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相关概念视频

Feedback control systems01:26

Feedback control systems

342
Feedback control systems are categorized in various ways based on their design, analysis, and signal types.
Linear feedback systems are theoretical models that simplify analysis and design. These systems operate under the principle that their output is directly proportional to their input within certain ranges. For instance, an amplifier in a control system behaves linearly as long as the input signal remains within a specific range. However, most physical systems exhibit inherent nonlinearity...
342
Open and closed-loop control systems01:17

Open and closed-loop control systems

801
Control systems are foundational elements in automation and engineering. They are broadly categorized into open-loop and closed-loop systems. These classifications hinge on the presence or absence of feedback mechanisms, significantly influencing the system's performance, complexity, and application.
An open-loop control system operates without feedback from the output. It consists of two primary elements: the controller and the controlled process. The controller receives an input signal...
801
Linear Momentum in Control Volume01:13

Linear Momentum in Control Volume

1.1K
Newton's second law is applied to obtain the linear momentum in a control volume in a fluid system. According to this law, the rate of change of linear momentum is equal to the sum of external forces acting on the system. When a control volume matches the fluid system at a specific moment, the forces acting on both are identical. Reynolds transport theorem helps explain this by breaking down the system's linear momentum into two components: the rate of change of linear momentum within...
1.1K
Control Systems01:10

Control Systems

1.2K
Control systems are everywhere in contemporary society, influencing diverse applications from aerospace to automated manufacturing. These systems can be found naturally within biological processes, such as blood sugar regulation and heart rate adjustment in response to stress, as well as in man-made systems like elevators and automated vehicles. A control system is essentially a network of subsystems and processes that collaboratively convert specific inputs into desired outputs.
At the heart...
1.2K

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相关实验视频

Updated: Jul 17, 2025

A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli
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A Method for Evaluating Timeliness and Accuracy of Volitional Motor Responses to Vibrotactile Stimuli

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对于具有输入信号定量化的多个单链灵活操纵器的共识跟踪和振动控制.

Le Li1, Jinkun Liu1

  • 1School of Automation Science and Electrical Engineering, Beihang University, Xueyuan Road No. 37, Haidian District, Beijing, 100191, China.

ISA transactions
|September 2, 2023
PubMed
概括

这项研究引入了灵活操纵器的自适应控制,实现共识跟踪和消除振动,尽管输入信号量化. 新的边界控制确保了系统稳定性,而不需要量子化器参数.

科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 控制理论 控制理论
  • 应用数学 应用数学 应用数学

背景情况:

  • 具有灵活操纵器的多代理系统在精确控制方面存在挑战,原因是固有的灵活性和外部干扰.
  • 控制系统中的输入信号量化可能会降低性能和稳定性,需要强大的补偿策略.

研究的目的:

  • 开发一个分布式自适应边界控制协议,用于共识跟踪和由单链灵活操纵器组成的多代理系统的振动控制.
  • 解决输入信号量化对系统性能和稳定性的影响.

主要方法:

  • 使用第四阶部分微分方程 (PDEs) 建模每个灵活的操纵器.
  • 采用对数定量器来控制输入,并设计适应性定律来抵消定量化效应.
  • 提出了一个分布式自适应边界控制协议,不需要对量子仪参数的知识.

主要成果:

  • 拟议的控制协议确保所有操纵器实现所需的角度位置跟踪和消除振动.
  • 闭环系统的均边界稳定性已被数学证明.
  • 模拟显示了控制策略在各种场景中的有效性.

结论:

  • 开发的分布式自适应边界控制是有效的共识跟踪和振动控制量化灵活的操纵器系统.
关键词:
达成共识的追踪共识的追踪灵活的操纵器 灵活的操纵器输入信号量化输入信号量化多代理系统是多代理系统.在PDE模型中,PDE模型是PDE.压制振动,抑制振动.

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  • 该策略提供了针对输入信号量子化的稳定性,而无需先前了解量子器参数.
  • 这项研究有助于复杂机器人系统的控制方法的进步.