In order to achieve stable steering and path tracking, a lateral robust iterative learning control method for unmanned driving robot vehicle is proposed. Combining the nonlinear tire dynamic model with the vehicle dynamic model, the nonlinear vehicle dynamic model is constructed. The structure of steering manipulator of unmanned driving robot vehicle is analyzed, and the kinematics model and dynamics

With the rapid development of information and communications technology, increasing number of data centers is required to support the cloud computing, and critical web-based services that run our daily lives. The conventional cloud data centers usually adopt computer room air conditioner or inRow units as the cooling sytem, while the rack mountable cooling unit is a more promising equipment due to

Direct methanol fuel cells are one of the most promisingly critical fuel cell technologies for portable applications. Due to the strong dependency between actual operating conditions and electrical power, acquiring an explicit model becomes difficult. In this article, the behavioral model of direct methanol fuel cell is proposed with satisfactory accuracy, using only input/output measurement data.

Due to the nonlinearity, strong coupling, and time-varying characteristics of three-phase electrode lift system of submerged arc furnace, the existing manual operation has the problems of electrode control hysteresis, poor balance of three-phase electrode current, and blindness of electrode current target setting. An intelligent optimization control method for the electrode current of submerged arc

In this article, the heavy earth moving machinery like hydraulic excavator used in the construction and mining industries has been taken into consideration. Most of the heavy earth moving machineries used in these industries are mobile with engine as the main source of power. The work deals with two different hydraulic circuits: first the proposed one and second the conventional one, and both are studied

Energy consumption and temperature rise are challenging in traditional high-power hydraulic pump/motor loading systems. This study develops a novel loading system configuration where energy can be regenerated by mechanical compensation. A compound loading method is proposed to implement static loading with displacement control and dynamic loading with valve control, respectively. This method combines

Industrial furnace kiln internal combustion flame directly reflects the combustion of fuel quality and stability and determines the security of the whole production process. The flame image contains many important information that cannot be observed by people’s eyes, as a result, how to effectively separate the flame image from the surrounding background by means of science and technology has the great

The dynamics of a twin-rotor multi-input multi-output system, which is similar to that of a helicopter in many ways, is highly nonlinear in nature. In this article, a detailed dynamical model of twin-rotor multi-input multi-output system is developed and simulated by using bond graph approach. Nonlinear nature of the interface gain, thrust, and drag forces, and the stiffness of cable attached to support

A general predictive controller based on the subspace model identification method is proposed for vehicle stabilization. Traditional predictive controllers are always developed based on the principle model of vehicles, which inevitably suffers from parameter uncertainty and poor adaptability. In contrast to that, the proposed subspace-based general predictive controller is realized by a data-driven

This article presents a novel system architecture based on network-on-chip for multi-motor synchronous control. The system integrates several servo motor controllers in a single chip which permits an increase to the number of motors according to the application requirements. Compared with traditional multi-motor control architectures, such as bus-based distributed architecture and single-core microprocessor

Principal fault localization of the faults chain, as a branch of fault diagnosis in wind turbine system, has been an essential problem to ensure the reliability and security in the real wind farms recently. It can be solved by machine learning techniques with historical data labeled with principal faults. However, most real data are unlabeled, since the labeled is expensive to obtain, which increases

In this article, the pinning synchronization problem of complex networks with a target node via sampled-data communications is considered. Due to partial couplings among the nodes in complex networks, a decoupling method is adopted to investigate each channel of complex networks independently. By constructing a time-dependent Lyapunov function, it is proved that the pinning synchronization of complex

A linear permanent magnet synchronous motor drive system is existed in many nonlinear effects such as the external load force, the flux saturation, the cogging force, the column friction and Stribeck force, and the parameters variations. Due to the uncertainty effects, the linear permanent magnet synchronous motor drive system is hard to achieve the good control performance by using linear controller

In this article, the three-phase asynchronous motor is taken as the research object, and the deadbeat predictive control is the control core, and its control performance is studied. Considering the overshoot of flux linkage and speed response in deadbeat predictive control, an improved deadbeat predictive control algorithm based on synergy theory is proposed. Different from deadbeat predictive control

Cable-driven parallel robots have been studied by many researchers in the past decades. The Jacobian of a cable-driven parallel robot may not be determined in some applications such as rehabilitation. In order to control the pose of a fully constrained cable-driven parallel robot with unknown Jacobian and driven by torque-controlled actuators, a learning-based control framework consisting of a robust

With the increasing demand for air operations, in this article, a control algorithm is proposed for a novel light cable-driven manipulator developed for aerial robots. On account of the control problem of cable-driven manipulators, we design a time delay estimation–based nonsingular terminal sliding mode controller with a fuzzy logic system to further improve the precision of joint position tracking

Although impedance control has huge application potential in human–robot cooperation, its engineering application is still quite limited, owing to the high nonlinearity of the human–robot dynamics and disturbances. This article presents a novel adaptive neural network controller with extended state observer for the human–robot interaction using output feedback. The adaptive neural network with extended

As known, internal model control is equivalent to a PI or a PID controller provided that the mathematical model associated to the process to be controlled is of first or second order respectively. So, to go beyond these particular cases and to make an extension in bringing more theoretical results, the article proposes a method to reach the equivalence between an internal model control and a PI controller

The design and implementation of adaptive sliding mode control with disturbance observer for chain driving system driven by permanent magnet synchronous motor with parameter variation, meshing impact and large friction are addressed in this study. First, an adaptive model compensation control law is designed for perfect position tracking, while a nonlinear disturbance observer is investigated to estimate

This study surveys the developments in satellite attitude determination and control system, especially for microsats. This survey is not intended to be complete but is limited to the most significant developments of sensors, actuators, and algorithms in the last two decades. First, attitude determination methods including algorithms and sensors together with actuator-based control methods are introduced