检索结果-南通市图书馆

Fast Bipartite Consensus Control for Multi-agent Systems with Antagonistic Interactions

在线全文

学校读者我要写书评

暂无评论

Fast Bipartite Consensus Control for Multi-agent Systems wit...

第32届中国控制与决策会议

作者： Hongtao Ye Junzheng Guo Zhongqiu Chen Wenguang Luo kene li School of Electrical and Information Engineering Guangxi University of Science and Technology Guangxi Key Laboratory of Automobile Components and Vehicle Technology Guangxi University of Science and Technology

This paper considers the fast bipartite consensus problem for multi-agent systems with antagonistic *** order to improve the rate of convergence,a novel bipartite consensus control law with state predictor is *** analysis shows that the control strategy can increase algebraic connectivity and decrease the settling time of the state *** example illustrates the theoretical results.

关键词： Bipartite consensus Fast convergence Multi-agent systems State prediction

Zhang Dynamics with Modified Error-Functions for Online Solution of Nonlinear Equations so as to Avoid Local Minima

在线全文

cnki会议

学校读者我要写书评

暂无评论

Zhang Dynamics with Modified Error-Functions for Online Solu...

2011 Chinese Control and Decision Conference（CCDC）

作者： Yunong Zhang,Zhende Ke,kene li,and Zhan li are with School of Information Science and Technology,Sun Yat-sen University,Guangzhou 510006,China

Our previous work shows the efficacy and better performance of the Zhang dynamics （ZD） model for solving online nonlinear equations,as compared with the conventional gradient dynamics （GD） *** is also discovered that,if a nonlinear equation possesses a local minimum point,the ZD state,starting from some initial value close to it,may move towards the local minimum point and then stop with warning *** comparison,the GD state falls into the local minimum point （with no warning）.Inspired by Wu’s work,we improve the ZD model by defining two modified error-functions and generating new neural-dynamic forms to overcome such a local-minimum ***-simulation results further demonstrate the novelty and efficacy of the proposed ZD models （activated by power-sigmoid functions） with two new modified error-functions on the online solution of nonlinear equations involving local minima.

关键词： Zhang dynamics Gradient dynamics Modified error-function Nonlinear equation solving

Nonlinearity Activated Noise-Tolerant Zeroing Neural Network for Real-Time Varying Matrix Inversion

在线全文

cnki会议

学校读者我要写书评

暂无评论

Nonlinearity Activated Noise-Tolerant Zeroing Neural Network...

第37届中国控制会议

作者： Wenhui Duan Long Jin Bin Hu Huiyan Lu Mei liu kene li lin Xiao Chenfu Yi School of Information Science and Engineering Lanzhou University Key Laboratory of Robot Technology Used for Special Environment Key Laboratory of Sichuan Province Southwest University of Science and Technology School of Electrical and Information Engineering Guangxi University of Science and Technology College of information Science and Engineering Jishou University School of Information Engineering Jiangxi University of Science and Technology

Real-time varying matrix inversion is widely used in the fields of science and engineering, e.g., image processing, signal processing and robot technology, etc. In this paper, a nonlinearity activated noise-tolerant zeroing neural network（NANTZNN） is constructed and employed to the time-dependent matrix inversion in the noisy environment. Compared with the gradient approach related neural network（GNN） and the existing noise-tolerant zeroing neural network（NTZNN）, the proposed NANTZNN model is activated by specially-constructed nonlinear activation functions, and thus possesses the better convergence performance. Additionally, theoretical analyses are provided to guarantee the convergence of the proposed model. Finally, simulations are conducted to demonstrate the efficiency and superiority of the NANTZNN model for time-dependent matrix inversion,as compared with the NTZNN model.

关键词： Nonlinearity activated noise-tolerant zeroing neural network(NANTZNN) Real-time varying matrix inversion Noise environment Bounded random noise Computer simulation verification

Nonlinear Functions activated Noise-Tolerant Zeroing Neural Network for Solving Time-varying System of linear Equations

在线全文

cnki会议

学校读者我要写书评

暂无评论

Nonlinear Functions activated Noise-Tolerant Zeroing Neural ...

第37届中国控制会议

作者： Huiyan Lu Long Jin Mei liu Bin Hu kene li lin Xiao Chenfu Yi School of Information Science and Engineering Lanzhou University Key Laboratory of IoT of Qinghai Province Qinghai Normal University School of Electrical and Information Engineering Guangxi University of Science and Technology College of information Science and Engineering Jishou University School of Information Engineering Jiangxi University of Science and Technology

Solving the problem of linear equations is extensively applied in the domains of science and technology,e.g.,medicine,economy and so ***,many practical problems in scientific and engineering areas can be converted into a system of linear equations depicted by the formula M x = b and solved by the corresponding computing *** this paper,a nonlinear functions activated noise-tolerant zeroing neural network（NFNTZNN） is presented and exploited for dealing with the timevarying system of linear *** from the original gradient neural network（GNN） and existing noise-tolerant zeroing neural network（NTZNN）,the proposed NFNTZNN model is activated by specially-constructed nonlinear activation functions,and therefore,has the better convergence *** results are conducted to verify the efficiency and advantage of the NFNTZNN model for handling the time-varying system of linear equations.

关键词： Noise-tolerant zeroing neural network(NTZNN) Time-varying system of linear equations Simulative results

在线全文

cnki会议

学校读者我要写书评

暂无评论

基于伪逆的冗余度机械臂关节速度约束方案

仪器仪表学报 2022年第2期43卷 225-233页

作者：李克讷马玉如王温鑫刘超广西科技大学电气电子与计算机科学学院柳州545006

针对冗余度机械臂逆运动学求解结果可能超出机械臂物理限制的问题,提出两种基于伪逆算法的冗余度机械臂关节速度约束方案。首先,根据冗余度机械臂末端执行器的跟踪任务,运用伪逆算法在速度层上进行冗余度解析。其次,分别利用设计的两种... 详细信息

针对冗余度机械臂逆运动学求解结果可能超出机械臂物理限制的问题,提出两种基于伪逆算法的冗余度机械臂关节速度约束方案。首先,根据冗余度机械臂末端执行器的跟踪任务,运用伪逆算法在速度层上进行冗余度解析。其次,分别利用设计的两种约束方案对指定的关节速度进行限制与压缩,获得新的速度解并用以执行指定的轨迹跟踪任务。接着,针对末端执行器出现的位置误差,设计误差补偿函数以保证跟踪任务的顺利执行。最后,利用MATLAB软件对六自由度机械臂进行了运动规划仿真实验,并利用Arduino平台对六自由度机械臂进行算法实验验证。实验结果表明,两种约束方案下机械臂的最大跟踪误差均不超过3×10^(-4)m,且时变函数约束方案在限制关节速度时获得更好的速度平稳性。

关键词：冗余度机械臂伪逆算法运动规划误差修正

Unification and Comparison on Bi-Criteria Velocity,Acceleration and Torque Minimization Illustrated via Three-link Planar Robot Arm

在线全文

学校读者我要写书评

暂无评论

Unification and Comparison on Bi-Criteria Velocity,Accelerat...

2011 Chinese Control and Decision Conference（CCDC）

作者： Yunong Zhang,Dongsheng Guo,Jun li,and kene li The authors are with School of Information Science and Technology,Sun Yat-sen University,Guangzhou 510006,China

In this paper,the latest result that the bi-criteria redundancy-resolution schemes at different levels （i.e.,the joint-velocity,-acceleration and-torque levels） can be unified into a quadratic-programming （QP） problem formulation,is presented and summarized for redundant robot arms with joint physical *** addition,comparison on the three schemes is presented for further *** presented QP-based formulation,subject to equality,inequality and bound constraints simultaneously,is then solved online via a primaldual neural network based on linear variation inequalities （LVI）.Computer-simulation results based on PUMA560,PA10 and multi-link planar robot arms （specially,a three-link planar robot arm in this paper） have demonstrated the efficacy of the bi-criteria neural-weighting schemes,as well as the resultant QP-based unification of robots’ redundancy resolution.

关键词： Velocity level Acceleration level Torque level Bi-criteria Quadratic program Redundancy resolution

基于伪逆的导轨机械臂关节速度纠偏运动规划方案

在线全文

cnki会议

学校读者我要写书评

暂无评论

计算机应用 2020年第12期40卷 3695-3700页

作者：李克讷张增王温鑫广西科技大学电气与信息工程学院广西柳州545006

针对导轨机械臂在任务执行过程中出现的关节速度偏离期望值的问题,提出了一种基于伪逆算法的导轨机械臂关节速度纠偏运动规划方案。首先,根据机械臂的关节角状态和末端执行器的运动状态,运用伪逆算法对导轨机械臂在速度层上进行冗余度... 详细信息

针对导轨机械臂在任务执行过程中出现的关节速度偏离期望值的问题,提出了一种基于伪逆算法的导轨机械臂关节速度纠偏运动规划方案。首先,根据机械臂的关节角状态和末端执行器的运动状态,运用伪逆算法对导轨机械臂在速度层上进行冗余度解析。然后,设计时变函数对关节速度进行约束调整,使偏离后的关节速度收敛于期望值。接着,针对末端执行器出现的位置误差设计了误差修正方法以保证轨迹跟踪任务的顺利执行。最后,将运动规划方案在Matlab软件上以基座直线移动和弧形移动的四连杆冗余度机械臂为例进行了仿真实验。仿真结果表明了该方案能纠正导轨机械臂在任务执行过程中偏离期望值的关节速度,且能使末端执行器的轨迹跟踪达到较高的精度。

关键词：导轨机械臂关节速度偏离位置误差运动规划误差修正

搬运机械臂的初始加速度和速度连续运动规划研究

在线全文

学校读者我要写书评

暂无评论

现代制造工程 2021年第4期 41-47页

作者：李克讷张增王温鑫马玉如广西科技大学电气与信息工程学院柳州545006

工业机械臂在执行搬运任务时可能会出现初始关节加速度和速度跳变的情况,这会影响机械臂电机的使用寿命,并使搬运的物品受到较大的冲击力,从而造成物品的损坏。针对该情况,设计了一种基于伪逆的机械臂初始加速度和速度连续运动规划方案... 详细信息

工业机械臂在执行搬运任务时可能会出现初始关节加速度和速度跳变的情况,这会影响机械臂电机的使用寿命,并使搬运的物品受到较大的冲击力,从而造成物品的损坏。针对该情况,设计了一种基于伪逆的机械臂初始加速度和速度连续运动规划方案。首先,根据机械臂关节角状态和末端执行器运动状态,对机械臂在加速度层以及速度层上建立伪逆算法求解模型。其次,为实现关节加速度和速度从0开始连续变化,在关节加速度及速度上引入约束函数进行调整。再次,为减少机械臂末端执行器在任务执行期间出现的位置误差,采用误差补偿方法以保证轨迹跟踪的精度。最后,在MATLAB软件上针对平面三连杆机械臂以及冗余度机械臂PA10进行了运动规划仿真实验。仿真结果表明,该运动规划方案能消除机械臂初始关节加速度和速度跳变,且末端执行器跟踪轨迹能达到较高的精度。

关键词：搬运任务工业机械臂加速度跳变速度跳变误差补偿

在线全文

学校读者我要写书评

暂无评论

基于AVR单片机的盆栽自动浇水系统

农机化研究 2015年第6期37卷 213-216,220页

作者：李克讷韦昌勇徐剑琴广西科技大学电气与信息工程学院广西柳州545006 广西科技大学工程训练中心广西柳州545006

设计了一种基于AVR单片机的盆栽自动浇水系统。该系统以ATmega16L单片机为主控芯片,利用单片机自带的EEPROM存储器保存浇水的湿度基准阈值,通过按键可调整湿度基准阈值,以适应不同的花卉盆栽生长需要和地域的气候条件;根据温度传感器采... 详细信息

设计了一种基于AVR单片机的盆栽自动浇水系统。该系统以ATmega16L单片机为主控芯片,利用单片机自带的EEPROM存储器保存浇水的湿度基准阈值,通过按键可调整湿度基准阈值,以适应不同的花卉盆栽生长需要和地域的气候条件;根据温度传感器采集的温度数据自动调整湿度阈值,以保证盆栽在温度变化时的浇水量适中;使用单片机内置的A/D转换器把湿度传感器采集的湿度模拟量转换成当前湿度值,利用单片机内部定时器进行中断计时,以准确调整系统的日期和时间,达到了定时检测浇水及自动调节浇水量的目的。该系统充分利用了ATmega16L单片机资源,简化了系统设计,具有硬件结构简单、成本低、工作稳定等优点。实际测试表明:该系统能根据温湿度对盆栽浇水进行自动控制,实现盆栽浇水无人值守功能,满足了多种条件下盆栽浇水的需求,可有效地用于盆栽浇水的自动化管理。

关键词：盆栽自动浇水 ATmega16L单片机温湿度自动化管理