Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we ...Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we propose an adaptive manipulator control method based on a multi-joint fuzzy system,in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable.The control algorithm of the system is a MIMO(multi-input-multi-output)fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error.It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required.Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity,coupling and uncertainty.Therefore,the proposed algorithm has good practical application prospects and promotes the development of complex control systems.展开更多
为了降低无人机(Unmanned Aerial Vehicle,UAV)的能量消耗,提出基于用户流量预测的UAV功耗最小化算法(Power Minimization Algorithm of UAV based on Traffic Prediction of User,PMTP)。PMTP算法先建立关于资源分配、UAV传输功率和用...为了降低无人机(Unmanned Aerial Vehicle,UAV)的能量消耗,提出基于用户流量预测的UAV功耗最小化算法(Power Minimization Algorithm of UAV based on Traffic Prediction of User,PMTP)。PMTP算法先建立关于资源分配、UAV传输功率和用户位置的多目标联合的优化问题。考虑到优化问题的非线性和非凸性,利用块坐标下降法将目标问题拆解成多个子问题,再分步解之,进而获取资源分配、UAV传输功率和用户位置的次优解,并利用高斯过程回归算法预测流量。通过仿真实验分析PMTP算法在预测流量的准确性、用户平均传输速率以及UAV能耗方面的性能。仿真结果表明,利用高斯过程回归方法能准确度地预测用户流量。PMTP算法提升了用户平均传输速率。在带宽为50MHz、10个用户的平均传输速率达到250Mbps。相比于Maximum power和Random算法,PMTP算法降低了UAV的能耗。展开更多
基金the project of science and technology of Henan province under Grant No.14210221036.
文摘Multi-joint manipulator systems are subject to nonlinear influences such as frictional characteristics,random disturbances and load variations.To account for uncertain disturbances in the operation of manipulators,we propose an adaptive manipulator control method based on a multi-joint fuzzy system,in which the upper bound information of the fuzzy system is constant and the state variables of the manipulator control system are measurable.The control algorithm of the system is a MIMO(multi-input-multi-output)fuzzy system that can approximate system error by using a robust adaptive control law to eliminate the shadow caused by approximation error.It can ensure the stability of complex manipulator control systems and reduce the number of fuzzy rules required.Comparison of experimental and simulation data shows that the controller designed using this algorithm has highly-precise trajectory-tracking control and can control robotic systems with complex characteristics of non-linearity,coupling and uncertainty.Therefore,the proposed algorithm has good practical application prospects and promotes the development of complex control systems.
文摘为了降低无人机(Unmanned Aerial Vehicle,UAV)的能量消耗,提出基于用户流量预测的UAV功耗最小化算法(Power Minimization Algorithm of UAV based on Traffic Prediction of User,PMTP)。PMTP算法先建立关于资源分配、UAV传输功率和用户位置的多目标联合的优化问题。考虑到优化问题的非线性和非凸性,利用块坐标下降法将目标问题拆解成多个子问题,再分步解之,进而获取资源分配、UAV传输功率和用户位置的次优解,并利用高斯过程回归算法预测流量。通过仿真实验分析PMTP算法在预测流量的准确性、用户平均传输速率以及UAV能耗方面的性能。仿真结果表明,利用高斯过程回归方法能准确度地预测用户流量。PMTP算法提升了用户平均传输速率。在带宽为50MHz、10个用户的平均传输速率达到250Mbps。相比于Maximum power和Random算法,PMTP算法降低了UAV的能耗。
