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Updated: Jun 25, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

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非线性模型预测控制-与深度神经网络交叉合控制为多液压系统同步控制提供前

Dongyi Li1, Kun Lu2, Yong Cheng3

  • 1Institute of Plasma Physics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei 230031, China; University of Science and Technology of China, Hefei 230026, China; Lappeenranta University of Technology, Lappeenranta 53850, Finland; Anhui Extreme Environment Robot Engineering Laboratory, Hefei 230031, China.

ISA transactions
|May 29, 2024
PubMed
概括

本研究介绍了一种用于多液压系统 (MHS) 的新型控制器,以提高同步性. 非线性模型预测控制-交叉合控制与深度神经网络前 (NMPC-CCC-DNNF) 显著减少同步错误并增强干扰拒绝.

关键词:
交叉合控制器 交叉合控制器深度神经网络 feedforward 前进多液压系统多液压系统非线性模型预测控制的非线性模型同步控制的同步控制

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Open and closed-loop control systems01:17

Open and closed-loop control systems

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...
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Feedback control systems01:26

Feedback control systems

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...
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Multi-input and Multi-variable systems01:22

Multi-input and Multi-variable systems

Cruise control systems in cars are designed as multi-input systems to maintain a driver's desired speed while compensating for external disturbances such as changes in terrain. The block diagram for a cruise control system typically includes two main inputs: the desired speed set by the driver and any external disturbances, such as the incline of the road. By adjusting the engine throttle, the system maintains the vehicle's speed as close to the desired value as possible.
In the absence...
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PD Controller: Design01:26

PD Controller: Design

In automotive engineering, car suspension systems often employ Proportional Derivative (PD) controllers to enhance performance. PD controllers are utilized to adjust the damping force in response to road conditions. A controller, acting as an amplifier with a constant gain, demonstrates proportional control, with output directly mirroring input.
Designing a continuous-data controller requires selecting and linking components like adders and integrators, which are fundamental in Proportional,...
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Time-Domain Interpretation of PD Control01:07

Time-Domain Interpretation of PD Control

Proportional-Derivative (PD) control is a widely used control method in various engineering systems to enhance stability and performance. In a system with only proportional control, common issues include high maximum overshoot and oscillation, observed in both the error signal and its rate of change. This behavior can be divided into three distinct phases: initial overshoot, subsequent undershoot, and gradual stabilization.
Consider the example of control of motor torque. Initially, a positive...
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Controller Configurations01:22

Controller Configurations

Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
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