http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
Adaptive Tracking Design of NCS with Time-varying Signals Using Fuzzy Inverse Model
Shiwen Tong,Dianwei Qian,Na Huang,Guo-ping Liu,Jiancheng Zhang,Guang Cheng 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.11
Tracking control of time-varying signal is a very challenging problem for the network environment applications. An adaptive control strategy based on the inverse of fuzzy singleton model is proposed in the paper. The fuzzy singleton model is a designed equivalent system instead of the fuzzy clustering model of the controlled process. Following an invertibility condition, a collection of predicted control actions are derived from the iterated inverse fuzzy singleton model. Thus, the data dropout and time delays in the network are compensated by means of these predicted values. To enhance control performance, the adaptive control strategy is adopted. Since the method is started from the inputs and outputs of the process, it is actually a data-based solution which is very suitable to the processes with blurred mechanism. Compared with other two control algorithms, the proposed control algorithm exhibits good accuracy, high efficiency, and fast tracking features. Simulations in the data dropout and time-delay cases have verified the effectiveness of the method.
Dianwei Qian,Shiwen Tong,Chengdong Li 한국전자통신연구원 2016 ETRI Journal Vol.38 No.5
This paper presents a control scheme for the leader-following formation of multiple robots. The control scheme combines the sliding mode control (SMC) method with the nonlinear disturbance observer (NDOB) technique. The formation dynamics suffer from uncertainties because the individual robots are uncertain. Concerning such formation uncertainties, the leader-following formation dynamics are modeled. Assuming that the formation uncertainties have an unknown boundary, an NDOB-based observer was designed to estimate the formation uncertainties. A sliding surface containing the observer outputs has been defined. Regarding the sliding surface, an SMC-based controller was investigated to form uncertain robots. A sufficient condition in the sense of the Lyapunov theory was proven such that the formation system is asymptotically stable. Herein, some comparison results between the sole SMC method and the second-order SMC method are presented to demonstrate the effectiveness and feasibility of the control scheme for multiple robots in the presence of uncertainties.
Comments on “Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots”
Dianwei Qian,Shiwen Tong,Jinrong Guo,Suk Gyu Lee Institute of Electrical and Electronics Engineers 2015 IEEE transactions on industrial electronics Vol. No.
<P>One of the formation schemes in multirobot systems is named as the leader-follower scheme. Dynamic equations based on the scheme are formulated for multirobot systems with uncertainties by Defoort et al. ( IEEE Trans. Ind. Electron. vol. 55, no. 11, pp. 3944-3953, Nov. 2008). This paper focuses on the equations, clarifies their drawbacks, and revisits the modeling of the leader-follower formation scheme for multirobot systems with uncertainties.</P>