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RISS 인기검색어
- 검색키워드
- 저자 : Guangfu Ma (검색결과 4 건)
- 무료
- 기관 내 무료
- 유료
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Layered Formation-containment Control of Multi-agent Systems in Constrained Space
Dongyu Li,Shuzhi Sam Ge,Guangfu Ma,Wei He 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.3
This paper addresses the layered formation-containment (LFC) problem for multiagents in the constrained space with a directed communication topology. The formation-containment problem is first defined using a layered framework, and a layered distributed finite-time estimator is proposed to acquire the target states for agents in each layer. Based on the proposed framework, the formation configuration and the mechanism of the information flow can be explored and designed naturally. To avoid collisions with borders, obstacles, as well as the other agents in the constrained space, an artificial potential function is designed based on the Dirac delta function. Further, a disturbance observer and adaptive neural networks (NNs) are applied to respectively tackle the external disturbance and the model uncertainties. The desired formation of each layer can be achieved while no collision occurs in the constrained space. The semi-global uniform ultimate boundedness of closed-loop errors is guaranteed by Lyapunov stability theory. Simulation results are given to show the effectiveness of the proposed approaches.
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Controlling Dynamic Formations of Mobile Agents Governed by Euler-Lagrange Dynamics
Liangming Chen,Qingkai Yang,Chuanjiang Li,Guangfu Ma 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.5
This paper studies the problem of controlling dynamic formations of mobile agents governed by EulerLagrange dynamics. Here a formation is said to be dynamic if as time evolves, the desired formation undergoes translation, scaling and rotation. First, a constant-gain formation control algorithm is designed such that all agents can converge to the desired dynamic formation, in which the graphic information is needed for the selection of constant gains. Then, another fully distributed formation control algorithm is further proposed by employing variablegain control techniques, which enables each agent to be independent of the knowledge of the overall interaction graph needed otherwise in the control gain. Instead of moving with a desired translational velocity, a centroidtracking formation control algorithm is also proposed such that the centroid of the formation tracks a desired trajectory. The parametric uncertainties are taken into consideration in the proposed formation control algorithms. Finally, simulation examples are provided to validate the effectiveness of the proposed control algorithms.
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Dynamic analysis of the drive train of a wind turbine based upon the measured load spectrum
Caichao Zhu,Shuang Chen,Hua iju Liu,Huaqing Huang,Guangfu Li,Fei Ma 대한기계학회 2014 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.28 No.6
A dynamic model of the drive train of a megawatt wind turbine is proposed in which the blades, the hub, the main shaft, and the speedupgearbox are assumed as flexibilities. The external excitation due to the measured load spectrum and the internal excitations due to thetime-varying mesh stiffness, the transmission errors, and the meshing impacts within the gearbox are considered to predict the dynamicresponse of the system. Results show that the most vibration energy occurs at the speed-up gearbox, followed by the generator, and thenthe main shaft. An experimental remote real-time system is developed to monitor vibration performance of the drive train, with which theaccelerations of components are detected. The experimental results are in accordance with the theoretical results.
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Dynamic modeling and analysis for transmission system of high-power wind turbine gearbox
Hongfei Zhai,Caichao Zhu,Chaosheng Song,Hua iju Liu,Guangfu Li,Fei Ma 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.10
As a key component to adjust the speed and torque, double-fed speed up gearbox plays a vital role in reliability and stability for thewind turbine system. Considering the base helix angle, normal pressure angle, position angle, rotation of carrier and the mesh of the ringgear and planet gear, a coupled dynamic model for high-power wind turbine gearbox transmission system, which consists of two helicalplanetary stages and one helical gear stage was established using the lumped parameter method in this paper. Numerical integration applyingthe explicit 4/5th order Runge-Kutta algorithm was used to solve the proposed model and the dynamic responses of transmissionsystem were investigated. Results show that the modal frequencies for the system are not coincided with the gear mesh frequencies of thestages. Then, the dynamic mesh forces of the 1st stage in different models are compared and analyzed in frequency domain.
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