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科研机构
自动化研究所 [4]
长春光学精密机械与物... [3]
厦门大学 [1]
北京航空航天大学 [1]
上海电子信息职业技术... [1]
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会议论文 [5]
期刊论文 [5]
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Adaptive Tracking Control of Robotic Manipulators With Unknown Kinematics and Uncertain Dynamics
期刊论文
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING, 2023, 页码: 18
作者:
Tong, Yuchuang
;
Liu, Jinguo
;
Zhou, Hao
;
Ju, Zhaojie
;
Zhang, Xin
收藏
  |  
浏览/下载:7/0
  |  
提交时间:2023/11/16
Trajectory tracking
adaptive control
robotic manipulators
unknown kinematics model
uncertain dynamics
Synchronized adaptive control for coordinating manipulators with time-varying actuator constraint and uncertain dynamics
期刊论文
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2019, 卷号: 29, 期号: 12, 页码: 4149-4167
作者:
Wang, Fujie
;
Liu, Zhi
;
Chen, C. L. Philip
;
Zhang, Yun
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  |  
浏览/下载:52/0
  |  
提交时间:2019/12/16
actuator constraint
cooperative control
robotic manipulator
uncertain dynamics
uncertain kinematics
Finite-Time Convergence Adaptive Fuzzy Control for Dual-Arm Robot With Unknown Kinematics and Dynamics
期刊论文
IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2019, 卷号: 27, 期号: 3, 页码: 574-588
作者:
Yang, Chenguang
;
Jiang, Yiming
;
Na, Jing
;
Li, Zhijun
;
Cheng, Long
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  |  
浏览/下载:72/0
  |  
提交时间:2019/07/12
Dual-arm robots
finite-time (FT) convergence
fuzzy logic system (FLS)
uncertain kinematics
Finite-time convergence adaptive fuzzy control for dual-arm robot with unknown kinematics and dynamics
期刊论文
IEEE Transactions on Fuzzy Systems, 2018
作者:
Chenguang Yang
;
Yiming Jiang
;
Jing Na
;
Zhijun Li
;
Long Cheng
收藏
  |  
浏览/下载:48/0
  |  
提交时间:2019/02/14
Fuzzy logic system (FLS)
dual-arm robots
Uncertain kinematics
Finite-Time (FT) convergence
Region-Based Shape Control for Multi-Robot Systems with Uncertain Kinematics and Dynamics
会议论文
Chinese Intelligent Systems Conference (CISC), Yangzhou, PEOPLES R CHINA, 2016-01-01
作者:
Yu, Jia
;
Jia, Yingmin
;
Chen, Changqing
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  |  
浏览/下载:2/0
  |  
提交时间:2019/12/30
Uncertain kinematics
Shape control
Adaptive control
Task space
Trajectory tracking control for mobile robot based on the fuzzy sliding mode (EI CONFERENCE)
会议论文
10th World Congress on Intelligent Control and Automation, WCICA 2012, July 6, 2012 - July 8, 2012, Beijing, China
Xie M.-J.
;
Li L.-T.
;
Wang Z.-Q.
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  |  
浏览/下载:23/0
  |  
提交时间:2013/03/25
The trajectory tracking control problem of the uncertain mobile robot with nonholonomic constraints is analyzed. Sliding mode control is presented based on the kinematics models analysis. Switching function of sliding model control is designed according to back-stepping method. Trending law control is selected to improve the system dynamic performance. In order to solve the constant speed problem caused by conventional trending law control
fuzzy control is used to adjust trending speed in the real time. The simulation results demonstrate that the fuzzy sliding mode controller improves the rapidity of trajectory tracking
and reduces the tracking error and the chattering of the control output. 2012 IEEE.
Study on navigation control method for CyberCar based on machine vision (EI CONFERENCE)
会议论文
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, December 15, 2007 - December 18, 2007, Yalong Bay, Sanya, China
Zhang R.-H.
;
Wang R.-B.
;
You F.
;
Jia H.-G.
;
Chen T.
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  |  
浏览/下载:19/0
  |  
提交时间:2013/03/25
The guiding principle and composition of CyberCar based on machine vision was introduced. Applying IM sequence signals as input response signals and least squares method to establish the dynamic equation for CyberCar steering system by system identification experiments firstly
and then combined with the preview kinematics model and two-degree steering dynamic model of vehicle. Therefore
it can trace the path steadily and reliably. 2008 IEEE.
the steering control mathematics model based on preview kinematics for CyberCar was established. And then the switching hyper plane is designed by applying the optimal control theory
during the change of the curve curvature radius is little
the curve tracking of the intelligent vehicle is carried out by adopting sliding variable structure controller. Aim at the parameter uncertainty of tire
a vehicle steering system uncertain model was founded and analyzed. A H optimal controller is designed with the method of H control theory to solve the problem about model uncertainty. The simulation and experiment results show that the controller designed by the proposed method has good robustness and adaptability
Platform and steady kalman state observer design for intelligent vehicle based on visual guidance (EI CONFERENCE)
会议论文
2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008, April 21, 2008 - April 24, 2008, Chengdu, China
Rong-hui Z.
;
Rong-ben W.
;
Feng Y.
;
Hong-guang J.
;
Tao C.
收藏
  |  
浏览/下载:20/0
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提交时间:2013/03/25
State observer design is one of key technologies in research field of intelligent vehicle. Experiment platform
visual guidance intelligent vehicle JLUIV-5
is establishedby Jilin University Intelligent Vehicle Group firstly. The system structure and assistant navigation control system
and different image identify algorithms to recognize preview path and stops for variable illuminations are introduced. The dynamic response equation of steering control system was got by system identification experiment. By combined with the preview kinematics model
and two-degree steering dynamic model of vehicle
the steering kalman filter mathematics model based on preview kinematics for intelligent vehicle was obtained. And observer is designed by applying steady Kalman filter theory. The simulation and experiment results
carry out in Jilin University Nanling Campus and Culture Center of Jilin Province
show that the image identify algorithms
and steady Kalmanstate observer designed by the proposed method has good adaptability for time-varying and parameters uncertain
it can satisfy intelligent vehicle trace the path reliably during outdoor experiment. 2008 IEEE.
Parallel force/position controllers for robot manipulators with uncertain kinematics
期刊论文
2005
Huang, C. Q.
;
Shi, S. J.
;
Wang, X. G.
;
Chung, W. K.
;
黄春庆
收藏
  |  
浏览/下载:2/0
  |  
提交时间:2013/12/12
robot manipulator
parallel force/position control
asymptotic stability
uncertain kinematics
Exploiting domain knowledge in planning for uncertain robot systems modeled as POMDPs
会议论文
2010
作者:
Hutchinson,S.
;
Candido,S.
;
Davidson,J.
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  |  
浏览/下载:3/0
  |  
提交时间:2020/01/04
uncertain
systems
approximation
theory
Markov
processes
multi-robot
systems
planning
service
robots
value
function
approximation
user-supplied
domain
knowledge
planning
algorithm
uncertain
robot
systems
POMDP
information
feedback
policies
partially
observable
Markov
decision
processes
stochastic
process
multirobot
fire
fighting
problem
Robot
kinematics
Planning
Robot
sensing
systems
Uncertainty
Aerospace
electronics
Stochastic
processes
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