamic equations for the drive were developed. Using method of perturbation, free vibrations of the mechanical system under electric disturbance were investigated. The forced responses of the mechanical system to mechanical excitation under electric disturbance were also presented. It is known that for the system with electric disturbance, as time grows, beat occurs. When electric disturbing frequency is near to the natural frequencies of the mechanical system or their integer multiple, resonance vibrations occur. The forced responses of the mechanical system to mechanical excitation under electric disturbance are compound vibrations decided by mechanical excitation, electric disturbance and parameters of the system. The coupled resonance vibration caused by electric disturbance and mechanical excitation was discussed as well. The conditions under which above coupled resonance occurs were presented. The results show that when the difference of the excitation frequency and the perturbation frequency is equal to some order of natural frequency, coupled resonance vibrations occur. 展开更多
关键词 toroidal drive electromechanical integration dynamics free vibration forced response
下载PDF
Failure modeling of folded dielectric elastomer actuator
4
作者 LIU LiWu ZHANG Zhen +1 位作者 LIU YanJu LENG JinSong 《Science China(Physics,Mechanics & Astronomy)》 SCIE EI CAS 2014年第2期263-272,共10页
When subjected to voltage,the dielectric elastomer membrane reduces its thickness and expands its area under the resulting compressive force.This characteristic enables the dielectric elastomer actuators of different ... When subjected to voltage,the dielectric elastomer membrane reduces its thickness and expands its area under the resulting compressive force.This characteristic enables the dielectric elastomer actuators of different structures to be designed and fabricated.By employing the thermodynamic theory and research method proposed by Suo et al.,an equilibrium equation of folded dielectric elastomer actuator with two generalized coordinates is established.The governing equations of failure models involving electromechanical instability,zero electric field,electrical breakdown,loss of tension,and rupture by stretch are also derived.The allowable areas of folded dielectric elastomer actuators are described.These results could provide a powerful guidance to the design and performance evaluation of the dielectric elastomer actuators. 展开更多
关键词 dielectric elastomer folded dielectric elastomer actuator failure modes allowable area
原文传递
上一页 1 下一页 到第
使用帮助 返回顶部