A kinematics and fuzzy logic combined formation controller was proposed for leader-follower based formation control using backstepping method in order to accommodate the dynamics of the robot.The kinematics controller...A kinematics and fuzzy logic combined formation controller was proposed for leader-follower based formation control using backstepping method in order to accommodate the dynamics of the robot.The kinematics controller generates desired linear and angular velocities for follower robots,which make the configuration of follower robots coverage to the desired.The fuzzy logic controller takes dynamics of the leader and followers into consideration,which is built upon Mamdani fuzzy model.The force and torque acting on robots are described as linguistic variables and also 25 if-then rules are designed.In addition,the fuzzy logic controller adopts the Centroid of Area method as defuzzification strategy and makes robots’actual velocities converge to the expected which is generated by the kinematics controller.The innovation of the kinematics and fuzzy logic combined formation controller presented in the paper is that the perfect velocity tracking assumption is removed and realtime performance of the system is improved.Compared with traditional torque-computed controller,the velocity error convergence time in case of the proposed method is shorter than traditional torque-computed controller.The simulation results validate that the proposed controller can drive robot members to form the desired formation and formation tracking errors which can coverage to a neighborhood of the origin.Additionally,the simulations also show that the proposed method has better velocity convergence performance than traditional torque-computed method.展开更多
The Western fundamentalist view of human rights,in contrast to Chinese society and culture,is external,and thus provides"conceptual form," "thinking method" and "theoretical technique"but...The Western fundamentalist view of human rights,in contrast to Chinese society and culture,is external,and thus provides"conceptual form," "thinking method" and "theoretical technique"but not concrete content.In the traditional Chinese ideology,the time-honored group standard cannot be replaced by the individual standard.In New China,priority is given to the freedom and independence of "everyone" and the realization of rights and interests for"all".Contemporary China combines the human rights conception in Marxism with China’s concrete reality.Meanwhile,it integrates the socialist idea of equality with the traditional culture of the Chinese nation,creating a dual-guarantee system for universal values and individual rights.It gives a clear-cut expression to contemporary China’s rich traits of the cultural tradition of emphasizing progress for all and the equality for all,the priority of realizing the survival and development of the people,and the reference to the achievements of human rights civilizations of other countries.Human rights development in contemporary China must further consolidate the political conditions and institutional base for realizing the "public " goal of human rights and build a solid institutional guarantee for the "private" value orientation of human rights,by means of the construction of the whole-process people’s democracy.展开更多
基金Sponsored by the National Nature Science Foundation of China(Grant No.61105088)
文摘A kinematics and fuzzy logic combined formation controller was proposed for leader-follower based formation control using backstepping method in order to accommodate the dynamics of the robot.The kinematics controller generates desired linear and angular velocities for follower robots,which make the configuration of follower robots coverage to the desired.The fuzzy logic controller takes dynamics of the leader and followers into consideration,which is built upon Mamdani fuzzy model.The force and torque acting on robots are described as linguistic variables and also 25 if-then rules are designed.In addition,the fuzzy logic controller adopts the Centroid of Area method as defuzzification strategy and makes robots’actual velocities converge to the expected which is generated by the kinematics controller.The innovation of the kinematics and fuzzy logic combined formation controller presented in the paper is that the perfect velocity tracking assumption is removed and realtime performance of the system is improved.Compared with traditional torque-computed controller,the velocity error convergence time in case of the proposed method is shorter than traditional torque-computed controller.The simulation results validate that the proposed controller can drive robot members to form the desired formation and formation tracking errors which can coverage to a neighborhood of the origin.Additionally,the simulations also show that the proposed method has better velocity convergence performance than traditional torque-computed method.
基金the initial result of a major project of the Beijing Research Center of Xi Jinping Thought on Socialism with Chinese Characteristics for a New Era and the Beijing Social Science Foundation.The name of the project is“Research on General Secretary Xi Jinping’s Important Discourse on Human Rights”(Project No.21LLFXA051)。
文摘The Western fundamentalist view of human rights,in contrast to Chinese society and culture,is external,and thus provides"conceptual form," "thinking method" and "theoretical technique"but not concrete content.In the traditional Chinese ideology,the time-honored group standard cannot be replaced by the individual standard.In New China,priority is given to the freedom and independence of "everyone" and the realization of rights and interests for"all".Contemporary China combines the human rights conception in Marxism with China’s concrete reality.Meanwhile,it integrates the socialist idea of equality with the traditional culture of the Chinese nation,creating a dual-guarantee system for universal values and individual rights.It gives a clear-cut expression to contemporary China’s rich traits of the cultural tradition of emphasizing progress for all and the equality for all,the priority of realizing the survival and development of the people,and the reference to the achievements of human rights civilizations of other countries.Human rights development in contemporary China must further consolidate the political conditions and institutional base for realizing the "public " goal of human rights and build a solid institutional guarantee for the "private" value orientation of human rights,by means of the construction of the whole-process people’s democracy.
