In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal w...In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.展开更多
为解决当前移动无线传感网数据控制传输中存在的链路抖动难以控制、同步误差较大以及网络拓扑结构不稳定等问题,提出了一种基于似然估计补偿机制的移动无线传感网数据控制同步传输算法(Data Transmission Synchronization algorithm In ...为解决当前移动无线传感网数据控制传输中存在的链路抖动难以控制、同步误差较大以及网络拓扑结构不稳定等问题,提出了一种基于似然估计补偿机制的移动无线传感网数据控制同步传输算法(Data Transmission Synchronization algorithm In Mobile Wireless Sensor Networks based on Likelihood Estimation Compensation Mechanism,DTS-LECM算法).首先,通过移动无线传感网MAC层的标记可移动特性,设计了基于分层区域节点-子节点的数据传输结构,联合广播机制,实现了区域节点的初始化,有效降低了数据控制同步误差,提高区域节点-子节点结构的生存质量;随后,基于数据分组双向交互方式,构建似然估计补偿机制,以实现区域节点控制信息同步,有效促进区域节点之间数据控制同步传输过程中链路的稳定性,且能够对频率偏移、相位偏移的精确计算,显著提高传输过程中的数据稳定性;最后,再次利用数据分组双向交互方式对区域子节点的信息进行精确同步,取得了较好的数据同步效果,且具有数据抖动发生频率低的效果.仿真实验表明,与当前常见的时间同步控制算法(Time Synchronization Control Algorithm,TSC算法)、相位同步控制算法(Phase Synchronization Control Algorithm,PSC算法)和信息片层次分组控制同步算法(Synchronization algorithm for Hierarchical Packet Control of Slices,HPCS-S算法)相比,DTS-LECM算法具有更高的控制精度与更低的分组丢包率,且链路抖动频率分布更加集中.所提算法具有较高的数据传输性能,可运用于公安系统的信号定位,以及抗洪抢险等领域,具有一定的实际应用价值.展开更多
基金supported in part by the National Natural Science Foundation of China (61773051,61773072,61761166011)the Fundamental Research Fund for the Central Universities (2016RC021,2017JBZ003)
文摘In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the "explosion of complexity"problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method.
文摘为解决当前移动无线传感网数据控制传输中存在的链路抖动难以控制、同步误差较大以及网络拓扑结构不稳定等问题,提出了一种基于似然估计补偿机制的移动无线传感网数据控制同步传输算法(Data Transmission Synchronization algorithm In Mobile Wireless Sensor Networks based on Likelihood Estimation Compensation Mechanism,DTS-LECM算法).首先,通过移动无线传感网MAC层的标记可移动特性,设计了基于分层区域节点-子节点的数据传输结构,联合广播机制,实现了区域节点的初始化,有效降低了数据控制同步误差,提高区域节点-子节点结构的生存质量;随后,基于数据分组双向交互方式,构建似然估计补偿机制,以实现区域节点控制信息同步,有效促进区域节点之间数据控制同步传输过程中链路的稳定性,且能够对频率偏移、相位偏移的精确计算,显著提高传输过程中的数据稳定性;最后,再次利用数据分组双向交互方式对区域子节点的信息进行精确同步,取得了较好的数据同步效果,且具有数据抖动发生频率低的效果.仿真实验表明,与当前常见的时间同步控制算法(Time Synchronization Control Algorithm,TSC算法)、相位同步控制算法(Phase Synchronization Control Algorithm,PSC算法)和信息片层次分组控制同步算法(Synchronization algorithm for Hierarchical Packet Control of Slices,HPCS-S算法)相比,DTS-LECM算法具有更高的控制精度与更低的分组丢包率,且链路抖动频率分布更加集中.所提算法具有较高的数据传输性能,可运用于公安系统的信号定位,以及抗洪抢险等领域,具有一定的实际应用价值.
