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RISS 인기검색어
- 검색키워드
- 저자 : Haoping Wang (검색결과 6 건)
- 무료
- 기관 내 무료
- 유료
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Recursive Model Free Controller: Application to Friction Compensation and Trajectory Tracking
Haoping Wang,Christian Vasseur,Yang Tian,Vladan Koncar,Nicolaï Christov 제어·로봇·시스템학회 2011 International Journal of Control, Automation, and Vol.9 No.6
In this paper friction compensation and trajectory tracking scheme is proposed for an X-Y robot using a Recursive Model Free Controller (RMFC). This controller is based on the theory of piecewise continuous systems which are a particular class of hybrid systems with autonomous switchings and controlled impulses. RMFC uses only the robot position measurements and does not require knowledge of electromechanical system parameters. The proposed control scheme is validated on a real time X-Y robot system.
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Robust Adaptive Control of Robotic Manipulator with Input Timevarying Delay
Saim Ahmed,Haoping Wang,Muhammad Shamrooz Aslam,Imran Ghous,Irfan Qaisar 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.9
This paper presents H∞ adaptive tracking control of uncertain robotic manipulator with unknown externaldisturbances and input time-varying delays. The new adaptive scheme is proposed for trajectory tracking, while H∞ performance is used to attenuate the effect of external disturbances. Firstly, a delay-dependent sufficient condition with input delay and the proposed adaptive controller are developed for the uncertain robotic manipulator, such that the resulting closed-loop system is robustly asymptotically stable. Secondly, a sufficient condition for the H∞ disturbance attenuation performance of the closed-loop system is derived, consequently, the system is robustly asymptotically stable. In the end, two examples are presented to verify the effectiveness of the proposed method.
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AWAD, Ahmed,WANG, Haoping The Korean Society for Aeronautical and Space Scie 2017 International Journal of Aeronautical and Space Sc Vol.18 No.4
This paper presents an integrated roll-pitch-yaw autopilot using an equivalent based sliding mode control for skid-to-turn nonlinear time-varying missile system with lumped disturbances in its six-equations of motion. The considered missile model are developed to integrate the model uncertainties, external disturbances, and parameters perturbation as lumped disturbances. Moreover, it considers the coupling effect between channels, the variation of missile velocity and parameters, and the aerodynamics nonlinearity. The presented approach is employed to achieve a good tracking performance with robustness in all missile channels simultaneously during the entire flight envelope without demand of accurate modeling or output derivative to avoid the noise existence in the real missile system. The proposed autopilot consisting of a two-loop structure, controls pitch and yaw accelerations, and stabilizes the roll angle simultaneously. The Closed loop stability is studied. Numerical simulation is provided to evaluate performance of the suggested autopilot and to compare it with an existing autopilot in the literature concerning the robustness against the lumped disturbances, and the aforesaid considerations. Finally, the proposed autopilot is integrated in a six degree of freedom flight simulation model to evaluate it with several target scenarios, and the results are shown.
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Ahmed AWAD,Haoping WANG 한국항공우주학회 2017 International Journal of Aeronautical and Space Sc Vol.18 No.4
This paper presents an integrated roll-pitch-yaw autopilot using an equivalent based sliding mode control for skid-toturn nonlinear time-varying missile system with lumped disturbances in its six-equations of motion. The considered missile model are developed to integrate the model uncertainties, external disturbances, and parameters perturbation as lumped disturbances. Moreover, it considers the coupling effect between channels, the variation of missile velocity and parameters, and the aerodynamics nonlinearity. The presented approach is employed to achieve a good tracking performance with robustness in all missile channels simultaneously during the entire flight envelope without demand of accurate modeling or output derivative to avoid the noise existence in the real missile system. The proposed autopilot consisting of a twoloop structure, controls pitch and yaw accelerations, and stabilizes the roll angle simultaneously. The Closed loop stability is studied. Numerical simulation is provided to evaluate performance of the suggested autopilot and to compare it with an existing autopilot in the literature concerning the robustness against the lumped disturbances, and the aforesaid considerations. Finally, the proposed autopilot is integrated in a six degree of freedom flight simulation model to evaluate it with several target scenarios, and the results are shown.
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OPTIMIZED FAST TERMINAL SLIDING MODE CONTROL FOR A HALF-CAR ACTIVE SUSPENSION SYSTEMS
Ghazally Ibrahim Yousif Mustafa,Haoping Wang,Yang Tian 한국자동차공학회 2020 International journal of automotive technology Vol.21 No.4
This paper presents an optimized sliding mode controller (OPSMC) for vibration control of active suspension systems. The proposed controller consists of two parts: the first is the fast terminal sliding mode controller which performs fast convergence, and the second is the particle swarm optimization algorithm which is used to achieve the optimal controller’s\' parameters. The merit of OPSMC has quite simple structure and easy to be regulated, as well as improve the tracking performance. The half-car active suspension systems with non-linearity such as the parameters variation and external disturbance are simultaneously taken into account to provide a realistic framework. The control objective is to deal with the classical conflict between minimizing vertical and angular chassis accelerations to increase the ride comfort. Versus, to keep minimum dynamic wheel loads and suspension deflections to ensure the ride safety. Finally, to show the performance of the proposed OPSMC, the comparison with a recently developed efficient method called optimization and static output-feedback control (OPSOFC) is conducted with different roads disturbances.
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Yida Guo,Yang Tian,Haoping Wang 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.9
This paper presents a framework of adaptive optimal impedance control to enhance physical humanrobot interaction (pHRI) performance. The overall structure of the proposed control scheme consists of an outer control loop and an inner control loop. In the outer control loop, a cost function that considers human motion and interaction force is minimized to optimize the overall human-robot interaction performance. An adaptive impedance controller is designed based on a Q-learning algorithm to realize impedance adaptation and guarantee the impedance parameters converge to the optimal value with completely unknown dynamics of the human limb. Then, a torque controller is developed in the inner control loop to enable the robot respond follow the obtained impedance model. In this controller, a novel barrier Lyapunov function (BLF) is employed to guarantee the error constraint and radial basis function neural networks (RBFNNs) are utilized to approximate the unknown robot dynamics. Stability and uniform boundedness of the closed-loop system are validated. Numerical simulation studies are performed to verify the effectiveness of the proposed controller.
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