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Improved Algorithm of Variable Bandwidth Kernel Particle Filter

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Transactions of Nanjing University of Aeronautics and Astronautics 2014年第3期31卷 303-307页

作者：葛欣丁恩杰 School of Computer Science and Technology China University of Mining and Technology School of Information and Electronic Engineering China University of Mining and Technology

Aiming at the large cost of calculating variable bandwidth kernel particle filter and the high complexity of its algorithm,a self-adjusting kernel function particle filter is presented. Kernel density estimation is facilitated to iterate and obtain new particle set. And the standard deviation of particle is introduced in the kernel bandwidth. According to the characteristics of particle distribution,the bandwidth is dynamically adjusted,and the particle distribution can thus be more close to the posterior probability density model of the system. Meanwhile,the kernel density is used to estimate the weight of updating particle and the system state. The simulation results show the feasibility and effectiveness of the proposed algorithm.

关键词： particle filter kernel density estimation kernel bandwidth self-adjusting

Three-motor Synchronous Control System Based on a Compound Active Disturbance Rejection Controller with RBF 36

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Three-motor Synchronous Control System Based on a Compound A...

Fuzzy-PID controlled lift feedback fin stabilizer

第36届中国控制会议

作者： Wangfang Ding Xingqiao Liu School of Electrical and Information Engineering Jiangsu University National Engineering and Technology Center for Information Agriculture Nanjing Agriculture University

ISBN: (纸本)9781538629185

According to problems of complex algorithm,multi-parameter and labor-intensive and time-consuming adjustment in the active disturbance rejection controller（ADRC）,on the basis of optimizing the structure of ADRC,this paper designs a compound ADRC based on radical basis function neural network（RBFNN）.The controller obtains the online adjustment information of ADRC parameters by using RBFNN to track the controlled object *** method is applied to a three-motor synchronous control system based on S7-300 PLC to build an experimental platform,and PLC programming language is adopted for algorithm implementation in order to perform the decoupling experiment of the speed and *** results show that the method can achieve the self-adjusting function of partial parameters and can decrease the *** can also improve the dynamic performance and steady state accuracy of the *** experimental results show that the method has practical application.

关键词： synchronous control active disturbance rejection controller radical basis function neural network parameters self-adjusting

来源： cnki会议评论

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Journal of Marine Science and Application 2008年第2期7卷 127-134页

作者：梁燕华金鸿章梁利华 College of Automation Harbin Engineering UniversityHarbin 150001China

Conventional PID controllers are widely used in fin stabilizer control systems, but they have time-variations, nonlinearity, and uncertainty influencing their control effects. A lift feedback fuzzy-PID control method was developed to better deal with these problems, and this lift feedback fin stabilizer system was simulated under different sea condition. Test results showed the system has better anti-rolling performance than traditional fin-angle PID control systems.

关键词： lift fin stabilizer lift force feedback control fuzzy control PID self-adjusting

Research on Alternatively Moving Vacuum Absorbing Wall-climbing Robot

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Journal of Harbin Institute of Technology(New Series) 1999年第1期6卷 8-13页

作者：姜洪源李曙生潘沛霖昌先国高学山

In conection with the complex working-surroundings of the wall-climbing Robot, this paper researched akind of alternatively moving mechanism with good obstacle-surmounting ability and high moving speed, making use ofthe thought of bionics. This paper designed a kind of self-adjusting multi-vacuum sucker. Furthermore, it employedthe theory of vacuum system to establish the work mathematics madel of control switch to are sucking disc and presented the design parameter of the control switch. In addition, this paper made use of the thought of bionics to design aobstacle-surmounting mechanism used in wall-climbing robot. Also it employed the theory Of robotics to analyze the kinematics and the dynamics movement of die robot.

关键词： Altermatively moving mechanism wall-climbing robot self-adjusting multi-vacuum sucker obstaclesurmounting mechanism