This brief proposes a motion planning-based adaptive control strategy for an underactuated overhead crane system. To improve the transportation efficiency and enhance safety of system, trolley is required to reach desired position fast enough, while swing payload needs be within acceptable domain. achieve these objectives, novel two-step design consisting planning stage tracking stage, proposed such system as crane. Specifically, trajectory, which satisfies physical constraints crane, by...

In this paper, a cascade PID feedback control algorithm is proposed to stabilize the attitude of quadcopter so that balancing state can be ensured in spite disturbances. A mathematical model dynamics developed by applying Newton-Euler method. It reveals exact relationships among all variables involved. Both linear and nonlinear state-space equations are derived afterwards, which essential for controller design further development. The simulations also carried out demonstrate effectiveness...

In order to study the influence of split blades on turbine force characteristics and fluid–structure coupling pumps, this paper selected IS 80-50-315 centrifugal pump, used as a reverse-acting hydraulic turbine, research object, optimized original pump-acting impeller, adopted different combinations long short blades. Based SIMPLE algorithm RNG k–ε turbulence model, complete three-dimensional unsteady numerical simulation was conducted internal flow field pump-turbine. The results show that...

The integration of the global navigation satellite system (GNSS) and inertial (INS) is a well-established method for achieving accurate positioning, especially in applications involving unmanned aerial vehicles (UAVs). UAVs are increasingly used across various fields, yet they face challenges such as need real-time processing impact low-quality measurements from cost-effective devices. To address these challenges, we propose velocity-constrained, enhanced, real-time, low-cost, GNSS/INS...

Purpose Considering the external disturbances and dynamic uncertainties during process of trajectory tracking, this paper aims to address problem welding robot tracking with guaranteed accuracy. Design/methodology/approach The controller consists sliding mode control, fuzzy control low pass filter. adopts low-pass filter reduce high frequency chattering signal in control. model is used simulate disturbance uncertainty signal, so that can effectively restrain caused by algorithm, realizing...

Although the photovoltaic (PV) integrated dc-busbar electric vehicle charging station (EVCS) is a promising energy supply form for EVs, its inertialess and poor damping always lead to potential system instability. In this article, inertia droop control (IDC) strategies are, thus, proposed bidirectional dc converter (Bi-C) improve dynamic stability provide high-quality power EVs. Compared with virtual (VIDC), IDC can be implemented by easily modifying conventional control, avoiding complex...

This paper investigates a problem of tracking control for robotic manipulators with high accuracy. In view the uncertainty and disturbance during process trajectory tracking, ESO (Extended State Observer) is proposed to handle uncertain factors (disturbance dynamic uncertainty) estimate external torque kinematics, respectively. Based on combination sliding mode backstepping strategy, we design new controller, which has strong robustness term in considering estimated information, controller...

Voltage resonance and fluctuation deteriorate the stability of DC microgrids (DC-MGs) restrict their popularization. Conventional droop control cannot suppress voltage damp oscillations. Therefore, new methods, namely, droop+filter virtual inertia damping control, are proposed. These methods differ owing to addition low pass filter (LPF) loop. In this study, these is investigated comprehensively understand differences arising from use LPF loop as well underlying dynamic mechanism. The...

This article investigates a difficult problem which focuses on the external disturbance and dynamic uncertainty in process of trajectory tracking. presents robust adaptive fuzzy terminal sliding mode controller with low-pass filter. The filter can provide smooth position speed signals. achieve fast convergence desirable tracking precision. Chattering is eliminated continuous control law, due to high-frequency switching terms contained first derivative actual Ignoring prior knowledge upper...

Abstract Bikebot (i.e., bicycle-based robot) is a class of underactuated balance robotic systems that require simultaneous trajectory tracking and control tasks. We present design an autonomous bikebot. The external-internal convertible structure the bikebot dynamics used to causal feedback achieve both A equilibrium manifold define capture platform profiles coupled interaction with performance. To fully navigation, gyrobalancer actuation integrated steering velocity for stationary...

Abstract This paper proposes an inertia‐emulation‐based cooperative control strategy for the multi‐parallel energy storage system (ESS) to meet requirements of state‐of‐charge (SoC) balance, inertia enhancement and zero‐steady‐state voltage deviation. The emulation loop (IEL) is constructed by analogy with DC motors dampen oscillation, while secondary recovery derived from circuit equivalence inductor indicate stiffness. Moreover, equalize SoCs units (ESUs) dynamically, a SoC self‐balance...

Purpose This paper aims to address the collision problem between robot and external environment (including human) in an unstructured situation. A new detection torque optimization control method is proposed. Design/methodology/approach Firstly, when appears, a second-order Taylor observer proposed estimate residual value. Secondly, band-pass filter used reduce high-frequency modeling dynamic uncertainty. With information value, variable impedance approach then synthesized guarantee that...

A novel method to solve the inverse kinematics for manipulator with redundancy was proposed in this paper. First, Based on complexity of space configuration and self-motion, 7 degrees freedom (DoF) divided into two modular units; The concepts "anchor point" "virtual link" are introduced build parametric model robot arm; workspace is analyzed based consideration joints' boundary condition by Monte Carlo method; Finally, simulation implemented a 7-DoF results verify feasibility effectiveness method.

Moving object detection is a challenging task in video surveillance. Recently proposed Robust Principal Component Analysis (RPCA) can recover the outlier patterns from low-rank data under some mild conditions. However, ℓ-penalty RPCA doesn't work well moving because irrepresentable condition often not satisfied. In this paper, method based on total variation (TV) regularization scheme proposed. our model, image sequences captured with static camera are highly related, which be described...