As a prelude to the yearlong EU Intergovernmental Conference(IGC),theTurin summit of the EU held late March has once again evoked heated discussionson Europe’s integration among press and academic circles both at hom...As a prelude to the yearlong EU Intergovernmental Conference(IGC),theTurin summit of the EU held late March has once again evoked heated discussionson Europe’s integration among press and academic circles both at home andabroad.The idealists among them are grumbling that the pace of the integration展开更多
This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a ...This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a tracking controller for a robot/prosthesis system.This framework promises a systematic flexible design using which multiple design specifications such as robustness,state estimation,and control optimality are achieved without the need for model linearization.Performance of the proposed approach is demonstrated through simulation studies,which show improvements versus a robust adaptive impedance controller and an extended Kalman filter-based state estimation method.Numerical results confirm the benefits of our method over the above-mentioned approaches with regard to control optimality and state estimation.展开更多
To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction ...To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.展开更多
Introduction Andrew Thomas Weil （born June 8, 1942）, Lovell-Jones Professor of Integrative Rheumatology, Clinical Professor of Medicine, Professor of Public Health, is best known for establishing and popularizing t...Introduction Andrew Thomas Weil （born June 8, 1942）, Lovell-Jones Professor of Integrative Rheumatology, Clinical Professor of Medicine, Professor of Public Health, is best known for establishing and popularizing the field of integrative medicine （IM）. He is the world leader of integrative medicine, founder and Program Director of the Arizona Center for Integrative Medicine, which was first established in 1994 at the University of Arizona.展开更多
文摘As a prelude to the yearlong EU Intergovernmental Conference(IGC),theTurin summit of the EU held late March has once again evoked heated discussionson Europe’s integration among press and academic circles both at home andabroad.The idealists among them are grumbling that the pace of the integration
文摘This paper designs a joint controller/observer framework using a state dependent Riccati equation(SDRE)approach for an active transfemoral prosthesis system.An integral state control technique is utilized to design a tracking controller for a robot/prosthesis system.This framework promises a systematic flexible design using which multiple design specifications such as robustness,state estimation,and control optimality are achieved without the need for model linearization.Performance of the proposed approach is demonstrated through simulation studies,which show improvements versus a robust adaptive impedance controller and an extended Kalman filter-based state estimation method.Numerical results confirm the benefits of our method over the above-mentioned approaches with regard to control optimality and state estimation.
基金Supported by the National Natural Science Foundation of China(61175090,61703249)Shandong Provincial Natural Science Foundation,China(ZR2017MF045)
文摘To address the problems of torque limit and controller saturation in the control of robot arm joint,an anti-windup control strategy is proposed for a humanoid robot arm,which is based on the integral state prediction under the direct torque control system of brushless DC motor. First,the arm joint of the humanoid robot is modelled. Then the speed controller model and the influence of the initial value of the integral element on the system are analyzed. On the basis of the traditional antiwindup controller,an integral state estimator is set up. Under the condition of different load torques and the given speed,the integral steady-state value is estimated. Therefore the accumulation of the speed error terminates when the integrator reaches saturation. Then the predicted integral steady-state value is used as the initial value of the regulator to enter the linear region to make the system achieve the purpose of anti-windup. The simulation results demonstrate that the control strategy for the humanoid robot arm joint based on integral state prediction can play the role of anti-windup and suppress the overshoot of the system effectively. The system has a good dynamic performance.
文摘Introduction Andrew Thomas Weil （born June 8, 1942）, Lovell-Jones Professor of Integrative Rheumatology, Clinical Professor of Medicine, Professor of Public Health, is best known for establishing and popularizing the field of integrative medicine （IM）. He is the world leader of integrative medicine, founder and Program Director of the Arizona Center for Integrative Medicine, which was first established in 1994 at the University of Arizona.
