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Pengxu Li,Panshuo Li,Bin Zhang,Jing Zhao,Baozhu Du 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.1
This paper presents a control strategy to enhance the lateral dynamics stability and handling performanceof the four-wheel independently actuated (FWIA) electric vehicles (EVs). The vehicle longitudinal velocity uncertainty and controller saturation are considered, a double layers control scheme is adopted. In the upper layer,the homogeneous polynomial parameter-dependent approach is introduced to track the uncertainty problem, anda multi-objective controller is designed to obtain the desired external yaw moment. In the lower layer, an optimalforce distribution method with considering the distribution error and tire workload is employed to allocate the desired external yaw moment into forces of the four in-wheel motors. Simulation results verify the effectiveness ofthe proposed control strategy
Design of A Double-Ridged Horn Antenna
( Peng Xu ),( Jiongchen Li ),( Bierng-chearl Ahn ) 충북대학교 산업과학기술연구소 2017 산업과학기술연구 논문집 Vol.31 No.2
In this paper, a systematic design of a double-ridged horn antenna is presented. The double ridge profile is approximated with a piecewise linear curve and the ridge gap is determined from an exponential taper in the wave impedance. The location of the coaxial probe and the size of the back cavity are optimized for the widest bandwidth. The reflection coefficient, gain and phase patterns of the horn are analyzed. The designed horn has reflection coefficient of less than -10dB and gain of 9-18dB at 9-33GHz.
Peng Xu,Yongming Li,Shaocheng Tong 제어·로봇·시스템학회 2019 International Journal of Control, Automation, and Vol.17 No.7
This paper investigates the problem of fuzzy adaptive finite-time fault tolerant control (FTC) for a classof multi-input and multi-output (MIMO) nonlinear systems with actuator failure. In control design, the fuzzylogic systems (FLSs) are adopted to identify the unknown nonlinear functions and a state observer is constructedto estimate the unmeasurable states. By combining dynamic surface control (DSC) technique with backsteppingdesign, a novel finite-time fuzzy adaptive FTC strategy is proposed based on fault-tolerant control technique toovercomes the “explosion of complexity” problem. The presented control method demonstrates that all signals ofthe closed-loop system are semi-global practical finite-time stability (SGPFS), and the tracking errors converge to asmall neighborhood of zero in a finite time. Finally, a numerical example is provided to illustrate the effectivenessof the presented control method.
Stiffness Modeling and Optimization of a 3-DOF Parallel Robot in a Serial-Parallel Polishing Machine
Peng Xu,Bing Li,Chi-Fai Cheung,Ju-Fan Zhang 한국정밀공학회 2017 International Journal of Precision Engineering and Vol.18 No.4
Polishing is a kind of finishing process that can effectively reduce the surface defects and improve the form accuracy. This paper presents a novel hybrid machine with 6 degrees of freedom (DOF) serial-parallel topological structure used as an ultra-precision polishing equipment which is composed of a 3-DOF parallel robot, a 2-DOF serial robot and a turntable providing a redundant DOF. Due to the complexity of structure, stiffness performance evaluation of the parallel robot becomes a challenge. As a result, a theoretical model of the parallel robot based on the virtual work principle and the deformation superposition principle is formulated for analyzing the stiffness performance. With the developed model, a multi-objective dimensional optimization method is developed to maximize both the workspace volume and the global stiffness performance of the parallel robot. Artificial intelligence approach based on genetic algorithms is implemented to obtain an optimal combination of structural parameters. The effectiveness of this method is validated by simulation and the parallel robot with optimized structural parameters has a workspace with higher stiffness performance, hence justifies its suitability for high precision polishing.