A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that th...A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.展开更多
In the dynamic and unstructured environment of human-robot symbiosis,companion robots require natural human-robot interaction and autonomous intelligence through multimodal information fu-sion to achieve effective col...In the dynamic and unstructured environment of human-robot symbiosis,companion robots require natural human-robot interaction and autonomous intelligence through multimodal information fu-sion to achieve effective collaboration.Nevertheless,the control precision and coordination of the accompanying actions are not satisfactory in practical applications.This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot.This paper proposes a companion control strategy based on the Linear Quadratic Regulator(LQR)to enhance the coordination and precision of robot companion tasks.This method enables the robot to adapt to sudden changes in the companion target's motion.Besides,the robot could smoothly avoid obstacles during the companion process.Firstly,a human-robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target.Then,an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target's direction and velocity.Finally,various simulations and real-world human-robot companion experiments are conducted to regulate the relative position,orientation,and velocity between the target object and the robot platform.Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation.The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios.展开更多
Motivated by various mean-field type linear-quadratic(MF-LQ,for short)multilevel Stackelberg games,we propose a kind of multi-level self-similar randomized dominationmonotonicity structures.When the coefficients of a ...Motivated by various mean-field type linear-quadratic(MF-LQ,for short)multilevel Stackelberg games,we propose a kind of multi-level self-similar randomized dominationmonotonicity structures.When the coefficients of a class of mean-field type forwardbackward stochastic differential equations(MF-FBSDEs,for short)satisfy this kind of structures,we prove the existence,the uniqueness,an estimate and the continuous dependence on the coefficients of solutions.Further,the theoretical results are applied to construct unique Stackelberg equilibria for forward and backward MF-LQ multi-level Stackelberg games,respectively.展开更多
文摘A novel hybrid robust three-axis attitude control approach, namely HRTAC, is considered along with the well-known developments in the area of space systems, since there is a consensus among the related experts that the new insights may be taken into account as decision points to outperform the available materials. It is to note that the traditional control approaches may generally be upgraded, as long as a number of modifications are made with respect to state-of-the-art, in order to propose high-precision outcomes. Regarding the investigated issues, the robust sliding mode finite-time control approach is first designed to handle three-axis angular rates in the inner control loop, which consists of the pulse width pulse frequency modulations in line with the control allocation scheme and the system dynamics. The main subject to employ these modulations that is realizing in association with the control allocation scheme is to be able to handle a class of overactuated systems, in particular. The proportional derivative based linear quadratic regulator approach is then designed to handle three-axis rotational angles in the outer control loop, which consists of the system kinematics that is correspondingly concentrated to deal with the quaternion based model. The utilization of the linear and its nonlinear terms, simultaneously, are taken into real consideration as the research motivation, while the performance results are of the significance as the improved version in comparison with the recent investigated outcomes. Subsequently, there is a stability analysis to verify and guarantee the closed loop system performance in coping with the whole of nominal referenced commands. At the end, the effectiveness of the approach considered here is highlighted in line with a number of potential recent benchmarks.
基金supported in part by the National Natural Science Foundation of China(61973293)the Fujian Provincial Science and Technology Plan Project(2023T3008,2023T3069,and 2023T3084)+1 种基金the Quanzhou Science and Technology Plan Project(2022FX7)the Open Project Program of Fujian Key Laboratory of Special Intelligent Equipment Measurement and Control(FJIES2023KF02).
文摘In the dynamic and unstructured environment of human-robot symbiosis,companion robots require natural human-robot interaction and autonomous intelligence through multimodal information fu-sion to achieve effective collaboration.Nevertheless,the control precision and coordination of the accompanying actions are not satisfactory in practical applications.This is primarily attributed to the difficulties in the motion coordination between the accompanying target and the mobile robot.This paper proposes a companion control strategy based on the Linear Quadratic Regulator(LQR)to enhance the coordination and precision of robot companion tasks.This method enables the robot to adapt to sudden changes in the companion target's motion.Besides,the robot could smoothly avoid obstacles during the companion process.Firstly,a human-robot companion interaction model based on nonholonomic constraints is developed to determine the relative position and orientation between the robot and the companion target.Then,an LQR-based companion controller incorporating behavioral dynamics is introduced to simultaneously avoid obstacles and track the companion target's direction and velocity.Finally,various simulations and real-world human-robot companion experiments are conducted to regulate the relative position,orientation,and velocity between the target object and the robot platform.Experimental results demonstrate the superiority of this approach over conventional control algorithms in terms of control distance and directional errors throughout system operation.The proposed LQR-based control strategy ensures coordinated and consistent motion with target persons in social companion scenarios.
基金This work is supported in part by the National Key R&D Program of China(Grant No.2018YFA0703900)the National Natural Science Foundation of China(Grant No.11871310).
文摘Motivated by various mean-field type linear-quadratic(MF-LQ,for short)multilevel Stackelberg games,we propose a kind of multi-level self-similar randomized dominationmonotonicity structures.When the coefficients of a class of mean-field type forwardbackward stochastic differential equations(MF-FBSDEs,for short)satisfy this kind of structures,we prove the existence,the uniqueness,an estimate and the continuous dependence on the coefficients of solutions.Further,the theoretical results are applied to construct unique Stackelberg equilibria for forward and backward MF-LQ multi-level Stackelberg games,respectively.
