A5100418454- Adaptive Control of Nonlinear Systems
- Stability and Control of Uncertain Systems
- Control and Stability of Dynamical Systems
- Guidance and Control Systems
- Modular Robots and Swarm Intelligence
- Power System Reliability and Maintenance
- Control and Dynamics of Mobile Robots
- Underwater Vehicles and Communication Systems
- Fault Detection and Control Systems
- Image and Object Detection Techniques
- Robot Manipulation and Learning
- Engineering and Test Systems
- Smart Grid and Power Systems
- VLSI and Analog Circuit Testing
- Integrated Circuits and Semiconductor Failure Analysis
- Robotic Locomotion and Control
- Robotics and Sensor-Based Localization
- Space Satellite Systems and Control
- Risk and Safety Analysis
- Adaptive Dynamic Programming Control
- Aerospace Engineering and Control Systems
Xi'an University of Technology
2024
Harbin Institute of Technology
2016-2023
Nanjing University of Aeronautics and Astronautics
2023
In this paper, the attitude tracking control problem of hypersonic reentry vehicles is addressed by synthesizing a neural network (NN) using backstepping technique. The control-oriented model formulated with mismatched and matched lumped uncertainties, which reflect multiple aerodynamic external disturbances, actuator saturation. Based on universal approximation property radial basis function NN, an adaptive NN disturbance observer developed to estimate disturbances online only error state...
The friction and stiffness properties of the terrain are very important pieces information for mobile robots in motion control, dynamics parameter adjustment, trajectory planning, etc. Inferring advance can improve safety, adaptability reliability, reduce energy consumption robot. This paper proposes a vision-based two-stage framework pre-estimating physical terrain. We established field image dataset with weak annotations. A semantic segmentation network that segment terrains at pixel level...
Abstract This paper investigates the attitude-tracking control problem of hypersonic reentry vehicle in cases multiple uncertainties, external disturbances and input constraints. The controller design is based on synthesizing extended state observer (ESO) into a back-stepping technique. control-oriented model formulated with mismatched matched uncertainties. They reflect total that group different types aerodynamic uncertainties moment disturbances. In order to improve system robustness,...
This paper proposes a robust adaptive control scheme using backstepping method with dynamic surface technique for re-entry attitude tracking of near space hypersonic vehicle (NSHV) in the presence model uncertainties, external disturbances and input constraints. To estimate unknown upper bound compound novel laws are designed firstly. The "explosion terms" problem inherent conventional is eliminated by filter, errors caused filter considered during stability analysis. Additionally, to handle...
This paper investigates the attitude tracking control problem of a reusable launch vehicle (RLV) in cases inertia uncertainties, external moment disturbances and input constraints. The controller design is based on synthesizing extended state observer (ESO) into back-stepping technique. In order to improve system robustness, finite-time ESO (FTESO) proposed. will estimate total equipped with controller. dynamic surface (DSC) technique used avoid increasing complexity when compute virtual...
In this work, the carrier landing control scheme is developed for position loop of aircraft under air wake and deck motion. Specifically, disturbance observer employed to estimate external disturbances caused by motion, tool prescribed performance design channel. Then, provided dynamic surface technique. Finally, numerical simulation carried out prove that proposed ensures tracking precision task even
In this paper, the leg structure design of an underwater hexapod robot was carried out based on establishment dynamics model considering influence water dynamics. The basic selected and kinematics analyzed firstly to obtain link velocities Jacobian matrix. Based matrix obtained, constructed through combination Lagrange equation Morison equation. With established, simulation experiments were Fluent Adams platforms get maximum joint torques. According torques achieved, appropriate motors...