In this article, we revisit the classical problem of attitude stabilisation for a rigid spacecraft with external disturbances. A global set method using finite-time control technique is proposed. absence disturbances, states closed loop system will be stabilised in finite time to consisting two equilibria. presence neighbourhood set. By constructing particular Lyapunov function, it proved that closed-loop satisfies stability. The article based on idea and thus more natural energy-efficient....

Abstract In this paper, we develop a global set stabilization method for the attitude control problem of spacecraft system based on quaternion. The law that uses both optimal and finite‐time techniques can globally stabilize to equilibria. First, kinematic subsystem, design virtual angular velocity. To obtain minimum performance index, velocity is only discontinuous in initial values. It be regarded as combination open loop closed control. Then dynamic force track proved satisfies stability...

In this paper, the attitude tracking control for a spacecraft system based on novel adaptive integral-type terminal sliding mode fault-tolerant strategy is investigated. First, basic scheme designed to ensure performance in presence of actuator fault, external disturbance, and saturation when rotational inertia known. Second, combined with laws, modified proposed compensate fault uncertainty which contains disturbance uncertainty, separately. The compensated more directly accurately....

This study presents an output feedback‐based sliding mode control approach for motion systems with mismatched/matched disturbances. The key idea of this is to reconstruct the unmeasured auxiliary states and disturbances synchronously online by constructing a higher‐order extended state observer (HOESO). It shown that resulting controller based on HOESO can drive system ultimately bounded region, which be regulated arbitrarily small assigning sufficiently large scaling gain. Different from...

In farming scenarios, cattle identification has become a key issue for the development of precision farming. livestock farming, single-feature recognition methods are prone to misjudgment in complex scenarios involving multiple obscuring each other during drinking and feeding. This paper proposes decision-level method based on multi-feature fusion faces, muzzle patterns, ear tags. The utilizes SOLO algorithm segment images employs FaceNet PP-OCRv4 networks extract features cattle's These...

Convolutional Neural Network (CNN) is widely used in Hyperspectral Images (HSIs) classification. However, the fine-grained spatial (FGS) details are discarded during a sequence of convolution and pooling operations for most CNN-based HSIs classification methods. To address this issue, unified encoder-decoder framework proposed to integrate high-level semantics FGS classification, denoted by FGSCNN. The encoder, including series layers, captures semantic information with low resolution...

Rotorcraft Aerial Manipulator (RAM) system is composed of a Unmanned Vehicle (RUAV) and multi Degree-Of-Freedom (DOF) manipulator, which designed to fulfill aerial manipulation. Moments inertia center-of-mass position for RAM vary when the manipulator moves. The influence robot arm motion treated as perturbations RUAV in process overall modeling. External force torque acting on body exerted by environment are also considered dynamics. A practical dynamics model then obtained through analysis...

Abstract A linear feedback control scheme to globally stabilize a class of partially composite systems is proposed from the point view homogeneity. Assume that global stability zero dynamics nonlinear subsystem can be tested by using homogeneous Lyapunov function. It shown stabilization controllable its own states equals whole if nonlinearities satisfy inequality condition. Then we assume are not measurable and also extend method developed for state‐feedback output‐feedback case. Copyright ©...

An output voltage regulation problem for single-phase DC-AC inverter system under external input variations and load resistance uncertainties is investigated in this paper via a continuous nonsingular terminal sliding mode control (NTSMC) approach. Aiming to reject the effects of mismatched disturbances, finite-time disturbance observer (FTDO) introduced estimations within circuit. By integrating estimation information into design nonlinear dynamic surface, NTSMC method developed achieve...

The heterogeneous cross-domain collaboration is one of the effective means to solve existing bottleneck problem unmanned equipment, and it also main operation mode war in future. system composed fixed wing UAV ship a typical cross domain system. flight characteristics brought great technical challenges process autonomous recovery complex environment (such as wind disturbance on water surface. waves have strong time-varying randomness. high-frequency components will produce effects hardware...

<title>Abstract</title> In breeding farm cattle feeding and watering scenarios, the number of is dense, resulting in complex scenes spatial congestion, traditional single-modal identification methods often encounter problems such as susceptibility to occlusion low accuracy. Consequently, this study proposes a decision layer fusion identity recognition method with multiple features face, muzzle pattern, ear tag. The image segmented into tag by SOLO algorithm. Cattle patterns adopt FaceNet...

In this paper, a 3-DOF manipulator is designed for the ship-painting robot as carrier to carry out ship spraying operation with flexibility, high speed and precision. Firstly, model of mechanism established three dimensional software, its connecting rod parameters are obtained accordingly. Moreover, coordinates system constructed according D-H theory, corresponding forward inverse kinematics equations derived. According different operational requirements, core components suitable speeds,...

In this paper, a new fault tolerant controller based on adding power integrator technique is proposed for spacecraft attitude control system in actuator multiple case. Firstly, the kinematic and dynamic equations of with faults are given by quaternion. Secondly, considering external disturbance uncertainty rotation inertia matrix simultaneously, novel combining adaptive law designed to make trajectories converge small neighborhood equilibrium finite time. Meanwhile, finite-time convergence...

This paper is concerned with the event-triggered recursive filtering problem for a class of uncertain time-delayed systems state saturations. In order to save energy, an mechanism utilized decide whether certain measurement output should be transmitted filter or not. For state-saturated systems, our aim design such that error covariance guaranteed have upper bound which then minimized at each time step under mechanism. By means mathematical induction, first derived by constructing two matrix...

Mechanical transmission systems are susceptible to vibration for torsional moment in work, which causes flutter and buffeting during mechanical transmission, affecting the precision of control resulting steady-state error. Therefore, an optimal method system based on variable structure PID fuzzy is proposed. With this method, a constraint parametric model constructed. The simulation experiment results show that proposed can steadily with relative strong adaptive tracking compensation ability...

The air-conditioning industry has more and strict control requirements on the use of electrical power consumption, but energy consumption existing central system is always high. Taking full advantage load uncertainty air conditioning, this paper designs a conditioning with high automatic function by using PLC, frequency converter other devices. In system, motor equipped to realize speed control, variable volume flow are adopted for different loads reduce invalid consumption. software...

This paper presents an adaptive admittance control to achieve human-robot collaborative (HRC) assembling of large, heavy components without using external sensors. sensorless is constructed by the dynamic model a six degree-of-freedom (DoF) parallel robot based on finite and instantaneous screw (FIS) theory. The intuitive easy be programmed. After getting stable actuation force Kalman filter identifying friction LuGre model, accurate estimator built. Admittance controller adopted convert...

District heating process is a complicated dynamic and thermal nonlinear system. For controlling it the system model should be found firstly. Through research analysis of knowledge about system, this paper on basis mechanism model, researched establishment experimental models. Firstly by measuring response data, parameter identification can made to got determining part then random described method Autoregressive Integrated Moving Average Model. Finally using MATLAB simulate make step curve...