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Full-Text Articles in Engineering
Adaptive Robust Trajectory Tracking Control For Nsv With Multiple Stochastic Disturbances, Xiaohu Yan, Yuwu Yao, Yuhua Wu, Jiangxin Xu
Adaptive Robust Trajectory Tracking Control For Nsv With Multiple Stochastic Disturbances, Xiaohu Yan, Yuwu Yao, Yuhua Wu, Jiangxin Xu
Journal of System Simulation
Abstract: A stochastic control scheme of adaptive robust trajectory tracking is proposed for near space vehicle (NSV) with stochastic noise input disturbances, Poisson random fluctuation disturbances, and control input saturation. The effective tracking of the height and speed reference signals is realized. For the outer loop trajectory control, the robust stochastic controller is designed for the height subsystem and the speed subsystem respectively. Additionally, the required attitude angle reference signals for the inner loop attitude control are obtained by converting the equivalent control input via numerical calculation. For the inner loop attitude control problems, an adaptive robust stochastic control scheme …
A Uav Target Tracking And Control Algorithm Based On Siamrpn, Songming Jiao, Hui Ding, Yufei Zhong, Xin Yao, Jiahao Jiahao Zheng
A Uav Target Tracking And Control Algorithm Based On Siamrpn, Songming Jiao, Hui Ding, Yufei Zhong, Xin Yao, Jiahao Jiahao Zheng
Journal of System Simulation
Aiming at the requirement of autonomously tracking land moving targets of rotary-wing UAVs, an autonomous and stable UAV tracking and control system that can adapt to the common interference environments such as scale changes, occlusions, and attitude changes is constructed.The system extracts the imaging position of the target in airborne camera through the twin network based on deep learning, and obtains the relative pose of the target. The image processing algorithm is designed to process the icons in the tracking frame, and the yaw angle of UAV relative to the tracking target is obtained, Kalman filter is introduced to …
Trajectory Control Of Crawler Robot Based On Lstm And Smc, Dongyang Liu, Wenwen Zha, Liang Tao, Cheng Zhu, Lichuan Gu, Jun Jiao
Trajectory Control Of Crawler Robot Based On Lstm And Smc, Dongyang Liu, Wenwen Zha, Liang Tao, Cheng Zhu, Lichuan Gu, Jun Jiao
Journal of System Simulation
Abstract: Trajectory tracking is an important part of mobile robot control technology and possesses prospect. Highly nonlinear dynamic characteristics are the main obstacles of controller design. A SMC method based on LSTM and quasi-sliding mode is proposed. The kinematics model and dynamics model of the tracked vehicle are given, and the sliding mode control system is established based on the dynamics model. LSTM network based on deep learning method is designed to control and compensate the unknown interference items, reduce the influence of external interference, and reduce the tremor phenomenon by combining the advantages of LSTM network and quasi-sliding …