Abstract: Traditional target tracking algorithm has a disadvantage of excessive dependence on the environment model. Thus a multi-sensor cooperative tracking method using distributed Nash Q-learning was proposed. Distributed Nash Q-learning with model-free was firstly described. Then sensor action and reward function were defined, which both are very crucial to the learning. Sensor action was only subjected to angle control, and reward function was given by calculating the trace of one time-step prediction error covariance. Nash tragedy can not be directly calculated, therefore, a probability statistics method using Bayesian inference was used to update the Q function. Simulation of passive tracking merely with angle measurements shows that this algorithm can enhance the adaptation to environment change and the tracking accuracy.
Abstract: This paper mostly discusses the data processing in 3D machine vision system, especially the data processing technology and algorithm involved, and gives two simple and useful method of data processing. Main content mainly includes distance noise-deleting, multi-filtering, multi-condensing and limit dot-detecting, puts forward a simple, quick, and practical noise points disposal distance identifying method, and put forward a kind of compound method of filtering. Through the example to prove that this method is more satisfied with the treatment effect.
Abstract: An adaptive fuzzy controller based on the backstepping method is developed for permanent magnet synchronous motor (PMSM) servo systems with unknown parameters, nonlinear friction and other load torque disturbances. The adaptive fuzzy logic system is used to approximate the nonlinear part of the system online, which can eliminate the influence of uncertainties and nonlinear factors effectively and realize the high-precision position tracking. By adopting the Lyapunov method, it is proved that the position tracking error converges exponentially. Compared with the traditional backstepping adaptive control (BAC), the simulation results show that the backstepping adaptive fuzzy control (BAFC) has better robustness and accuracy.
Abstract: The multivariable PID neural network (MPIDNN) control system is introduced in this paper. MPIDNN is used to perform both the control and the decouple at the same time and to get better performance. It is difficult to control multivariable system by conventional controller because the strong coupling properties of the system. Generally, the decoupling system should be designed first and the multivariable object would be divided into several single variable objects. Then, several simple controller would achieve the control of those objects. The decoupling system and the controller exist in theory but the design process is very difficult actually because the transfer function of the object is difficult to get. Especially, if the number of the object inputs is not equal to that of the object outputs, which is called unsymmetry object, the conventional decoupling is impossible. A actual example is discussed in the paper in order to prove the function of the MPIDNN, in which an un-symmetry multivariable system which has 3 inputs and 2 outputs is controlled by a MPIDNN and the perfect control property is obtained by self-learning process.
Abstract: In this paper, robust stability and stabilization of singular stochastic hybrid systems are investigated. The system under consideration involves parameter uncertainties, Itô-type stochastic disturbance, Markovian jump parameters as well as time-varying delays. The aim of this paper is to design a state controller such that the dynamic system is robust stable. By using the Lyapunov-Krasovskii functional and Itô's differential rule, delay-range-dependent sufficient conditions on robust stability and stabilization are obtained in the form of linear matrix inequalities (LMIs). A numerical example is given to illustrate the effectiveness of the proposed main results.
Abstract: There are many limits in the traditional temperature measurement methods' for high voltage electrical equipment. A wireless temperature measurement system based on C8051F340 for high voltage electrical equipment has been designed, which transfers temperature data by wireless communication, and optimizes the system's power supply for the high voltage electrical equipment's working environment. The host computer of the system analysis the temperature data from wireless sensor and can prevent the equipment's overheat accidents in effect. According to the experiment board's practical operating, this system measures temperature accurately, transfers data stably, operates with a reliable power supply and can meet the practical requirements.
Abstract: Consensus of singular multi-agent systems is studied, where the dynamics of each agent is described by a continuous-time singular system. Based on the controllability theory of singular systems, the consensus problem under consideration is transformed into the stability problem of a low-order normal system. Moreover, a sufficient and necessary condition for consensus is obtained by applying the stability theory. Finally, simulation examples are provided to validate the theoretical results.
Abstract: The addressing mode of assembly language instruction set of 80C51 MCU is redefined. The addressing mode is classified according to two standards separately. The addressing mode is the method decrypting operand address in the instruction, or finding the next instruction address. The mode to find the operand address includes direct addressing, register addressing, register indirect addressing and base address plus index indirect addressing. The mode to find the next instruction address includes sequential addressing, base address plus index indirect addressing and relative addressing.
Abstract: The Steam Generator with the characteristics nonlinear, time varying, and non-minimum phase whose water level will fluctuate significantly when it encounters inner disturbance or outside interference. For the above problem, the ADRC of steam generator will be designed in this article. Based on the dynamic characteristics of steam generator, equivalent the steam generator model to be the generalized first order system and establish control system based on nonlinear first order ADRC. The simulation results show that the proposed control strategy can achieve better control performance.
Abstract: In this paper, the dynamics and control aspects of longitudinal motion of pendulum-driven spherical robots are investigated. A simplified dynamic model is established for a spherical robot, which is an underactuated mechanical system. Based on this dynamic model, a hierarchical sliding mode controller is proposed. The stability of the whole system is verified through Lyapunov analysis, and the asymptotic stability of the sub-sliding surfaces is proved with mathematical techniques. The validity of the proposed controller is illustrated through a simulation study.