Open Access. Powered by Scholars. Published by Universities.®

Discipline
Institution
Keyword
Publication Year
Publication
Publication Type
File Type

Articles 1411 - 1440 of 6663

Full-Text Articles in Numerical Analysis and Scientific Computing

Modeling And Simulation Of Ultra Supercritical Unit Using A Composite Weighted Human Learning Network, Chuanliang Cheng, Chen Peng, Deliang Zeng, Tengfei Zhang Jul 2022

Modeling And Simulation Of Ultra Supercritical Unit Using A Composite Weighted Human Learning Network, Chuanliang Cheng, Chen Peng, Deliang Zeng, Tengfei Zhang

Journal of System Simulation

Abstract: Intermediate point temperature is an important parameter in ultra supercritical (USC) unit. However, due to strong nonlinearity, it is difficult to determine the form and coefficients of the corresponding model by using traditional methods. In order to get a better control effect, a novel composite weighted human learning optimization network (CWHLON) is proposed to tackle the above-mentioned problems. Though the real-time dynamic linear model, the characteristics of the object are accurately simulated. In the simulation experiment, CWHLON is compared with the traditional recursive least squares and other three meta heuristic methods. The data show that the proposed method improves …


Research On The Number Of Passengers On The Platform Of Rail Transit Station Considering Congestion Propagation, Wei Chen, Zongping Li, Can Liu, Yanni Ju Jul 2022

Research On The Number Of Passengers On The Platform Of Rail Transit Station Considering Congestion Propagation, Wei Chen, Zongping Li, Can Liu, Yanni Ju

Journal of System Simulation

Abstract: It is the basis of improving the safety guarantee ability of urban rail transit system to study and master the change law of the number of passengers in the urban rail transit station under the condition of Congestion Propagation. From the point of view of multi subsystem of passenger, station and train, combined with the multi-attribute characteristics of passenger flow, platform and train, the calculation model of the number of passengers in urban rail transit station is established based on system dynamics. A multi group sensitivity simulation experiment is designed to analyze the influence factors of the number of …


Multi-Stage Multi-Agv Path Planning With Walk Under Shelves For Robotic Mobile Fulfillment Systems, Teng Li, Peipei Ding, Jinfang Liu Jul 2022

Multi-Stage Multi-Agv Path Planning With Walk Under Shelves For Robotic Mobile Fulfillment Systems, Teng Li, Peipei Ding, Jinfang Liu

Journal of System Simulation

Abstract: Aiming at the problem of increasing travel time due to turning and obstacle avoidance in robotic mobile fulfillment systems(RMFS) with large-scale multi-AGV path planning, a path planning model with the shortest task completion time is established. A path planning model considering no-load AGV that can pass through the shelf is proposed, and the model is solved by an improving A* algorithm. The AGV operation stage is divided, an turning penalty value is introduced into the A* algorithm to reduce the turning times, and the obstacle avoidance priority with the obstacle avoidance waiting time is set. The simulation results show …


Design And Simulation Of Ts Fuzzy Based Cooperative Control Of Missile Formation, Yexin Zhang, Yu Cheng, Hongyan Yan, Xuwei Fan, Xu Zhang, Yi Tian Jul 2022

Design And Simulation Of Ts Fuzzy Based Cooperative Control Of Missile Formation, Yexin Zhang, Yu Cheng, Hongyan Yan, Xuwei Fan, Xu Zhang, Yi Tian

Journal of System Simulation

Abstract: Aiming at the requirement of cooperative operation of multi-missile formation, a cooperative control algorithm of multi-missile formation based on Takagi-Sugeno(TS) fuzzy control theory is proposed.The flight speed, trajectory angle and trajectory deflection angle of the missile are taken as parameters in the leader-follower mode missile formation flying system.The local asymptotically stable controller is designed by using the systemlocal linearization of multiple groups of equilibrium pointsduring the whole flight process.Through the expert experience method,the membership function and fuzzy rules for the system are designedwith TS fuzzy theory, and the whole multi-missile cooperative control system is completed and the stability …


Fiesta And Shock-Driven Flows, Brian E. Romero Jul 2022

Fiesta And Shock-Driven Flows, Brian E. Romero

Mechanical Engineering ETDs

In this study, the interaction of a shock with various gas and particle interfaces is analyzed through simulations using a new, GPU capable, multi-species flow solver, FIESTA (Fast, Interface Evolution, Shocks, and Transport in the Atmosphere), de- veloped for this research. The cases studied include the interaction between a shock and i) a two-dimensional (2D), circular cloud of a dense gas; ii) a 2D curtain of a dense gas; iii) a three-dimensional (3D) cylinder of a dense gas, and iv) a 3D curtain of solid particles.

In simulations of a 2D gas curtain and a 3D gas column, the curtain …


Neutron Interferometry Using A Single Modulated Phase Grating, Ivan J. Hidrovo Giler Jul 2022

Neutron Interferometry Using A Single Modulated Phase Grating, Ivan J. Hidrovo Giler

LSU Master's Theses

Neutron grating interferometry provides information on phase and small-angle scatter in addition to attenuation. Previously, phase grating moiré interferometers (PGMI) with two or three phase gratings have been developed. These phase-grating systems use the moiré far-field technique to avoid the need for high-aspect absorption gratings used in Talbot-Lau interferometers (TLI) which reduce the neutron flux reaching the detector. We demonstrate through simulations a novel phase grating interferometer system for cold neutrons that requires a single modulated phase grating (MPG) for phase-contrast imaging, as opposed to the two or three phase gratings in previously employed PGMI systems. We compare the MPG …


Robust Sensor Design For The Novel Reduced Models Of The Mead-Marcus Sandwich Beam Equation, Ahmet Aydin Jul 2022

Robust Sensor Design For The Novel Reduced Models Of The Mead-Marcus Sandwich Beam Equation, Ahmet Aydin

Masters Theses & Specialist Projects

Novel space-discretized Finite Differences-based model reductions are proposed for the partial differential equations (PDE) model of a multi-layer Mead-Marcus-type beam with (i) hinged-hinged and (ii) clamped-free boundary conditions. The PDE model describes transverse vibrations for a sandwich beam whose alternating outer elastic layers constrain viscoelastic core layers, which allow transverse shear. The major goal of this project is to design a single boundary sensor, placed at the tip of the beam, to control the overall dynamics on the beam.

For (i), it is first shown that the PDE model is exactly observable by the so-called nonharmonic Fourier series approach. However, …


Order Constraints In Optimal Transport, Fabian Lim, Laura Wynter, Shiau Hong Lim Jul 2022

Order Constraints In Optimal Transport, Fabian Lim, Laura Wynter, Shiau Hong Lim

Research Collection School Of Computing and Information Systems

Optimal transport is a framework for comparing measures whereby a cost is incurred for transporting one measure to another. Recent works have aimed to improve optimal transport plans through the introduction of various forms of structure. We introduce novel order constraints into the optimal transport formulation to allow for the incorporation of structure. We define an efficient method for obtaining explainable solutions to the new formulation that scales far better than standard approaches. The theoretical properties of the method are provided. We demonstrate experimentally that order constraints improve explainability using the e-SNLI (Stanford Natural Language Inference) dataset that includes human-annotated …


Robustness And Personalization In Federated Learning: A Unified Approach Via Regularization, Achintya Kundu, Pengqian Yu, Laura Wynter, Shiau Hong Lim Jul 2022

Robustness And Personalization In Federated Learning: A Unified Approach Via Regularization, Achintya Kundu, Pengqian Yu, Laura Wynter, Shiau Hong Lim

Research Collection School Of Computing and Information Systems

We present a class of methods for robust, personalized federated learning, called Fed+, that unifies many federated learning algorithms. The principal advantage of this class of methods is to better accommodate the real-world characteristics found in federated training, such as the lack of IID data across parties, the need for robustness to outliers or stragglers, and the requirement to perform well on party-specific datasets. We achieve this through a problem formulation that allows the central server to employ robust ways of aggregating the local models while keeping the structure of local computation intact. Without making any statistical assumption on the …


Contours Of Virtual Enfreakment In Fighting Game Characters, Sercan Sengun, Peter Mawhorter, James Bowie-Wilson, Yusef Audeh, Haewoon Kwak, D. Fox Harrell Jul 2022

Contours Of Virtual Enfreakment In Fighting Game Characters, Sercan Sengun, Peter Mawhorter, James Bowie-Wilson, Yusef Audeh, Haewoon Kwak, D. Fox Harrell

Research Collection School Of Computing and Information Systems

Characters in fighting videogames1 such as Street Fighter V and Tekken7 typically reveal a phenomenon that we define as virtual enfreakment: their bodies, costumes, and fighting styles are exaggerated (1) in a manner that emphasizes perceived exoticism and (2) to enable them to be easily visually and conceptually distinguishable from one another. Here, using both quantitative and qualitative methods, including crowd-sourced surveys and analyses of game mechanics, we report on the contours of virtual enfreakment in those games. We specifically examine differences in character design across gender, national-origin, and skin-color lines. Disappointingly but not surprisingly, we find racism and sexism …


Data-Driven Retail Decision-Making Using Spatial Partitioning And Delineation Of Communities, Ming Hui Tan, Kar Way Tan Jul 2022

Data-Driven Retail Decision-Making Using Spatial Partitioning And Delineation Of Communities, Ming Hui Tan, Kar Way Tan

Research Collection School Of Computing and Information Systems

Urbanisation is resulting in rapid growth in road networks within cities. The evolution of road networks can be indicative of a city's economic growth and it is a field of research gaining prominence in recent years. This paper proposes a framework for spatial partition of large scale road networks that produces appropriately sized geospatial units in order to identify the type of community they serve. To this end, we have developed a three-stage procedure which first partitions the road network using Louvain method, followed by outlining the boundary of each partition using Uber H3 grids before classifying each partition using …


Positive Rate-Dependent Action Potential Prolongation By Modulating Potassium Ion Channels, Candido Cabo Jun 2022

Positive Rate-Dependent Action Potential Prolongation By Modulating Potassium Ion Channels, Candido Cabo

Publications and Research

Pharmacological agents that prolong action potential duration (APD) to a larger extent at slow rates than at the fast excitation rates typical of ventricular tachycardia exhibit reverse rate dependence. Reverse rate dependence has been linked to the lack of efficacy of class III agents at preventing arrhythmias because the doses required to have an anti-arrhythmic effect at fast rates may have pro-arrhythmic effects at slow rates due to an excessive APD prolongation. In this report we show that, in computer models of the ventricular action potential, APD prolongation by accelerating phase 2 repolarization (by increasing IKs) and decelerating …


Image Center Layout Optimization Method Based On Improved Genetic Algorithm, Zhijie Li, Haoqi Shi, Changhua Li, Jie Zhang Jun 2022

Image Center Layout Optimization Method Based On Improved Genetic Algorithm, Zhijie Li, Haoqi Shi, Changhua Li, Jie Zhang

Journal of System Simulation

Abstract: Aiming at the layout optimization methods of image center being influenced by the subjective factors and low level of automation, a method of combining systematic layout planning(SLP) with the improved genetic algorithm is proposed. The layout scheme generated by SLP improves the initial population of the genetic algorithm and increases the diversity of the initial population. In order to improve the efficiency of optimization, the improved algorithm updates the crossover probability and mutation probability adaptively according to the evolution stages and the fitness value of the individuals. On the basis of the layout area model and multi-objective optimization mathematical …


An Unsupervised Deep Neural Network For Image Fusion, Peipei Zhou, Xinglin Hou Jun 2022

An Unsupervised Deep Neural Network For Image Fusion, Peipei Zhou, Xinglin Hou

Journal of System Simulation

Abstract: Due to the low dynamic range of camera, can not be expressed in the different region of the high dynamic scene a single-exposure image. An unsupervised depth neural network is constructed to fuse the multi-exposure images into a high dynamic image. Based on the VGG-Net, encoding and decoding sub-networks are designed. Guided by the structural similarity of the images before and after fusion, a loss function suitable for image fusion is designed by introducing the weight factors based on the local image information, and the valid information of the different input images is given consideration. Compared with the …


Research And Simulation Of Internet Of Vehicles Task Offloading Based On Mobile Edge Computing, Peng Cheng, Wenzhu Zhang, Shuhan Xie, Zixuan Yang Jun 2022

Research And Simulation Of Internet Of Vehicles Task Offloading Based On Mobile Edge Computing, Peng Cheng, Wenzhu Zhang, Shuhan Xie, Zixuan Yang

Journal of System Simulation

Abstract: In order to use the computing resources of edge devices to provide high-quality services, a joint resource allocation and task offloading mechanism is designed for the Internet of Vehicles architecture based on mobile edge computing. In the mechanism, the original problem is decomposed into two sub-problems of resource allocation and offloading decision. The original problem is simplified into the resource allocation of maximizing system capacity, and the initial offloading set is obtained through the proportional resource allocation algorithm; the above problem is solved by the joint offloading decision-making and resource allocation mechanism. The stable experimental results are obtained …


Design Of Interactive Simulated Water Gun Fire Fighting Training System Based On Steam Vr, Cheng Lu, Xuesheng Jin Jun 2022

Design Of Interactive Simulated Water Gun Fire Fighting Training System Based On Steam Vr, Cheng Lu, Xuesheng Jin

Journal of System Simulation

Abstract: In order to save the fire fighting training resources and increase the immersion and experience of VR training, an interactive simulated water gun fire fighting training system based on Steam VR is designed. By using the Hall sensors and signal conversion circuit boards to collect and transmit the signal of the simulated water gun, and by using the Unity3D engine combined with the VIVE head-mounted display to build and present VR fire scene. The gun is controlled through C# programming to complete the interaction with the virtual fire scene. The system is evaluated by a post-questionnaire survey …


Design And Realization Of 6-Dof Parachuting Simulation Training System, Xiaoguang Zhou, Peng Zhu, Yuanyuan Zhang, Huan Lu, Yuan Zhou Jun 2022

Design And Realization Of 6-Dof Parachuting Simulation Training System, Xiaoguang Zhou, Peng Zhu, Yuanyuan Zhang, Huan Lu, Yuan Zhou

Journal of System Simulation

Abstract: Aiming at restoring the 6-DOF motion process of each stage during parachuting, a 6-DOF parachuting simulation training system is designed and implemented. The architecture of the simulator is designed, and the realization of the sub-systems such as the motion calculation, 6-DOF motion platform, control loading system, virtual reality scene, somatosensory system and management console is explained. Compared with the same type of parachute simulator, this system has introduced a 6-DOF motion platform which can drive the trainees to simulate the various postures of parachuting. It can also help the trainees master the control methods of parachute and enhance the …


A High Spectral-Efficiency Maritime Very-High-Frequency Communication Technology And Simulation, Xinyu Dou, Xiaohui Chen, Dequn Liang, Bin Lin Jun 2022

A High Spectral-Efficiency Maritime Very-High-Frequency Communication Technology And Simulation, Xinyu Dou, Xiaohui Chen, Dequn Liang, Bin Lin

Journal of System Simulation

Abstract: Marine communications cannot follow the development route on land of developing high frequency resources and high spectral-efficiency modulation technologies in 5G and 6G high-speed communication. The data rate and spectral-efficiency of maritime communications are low and are difficult to be improved. A high spectral-efficiency maritime very-high-frequency (VHF) communication technology based on multi-carrier time-delay overlapping modulation (MC-TDOP) is proposed. The core is delaying the subcarriers in turn and directly overlapping them in time domain. The orthogonality between the subcarriers can be neglected, thus the spectral-efficiency can be further enhanced from the fundamental information modulations. The results show that the proposed …


Simulation Method Of Virtual Human Pose Optimization Based On Vr Peripherals, Muqing Wang, Lei Zhang, Xiumin Fan, Xiaomeng Luo, Wenmin Zhu Jun 2022

Simulation Method Of Virtual Human Pose Optimization Based On Vr Peripherals, Muqing Wang, Lei Zhang, Xiumin Fan, Xiaomeng Luo, Wenmin Zhu

Journal of System Simulation

Abstract: The commonly used VR peripheral is the position tracker worn on the operator body and is not very convenient. Focus on the problem, a visual sensor combination-based scheme is proposed to realize the simple and real-time unmarked virtual human driven simulation. On the basis of the parameterized human model SMPL, by minimizing the objective function of multiple error terms, the driven accuracy of the virtual human is improved, and the fitted human body model conforming to the operator form and posture is calculated and the ergonomic evaluation is realized. The module is verified by a case of evaluation in …


Multi-Person Interactive Globe System Based On Ar Technology, Yiling Sun, Yi Chen, Guihua Shan, Xiaoxing Li Jun 2022

Multi-Person Interactive Globe System Based On Ar Technology, Yiling Sun, Yi Chen, Guihua Shan, Xiaoxing Li

Journal of System Simulation

Abstract: The characteristic of multi-source, high-dimensional, time-varying and massive of the Earth big data is difficult to be understood and analyzed. Aiming at this problem and for the science popularization needs, an AR-based multi-person interactive globe system is proposed and implemented. A system architecture integrating AR technology is proposed to realize the seamless overlay combination effect of the virtual information and the physical globe. A data visualization display scheme is designed to realize the visualization of the Earth big data in three-dimensional space. A lightweight multi-person multi-terminal collaboration mechanism is proposed to improve the practicality and interestingness of the system. …


Multi-Agent Simulation For Online Fresh Food Autonomous Delivery, Miaojia Lu, Chengyuan Huang, Jing Teng Jun 2022

Multi-Agent Simulation For Online Fresh Food Autonomous Delivery, Miaojia Lu, Chengyuan Huang, Jing Teng

Journal of System Simulation

Abstract: Autonomous delivery can solve the last-mile delivery problems of low efficiency, high manual cost, and potential safety hazard. The autonomous delivery of the online fresh food in urban communities is discussed and a data-driven agent-based platform with the actual spatial-temporal demand is built. Three kinds of agents including the autonomous vehicles, customers, and distribution center and the simulation environment based on the actual road network are construct. To achieve the objectives of the minimum total operating costs and maximum customer satisfaction, the different static and dynamic order dispatch strategies and the route planning strategies with the principle of …


Airport Flight Transit Support Time Collaborative Planning Modeling Based On Stn, Bin Chen, Yue Liu, Yalei Yang Jun 2022

Airport Flight Transit Support Time Collaborative Planning Modeling Based On Stn, Bin Chen, Yue Liu, Yalei Yang

Journal of System Simulation

Abstract: Under the constraint of resources, the collaborative planning of airport flight transit support time is one of the effective methods to improve airport operation efficiency. Based on Simple Temporal Network (STN), a planning model of flight transit support time is established. Based on the temporal decoupling, the shortest path matrix simplification, and the distance graph solving of STN task model considering resources, the method of collaborative planning of flight transit support time for airport considering resources is obtained. The comparison results of the simulation and the actual data show that STN task model considering resources can optimize the airport …


Vehicle Detection Method Based On Multi Scale Feature Fusion, Yin Wang, Feixiang Wang, Qianlai Sun Jun 2022

Vehicle Detection Method Based On Multi Scale Feature Fusion, Yin Wang, Feixiang Wang, Qianlai Sun

Journal of System Simulation

Abstract: Vehicle detection is the important research content and hotspot in the intelligent transportation. Aiming at the low detection accuracy and poor small-scale recognition effect of the traditional vehicle detection algorithm, an improved detection method based on YOLOv4(you only look once v4) is proposed to improve the detection performance of small target vehicles in traffic scenes. By redesigning the YOLOv4 network, the MobileNetv2 deep separable convolution module is used to replace the traditional convolution, and the convolutional block attention module (CBAM) attention module is integrated into the feature extraction network to ensure the detection accuracy of the model and reduce …


A Hybrid Algorithm Based On Seeker Optimization Algorithm And Salp Swarm Algorithm For Pid Parameters Optimization, Shaomi Duan, Huilong Luo, Haipeng Liu Jun 2022

A Hybrid Algorithm Based On Seeker Optimization Algorithm And Salp Swarm Algorithm For Pid Parameters Optimization, Shaomi Duan, Huilong Luo, Haipeng Liu

Journal of System Simulation

Abstract: Aiming at the premature convergence of seeker optimization algorithm(SOA) during optimizing the global problems, a new SOA-SSA hybrid algorithm based on seeker optimization algorithm and salp swarm algorithm (SSA) is proposed.The SOA-SSA algorithm is based on a double population evolution strategy, in which some individuals of the population are evolved by seeker optimization algorithm and the rest are evolved from salp swarm algorithm. The individuals in SOA and SSA both employ an information sharing mechanism to realize the coevolution. These strategies increase the diversity of the population and avoid the premature convergence. The experimental results show that …


Application Of Improved Q Learning Algorithm In Job Shop Scheduling Problem, Yejian Zhao, Yanhong Wang, Jun Zhang, Hongxia Yu, Zhongda Tian Jun 2022

Application Of Improved Q Learning Algorithm In Job Shop Scheduling Problem, Yejian Zhao, Yanhong Wang, Jun Zhang, Hongxia Yu, Zhongda Tian

Journal of System Simulation

Abstract: Aiming at the job shop scheduling in a dynamic environment, a dynamic scheduling algorithm based on an improved Q learning algorithm and dispatching rules is proposed. The state space of the dynamic scheduling algorithm is described with the concept of "the urgency of remaining tasks" and a reward function with the purpose of "the higher the slack, the higher the penalty" is disigned. In view of the problem that the greedy strategy will select the sub-optimal actions in the later stage of learning, the traditional Q learning algorithm is improved by introducing an action selection strategy based on the …


Denoising Algorithm Based On Multi-Feature Non-Local Mean Filtering For Monte Carlo Rendered Images, Kai Yang, Chunyi Chen, Xiaojuan Hu, Haiyang Yu Jun 2022

Denoising Algorithm Based On Multi-Feature Non-Local Mean Filtering For Monte Carlo Rendered Images, Kai Yang, Chunyi Chen, Xiaojuan Hu, Haiyang Yu

Journal of System Simulation

Abstract: Aiming at the rendering noise in Monte Carlo synthesized images induced by the low light-path sampling rate, a denoising algorithm based on the multi-feature non-local-mean filtering is proposed. The gradient image of the scene's albedo information is calculatedwith the canny operator, and a guided filter together with the said gradient image is employed to prefilter the normal vector image. The structural similarity of the sub-blocks in the prefiltered normal vector image is calculated and the improved weights of the non-local mean filter are computed according to the logarithmic value of the reciprocal of the structural similarity. The improved …


Visual Inspection Model Of Uav Cluster Based On Improved Pigeon Flock Hierarchy, Qi Chen, Haoyang Cui Jun 2022

Visual Inspection Model Of Uav Cluster Based On Improved Pigeon Flock Hierarchy, Qi Chen, Haoyang Cui

Journal of System Simulation

Abstract: Aim at UAV being vulnerable to the environmental interference and the low efficiency of the traditional single-person-UAV model in the transmission line inspection, a visual inspection model for the power line by UAV is proposed based on the improved pigeon flock hierarchy. The initial landmark point of the UAV is generated based on GPS coordinates of the aircraft-carrying vehicle and the tower to be inspected, and the movement trajectory is planned. The return point of the UAV is used to update the initial landmark of onward UAV, which realizes the dynamic handover between the work-exchanging UAV, and the landmark …


Multi-Uavs 3d Path Planning Method Based On Random Strategy Search, Sen Zhang, Mengyan Zhang, Jingping Shao, Jiexin Pu Jun 2022

Multi-Uavs 3d Path Planning Method Based On Random Strategy Search, Sen Zhang, Mengyan Zhang, Jingping Shao, Jiexin Pu

Journal of System Simulation

Abstract: In view of the difficulty of the traditional path planning method without energy consumption constraints to meet the emergency rescue requirements in the complex mountain operation environment, a three-dimensional path planning algorithm for multi-UAVs is proposed based on LSTM-DPPO(long short-term memory-distributed proximal policy optimization) framework. The LSTM long and short-term memory neural network is used to extract the important characteristic state information sequence of the multiple unmanned aerial vehicles in their respective flight process. After repeated iteration and updating, an optimal network parameter model is obtained. Combined with the energy consumption, the optimal 3D detection path is generated. …


Application Of Observability In Performance Evaluation Of Photosynthesis Model, Hongnai Gao, Lijiang Fu, Qian Xia, Ya Guo Jun 2022

Application Of Observability In Performance Evaluation Of Photosynthesis Model, Hongnai Gao, Lijiang Fu, Qian Xia, Ya Guo

Journal of System Simulation

Abstract: The photochemical reaction of photosynthesis involves a variety of physiological substances that cannot be directly measured. By modeling the control system, the state of these physiological substances can be es-timated based on the chlorophyll fluorescence, but the reliability of the state estimation is not given in all the reference documents. In response to this problem, based on the photochemical reaction kinetic model, the observability of the nonlinear system is introduced to evaluate the reliability of the state estimation. Aiming at the existing observability methods lacking the direct comparability due to the different dimensions of the components of different states, …


Fuzzy Super-Twisting Second Order Sliding Mode Trajectory Tracking Control For Robotic Manipulator, Baolin Du, Dachang Zhu, Yihua Pan Jun 2022

Fuzzy Super-Twisting Second Order Sliding Mode Trajectory Tracking Control For Robotic Manipulator, Baolin Du, Dachang Zhu, Yihua Pan

Journal of System Simulation

Abstract: A fuzzy super-twisting second order sliding mode control method is proposed for the uncertainties of the model error and external disturbance on the trajectory tracking accuracy of robotic manipulator. Based on the dynamic model of the robotic, a new non-singular terminal sliding mode manifold is designed, and an improved super-twisting algorithm is used to design the second order sliding mode controller. In order to solve the problem that the matching disturbance can only be compensated under the condition of the known disturbance boundary in the sliding mode control, the fuzzy logic algorithm is used to carryout the online compensation …