Open Access. Powered by Scholars. Published by Universities.®
Physical Sciences and Mathematics Commons™
Open Access. Powered by Scholars. Published by Universities.®
Articles 1 - 4 of 4
Full-Text Articles in Physical Sciences and Mathematics
Trajectory Tracking Control Of Planetary Entry Phase Based On Neural Network And Fractional Sliding Mode, Cunli Fan, Dai Juan, Haitao Liu, Su Zhong, Zhu Cui, Wenting Xu
Trajectory Tracking Control Of Planetary Entry Phase Based On Neural Network And Fractional Sliding Mode, Cunli Fan, Dai Juan, Haitao Liu, Su Zhong, Zhu Cui, Wenting Xu
Journal of System Simulation
Abstract: A fractional order sliding mode control method based on Radial Basis Function (RBF) neural network is proposed to solve the landing accuracy being affected by the interference during the landing process of planetary probe. Based on sliding mode control, a trajectory tracking control method for the entry phase of the probe is designed. Fractional calculus is introduced to alleviate the chattering caused by sliding mode control. RBF neural network is used to estimate and compensate the atmospheric density uncertainty. The method is applied to Mars landing scene simulation. The simulation results show that the proposed control method can accurately …
Trajectory Tracking Control Of Robotic Manipulators Based On Smooth Second-Order Sliding Mode, Ruimin Zhang, Qiaoyu Chen
Trajectory Tracking Control Of Robotic Manipulators Based On Smooth Second-Order Sliding Mode, Ruimin Zhang, Qiaoyu Chen
Journal of System Simulation
Abstract: The robotic manipulators have characteristics of strong nonlinearity, strong coupling, multiple input and output, uncertainties, and so on. It is necessary to proposed a multivariable smooth second-order sliding mode trajectory tracking control method. The method can eliminate the chattering in the conventional sliding mode control and increase convergence speed. The property of finite time convergency is proved by the Lyapunov stability theory. Furthermore, the method is applied for the tracking control of two-joint robotic manipulators with model uncertainty and external disturbances. The simulation results show that the proposed method is effective and has high control precision and strong robustness.
Compensation Sliding Cross Coupling Control Research Of Cartesian Coordinate Robot, Wang Wei, Zhimei Chen, Zhenyan Wang
Compensation Sliding Cross Coupling Control Research Of Cartesian Coordinate Robot, Wang Wei, Zhimei Chen, Zhenyan Wang
Journal of System Simulation
Abstract: For a typical Cartesian coordinate robot controls precision is low, based on a single-axis mathematical model, a contour error model for a typical robot whose axes are orthogonal to each other is established. An improved double-power approach law is used to design a terminal sliding mode controller to improve the robot. The integral compensation terms are added to stably compensate the position accuracy of each axis to improve the overall trajectory tracking accuracy, and the cross-coupling control between the axes is used to eliminate the contour error between the axes. It not only weakens the chattering of traditional sliding …
Three-Dimensional Adaptive Neural Network Guidance Law Against Maneuvering Targets, Yujie Si, Xiong Hua, Zhe Li
Three-Dimensional Adaptive Neural Network Guidance Law Against Maneuvering Targets, Yujie Si, Xiong Hua, Zhe Li
Journal of System Simulation
Abstract: The problem of designing a three-dimensional nonlinear guidance law accounting for saturation nonlinearity is concentrated to attack maneuvering targets. To solve the physical constraints of missile actuators, an anti-disturbance and anti-saturation terminal sliding mode guidance law is provided based on radial basis functions neural networks and adaptive method. The guidance law is bounded and ensures that the system state is uniformly ultimately bounded. Compared with the traditional anti-saturation guidance law, it has the advantages of fast convergence speed and high precision. Numerical simulations are introduced to demonstrate the effectiveness and superiority of the designed composite guidance law in theory.