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非滑动式与滑动式拉格朗日插值法在BDS精密星历内插中的比较分析 预览
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作者 李振昌 李仲勤 寇瑞雄 《天文研究与技术》 CSCD 2019年第1期54-60,共7页
在高精度卫星定位数据处理中,对精密星历内插处理是一项基础工作。利用拉格朗日多项式插值法,从三方面对北斗导航系统精密星历进行了内插精度分析,分别是非滑动式拉格朗日插值法在不同插值阶数下的插值精度,滑动式拉格朗日插值法在不同... 在高精度卫星定位数据处理中,对精密星历内插处理是一项基础工作。利用拉格朗日多项式插值法,从三方面对北斗导航系统精密星历进行了内插精度分析,分别是非滑动式拉格朗日插值法在不同插值阶数下的插值精度,滑动式拉格朗日插值法在不同插值阶数下的插值精度,以及非滑动式和滑动式拉格朗日插值法在同一插值阶数下的插值精度。算例结果表明,如果将插值阶数作为横坐标,且向右为正,插值精度为纵坐标,向上为正,那么非滑动式拉格朗日插值法的插值精度与插值阶数呈现一个开口向下的抛物线关系;滑动式拉格朗日插值法的插值阶数高于7后,插值精度处于稳定且高的状态,插值误差最大值为1.1mm左右,均方差在0.4mm左右;在同一插值阶数下,滑动式拉格朗日插值法的精度高于非滑动式拉格朗日插值法的精度。 展开更多
关键词 滑动式 非滑动式 拉格朗日插值法 BDS精密星历 内插 精度分析
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Extended state observer-based third-order sliding mode finite-time attitude tracking controller for rigid spacecraft
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作者 Chutiphon PUKDEBOON 《中国科学:信息科学(英文版)》 SCIE EI CSCD 2019年第1期145-163,共19页
In this paper,the attitude tracking control problem for a rigid spacecraft in the presence of system parameter uncertainties and external disturbances is addressed.First,a new nonsingular finite-time sliding surface i... In this paper,the attitude tracking control problem for a rigid spacecraft in the presence of system parameter uncertainties and external disturbances is addressed.First,a new nonsingular finite-time sliding surface is introduced and third-order sliding mode finite-time attitude control law is designed to achieve precise accurate tracking responses and robustness against inertia uncertainties and external disturbances.The stability of the closed-loop system is rigorously proved using the Lyapunov stability theory.Then,a new finite-time extended state observer is established to estimate total disturbances of the system.The extended stated observer-based sliding mode control technique yields improved disturbance rejection and high-precision attitude tracking.Moreover,this control law can avoid the unwinding phenomenon and overcome the input saturation constraint by introducing an auxiliary variable to compensate for the overshooting.A Lyapunov based analysis is provided to guarantee sufficiently small observation error and stabilization of the closed-loop system in finite time.Numerical simulations are conducted to verify the effectiveness of the proposed control method. 展开更多
关键词 THIRD-ORDER SLIDING MODE SLIDING MODE control extended stated observer FINITE-TIME conver-gence UNWINDING phenomenon
Tribological and vibrational characteristics of AISI 316L tested at elevated temperature and 600 Torr vacuum 预览
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作者 K.Arul Raj M.P.Arunkumar +1 位作者 P.K.C.Kanigalpula M.Karthikeyan 《Defence Technology(防务技术)》 CAS CSCD 2019年第1期58-64,共7页
Friction and wear studies enable the investigation of material interaction between two sliding surfaces in contact. In the present investigation, the coefficient of friction and the wear resistance of AISI 316 L parts... Friction and wear studies enable the investigation of material interaction between two sliding surfaces in contact. In the present investigation, the coefficient of friction and the wear resistance of AISI 316 L parts were studied under self-mating, dry sliding conditions using a pin-on-disc type configuration. The experiments were conducted at vacuum based high temperature pin-on-disc tribometer. The 4 mm diameter pin and 180 mm diameter disc were subjected to varying sliding velocities(0.5, 0.75 and 1.5 m/s) and were operated in 200, 400, 500 and 580 ℃ temperature at 600 Torr vacuum. The variation of specific wear rates with sliding velocities and different environmental conditions was studied. The morphology of sliding/rubbed surfaces was observed using Scanning Electron Microscope. In summary, it was found that a severe to mild wear transition occurred in sliding under operating conditions. Increased wear rates have been observed for 500 and 580 ℃ with increasing sliding velocity. Adhesive wear has been found to be predominant at 500 and 580 ℃ where as de-lamination has been observed at ambient temperature,200 and 400 ℃ in vacuum. The present paper also carried out the numerical analysis of the vibration behavior of AISI 316 L under thermal environment. Results revealed that at high temperature vibrational amplitude and natural frequency is significantly reduced. This can be attributed to the reduction in stiffness of the material at elevated temperatures. This high amplitude vibration during service can lead to high wear rate. 展开更多
关键词 PIN-ON-DISC Sliding wear VACUUM De-lamination Scanning electron MICROSCOPE Vibration
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Position Control of a Series Elastic Actuator Based on Global Sliding Mode Controller Design 预览
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作者 Wei Yin Lei Sun +1 位作者 Meng Wang Jingtai Liu 《自动化学报:英文版》 CSCD 2019年第3期850-858,共9页
A series elastic actuator (SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper, an efficient approach is proposed t... A series elastic actuator (SEA) is a powerful device in the area of human-machine integration, but it still suffers from difficult position control issues. Therefore, in this paper, an efficient approach is proposed to solve this problem. The approach design is divided into two steps: feedback linearization (FL) and global sliding mode (GSM) controller design. The bounded analysis is presented and global asymptotic convergence is analytically proven. Simulation and experiment results illustrate the effectiveness of the proposed scheme. 展开更多
关键词 Feedback LINEARIZATION (FL) global SLIDING mode (GSM) position control SERIES ELASTIC ACTUATOR (SEA)
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Attitude control for QTR using exponential nonsingular terminal sliding mode control 预览
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作者 LIU Haibo WANG Heping SUN Junlei 《系统工程与电子技术:英文版》 SCIE EI CSCD 2019年第1期191-200,共10页
For the problem of attitude control of a quad tilt rotor aircraft with unknown external disturbances, a class of control methods based on a new exponential fast nonsingular terminal sliding surface, a new fast reachin... For the problem of attitude control of a quad tilt rotor aircraft with unknown external disturbances, a class of control methods based on a new exponential fast nonsingular terminal sliding surface, a new fast reaching law, and a super twisting sliding mode disturbance observer is investigated. First, the new exponential nonsingular terminal sliding surface is designed by using the advantages of nonsingular terminal sliding mode finite time convergence and strong robustness. Second, to solve the problem of a long convergence time and the serious shaking of the traditional reaching law, a new fast reaching law model with characteristics of the second-order sliding mode is put forward. Third, considering the existence of complex disturbances, the super twisting sliding mode disturbance observer is used to estimate and compensate the composite disturbances online. Finally, compared with the traditional nonsingular fast sliding mode control, simulation results show that the proposed control scheme achieves a good control performance. 展开更多
关键词 TILT rotor EXPONENTIAL SLIDING mode control REACHING law super twisting.
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Numerical solutions for point masses sliding over analytical surfaces: Part 1 预览
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作者 Glauco Gallotti Stefano Tinti 《力学快报:英文版》 CAS CSCD 2019年第2期84-95,共12页
In this study, we introduce a system of differential equations describing the motion of a single point mass or of two interacting point masses on a surface, that is solved by a fourth-order explicit Runge–Kutta (RK4)... In this study, we introduce a system of differential equations describing the motion of a single point mass or of two interacting point masses on a surface, that is solved by a fourth-order explicit Runge–Kutta (RK4) scheme. The forces acting on the masses are gravity, the reaction force of the surface, friction, and, in case of two masses, their mutual interaction force. This latter is introduced by imposing that the geometrical distance between the coupled masses is constant. The solution is computed under the assumption that the point masses strictly slide on the surface, without leaping or rolling. To avoid complications stemming from numerical errors related to real topographies that are only known over discrete grids, we restrict our attention to simulations on analytical continuous surfaces. This study sets the basis for a generalization to more complex systems of masses, such as chains or matrices of blocks that are often used to model complex processes such as landslides and rockfalls. The results shown in this paper provide a background for a companion paper in which the system of equations is generalized, and different geometries are presented. 展开更多
关键词 Point-mass SLIDING Two point-mass systems ANALYTICAL SURFACES Numerical methods Runge-Kutta method
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Hydrodynamic binary coalescence of droplets under air flow in a hydrophobic microchannel
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作者 王超 沈超群 +2 位作者 吴苏晨 刘向东 汤方平 《中国物理B:英文版》 SCIE EI CAS CSCD 2019年第2期331-340,共10页
Based on the volume of fluid(VOF) method, we conduct a numerical simulation to study the hydrodynamic binary coalescence of droplets under air flow in a hydrophobic rectangular microchannel. Two distinct regimes, coal... Based on the volume of fluid(VOF) method, we conduct a numerical simulation to study the hydrodynamic binary coalescence of droplets under air flow in a hydrophobic rectangular microchannel. Two distinct regimes, coalescence followed by sliding motion and that followed by detaching motion, are identified and discussed. Additionally, the detailed hydrodynamic information behind the binary coalescence is provided, based on which a dynamic mechanical analysis is conducted to reveal the hydrodynamic mechanisms underlying these two regimes. The simulation results indicate that the sliding motion of droplets is driven by the drag force and restrained by the adhesion force induced by the interfacial tension along the main flow direction. The detachment(i.e., upward motion) of the droplet is driven by the lift force associated with an aerodynamic lifting pressure difference imposed on the coalescent droplet, and also restrained by the adhesion force perpendicular to the main flow direction. Especially, the lift force is mainly induced by an aerodynamic lifting pressure difference imposed on the coalescent droplet. Two typical regimes can be quantitatively recognized by a regime diagram depending on Re and We. The higher Re and We respectively lead to relatively larger lift forces and smaller adhesion forces acting on the droplet, both of which are helpful to detachment of the coalesced droplet. 展开更多
关键词 DROPLET COALESCENCE SLIDING DETACHMENT MICROCHANNEL
Sliding Mode Formation Control of Nonlinear Multi-Agent Systems with Local Lipschitz Continuous Dynamics
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作者 WANG Jinran LUO Xiaoyuan +2 位作者 LI Xiaolei ZHU Minggao GUAN Xinping 《系统科学与复杂性学报:英文版》 SCIE EI CSCD 2019年第3期759-777,共19页
In this paper, the multi-agent formation problem of networked nonlinear multi-agent systems with local Lipschitz continuous dynamics under directed interaction topology, is investigated. Based on the nonlinear dynamic... In this paper, the multi-agent formation problem of networked nonlinear multi-agent systems with local Lipschitz continuous dynamics under directed interaction topology, is investigated. Based on the nonlinear dynamics satisfying locally Lipschitz continuous conditions, three kinds of sliding mode controllers are proposed to solve the problem of multi-agent formation control. Using integral sliding mode controller in first-order system, formation shape is achieved within finite time. For second-order system, on the one hand, non-singular terminal sliding mode function is adopted to accomplish the system asymptotic convergence. Furthermore, super-twisting algorithm is proposed to make multi-agent achieve the desired formation within finite time. Lyapunov functions are applied in the whole paper to ensure the system stability. Numerical simulation examples are provided to demonstrate the effectiveness of the proposed sliding mode control methods. 展开更多
关键词 Formation control nonlinear MULTI-AGENT system SLIDING mode super-twisting algorithm
Sliding Mode Fault Tolerant Attitude Control Scheme for Spacecraft with Actuator Faults 预览
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作者 CAO Teng GONG Huajun HAN Bing 《南京航空航天大学学报:英文版》 EI CSCD 2019年第1期119-127,共9页
An active fault tolerant control scheme is investigated for the attitude control systems of spacecraft with external disturbance and actuator faults by using the sliding mode technique. Firstly,the dynamic equations a... An active fault tolerant control scheme is investigated for the attitude control systems of spacecraft with external disturbance and actuator faults by using the sliding mode technique. Firstly,the dynamic equations and kinematic equations of spacecraft are given. For the dynamic mode of spacecraft in faulty case,a fault diagnosis component is used for fault detection and estimation by using a nonlinear observer. According to the fault estimation information obtained during the fault diagnosis,the fault tolerant control scheme is developed by adopting the backstepping sliding mode control technique. Meanwhile,the Lyapunov theory is used to analyze the stability of the closed-loop attitude systems. Finally,simulation results for the attitude dynamics models show the feasibility of the proposed fault tolerant scheme. 展开更多
关键词 FAULT tolerant CONTROL FAULT estimation actuator FAULTS sliding mode CONTROL
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滑模机现浇高速公路路缘石施工要点 预览
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作者 杨跃文 《山西建筑》 2019年第13期106-108,共3页
介绍了路缘石滑模工法的技术优势及原材料质量控制要点,总结了施工放样、混合料拌制、路缘机铺摊等工序中的控制要点,并采取有效措施确保混凝土坍落度及和易性,路缘石成型后整体结构强度高,线型顺畅美观,且经济性好。
关键词 路缘石 滑模 施工要点
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Robust Neural Control of Discrete Time Uncertain Nonlinear Systems Using Sliding Mode Backpropagation Training Algorithm
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作者 Imen Zaidi Mohamed Chtourou Mohamed Djemel 《国际自动化与计算杂志:英文版》 EI CSCD 2019年第2期213-225,共13页
This work deals with robust inverse neural control strategy for a class of single-input single-output (SISO) discrete-time nonlinear system affected by parametric uncertainties. According to the control scheme, in the... This work deals with robust inverse neural control strategy for a class of single-input single-output (SISO) discrete-time nonlinear system affected by parametric uncertainties. According to the control scheme, in the first step, a direct neural model (DNM) is used to learn the behavior of the system, then, an inverse neural model (INM) is synthesized using a specialized learning technique and cascaded to the uncertain system as a controller. In previous works, the neural models are trained classically by backpropagation (BP) algorithm. In this work, the sliding mode-backpropagation (SM-BP) algorithm, presenting some important properties such as robustness and speedy learning, is investigated. Moreover, four combinations using classical BP and SM-BP are tested to determine the best configuration for the robust control of uncertain nonlinear systems. Two simulation examples are treated to illustrate the effectiveness of the proposed control strategy. 展开更多
关键词 Discrete time UNCERTAIN nonlinear systems NEURAL modelling SLIDING mode backpropagation (BP) algorithm ROBUST NEURAL control
Numerical solutions for point masses sliding over analytical surfaces: Part 2 预览
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作者 Stefano Tinti Glauco Gallotti 《力学快报:英文版》 CAS CSCD 2019年第2期96-105,共10页
This paper is the second of two companion papers addressing the dynamics of two coupled masses sliding on analytical surfaces and interacting with one another. The motion occurs under the effect of gravity, the reacti... This paper is the second of two companion papers addressing the dynamics of two coupled masses sliding on analytical surfaces and interacting with one another. The motion occurs under the effect of gravity, the reaction force of the surface and basal friction. The interaction force maintains the masses at a fixed distance and lies on the line connecting them. The equations of motion form a system of ordinary differential equations that are solved through a fourth-order Runge–Kutta numerical scheme. In the first paper we considered an approximate method holding when the line joining the masses is almost tangent to the surface at the instant mass positions. In this second paper we provide a general solution. Firstly, we present special cases in which the system has exact solutions. Second, we consider a series of numerical examples where the interest is focused on the trajectories of the masses and on the intensity and changes of the interaction force. 展开更多
关键词 TWO-POINT system RIGID-BODY motion SLIDING downslopes
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摩擦碰撞振动系统的周期运动和分岔 预览
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作者 叶建聪 杜三山 石慧荣 《兰州交通大学学报》 CAS 2019年第1期121-126,共6页
含间隙和摩擦的机械部件广泛存在于机械和交通等领域.而研究间隙和摩擦对系统动力学的影响可用以优化机械系统;因此建立了含双侧间隙的摩擦碰撞振动系统的动力学模型.采用四阶Runge-Kutta数值方法研究了该摩擦碰撞振动系统的动力学行为... 含间隙和摩擦的机械部件广泛存在于机械和交通等领域.而研究间隙和摩擦对系统动力学的影响可用以优化机械系统;因此建立了含双侧间隙的摩擦碰撞振动系统的动力学模型.采用四阶Runge-Kutta数值方法研究了该摩擦碰撞振动系统的动力学行为,分析了基准参数下该系统的粘滞与纯滑移周期振动特点.讨论了不同参数对粘滞行为和颤碰振动的影响.研究结果表明:在低频下,随着间隙值b的增大,系统发生粘滞的时间会减小,滑移的时间会增加.当摩擦力较大时,系统的纯滑移运动会逐渐消失,而主要存在粘滞振动.周期运动与混沌运动之间的转迁主要通过倍化分岔、逆倍化分岔、Bare-grazing分岔、Hopf分岔、以及Neimark-Sacker分岔来实现.由此可知,间隙值和摩擦对系统的动力学特性影响很大. 展开更多
关键词 分岔 混沌 摩擦 粘滞 滑移 颤碰
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大跨度空间桁架结构累积滑移及整体异步落架施工技术
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作者 邹孔庆 宋智丰 《施工技术》 CAS 2019年第2期21-26,共6页
根据霍邱县体育中心体育馆屋盖工程特点,研发大跨度空间桁架结构累积滑移及整体异步落架施工技术。通过在拼装平台上的单元拼装、累积滑移成型和整体异步落架的体系转换等步骤,实现大跨度双向受力结构不搭设满堂支撑架条件下的累积滑移... 根据霍邱县体育中心体育馆屋盖工程特点,研发大跨度空间桁架结构累积滑移及整体异步落架施工技术。通过在拼装平台上的单元拼装、累积滑移成型和整体异步落架的体系转换等步骤,实现大跨度双向受力结构不搭设满堂支撑架条件下的累积滑移施工,解决了传统高空散拼法安全风险大、措施成本高的难题。工程实践表明,该技术实现了快速施工,安全、高效。 展开更多
关键词 钢结构 桁架 滑移 整体异步落架 体系转换 施工技术
Robust Finite-time Synchronization of Non-identical Fractional-order Hyperchaotic Systems and Its Application in Secure Communication 预览
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作者 Hadi Delavari Milad Mohadeszadeh 《自动化学报:英文版》 CSCD 2019年第1期228-235,共8页
This paper proposes a novel adaptive sliding mode control(SMC) method for synchronization of non-identical fractional-order(FO) chaotic and hyper-chaotic systems. Under the existence of system uncertainties and extern... This paper proposes a novel adaptive sliding mode control(SMC) method for synchronization of non-identical fractional-order(FO) chaotic and hyper-chaotic systems. Under the existence of system uncertainties and external disturbances,finite-time synchronization between two FO chaotic and hyperchaotic systems is achieved by introducing a novel adaptive sliding mode controller(ASMC). Here in this paper, a fractional sliding surface is proposed. A stability criterion for FO nonlinear dynamic systems is introduced. Sufficient conditions to guarantee stable synchronization are given in the sense of the Lyapunov stability theorem. To tackle the uncertainties and external disturbances, appropriate adaptation laws are introduced. Particle swarm optimization(PSO) is used for estimating the controller parameters. Finally, finite-time synchronization of the FO chaotic and hyper-chaotic systems is applied to secure communication. 展开更多
关键词 Adaptive SLIDING mode control (ASMC) CHAOS synchronization FRACTIONAL order (FO) hyper-chaotic system LYAPUNOV THEOREM SECURE communication
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Effects of temperature on the tribological behavior of Al0.25CoCrFeNi high-entropy alloy
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作者 L.M.Du L.W.Lan +4 位作者 S.Zhu H.J.Yang X.H.Shi P.K.Liaw J.W.Qiao 《材料科学技术学报:英文版》 SCIE EI CAS CSCD 2019年第5期917-925,共9页
The tribological behavior of Al0.25 CoCrFeNi high-entropy alloy(HEA) sliding against Si3N4 ball was investigated from room temperature to 600°. The microstructure of the alloys was characterized by simple FCC pha... The tribological behavior of Al0.25 CoCrFeNi high-entropy alloy(HEA) sliding against Si3N4 ball was investigated from room temperature to 600°. The microstructure of the alloys was characterized by simple FCC phase with 260 HV. Below 300°, with increasing temperature, the wear rate increased due to high temperature softening. The wear rate remained stabilized above 300°due to the anti-wear effect of the oxidation film on the contact interface. The dominant wear mechanism of HEA changed from abrasive wear at room temperature to delamination wear at 200°, then delamination wear and oxidative wear at 300°and became oxidative above 300°. Moreover, the adhesive wear existed concomitantly below 300°. 展开更多
关键词 ABRASIVE WEAR FRICTION and WEAR characteristics Hardness High TEMPERATURE Microstructure Oxidation Rapid SOLIDIFICATION SLIDING WEAR mechanism
Terminal sliding mode control of rail pressure for gasoline direct injection engines
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作者 Chen ZHANG Ying ZHANG +1 位作者 Cong CHAI Miaolei ZHOU 《控制理论与技术:英文版》 EI CSCD 2019年第2期183-189,共7页
The desired fuel rail pressure is a crucial factor for guaranteeing the gasoli ne direct injecti on(GDI)en gine to work stably.In order to solve the rail pressure control problem,the detailed no nlinear model of GDI i... The desired fuel rail pressure is a crucial factor for guaranteeing the gasoli ne direct injecti on(GDI)en gine to work stably.In order to solve the rail pressure control problem,the detailed no nlinear model of GDI is derived and reas on able simplification of this model is carried out for the following controller design.Terminal sliding mode control strategy is proposed to design the rail pressure controller with Lyapunov stability.The designed approach with the fast terminal sliding mode surface makes the system have the capacity of global fast con vergence and achieves precise tracking control.To demonstrate the validity of the desig ned control method,simulations are conducted by tracking the different reference rail pressures.Results show that the designed controller tracks the given reference accurately and has strong robustness. 展开更多
关键词 RAIL pressure CONTROL TERMINAL SLIDING MODE CONTROL GDI system
大型半潜式起重船坞内建造整体合拢方案论证 预览
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作者 刘广辉 姜盛坤 +2 位作者 于雁云 林焰 杨霖 《船海工程》 北大核心 2019年第1期13-17,共5页
针对大型半潜式船舶自下而上建造周期长及船台和船坞利用率低下等问题,以某半潜式起重铺管船坞内建造为例,提出基于上组块顶升、下组块滑移的大型半潜式起重铺管船坞内建造整体合拢方案,基于有限元方法计算支墩和顶升底座承重大小,校核... 针对大型半潜式船舶自下而上建造周期长及船台和船坞利用率低下等问题,以某半潜式起重铺管船坞内建造为例,提出基于上组块顶升、下组块滑移的大型半潜式起重铺管船坞内建造整体合拢方案,基于有限元方法计算支墩和顶升底座承重大小,校核坞底最大承载力,验证合拢方案可行性。 展开更多
关键词 半潜式起重船 整体合拢 顶升 滑移
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Sliding Into Uncertainty
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作者 Chen Yang 《北京周报:英文版》 2019年第10期26-27,共2页
When the 55th Munich Security Conference(MSC),the annual gathering to discuss international security issues in Munich,Germany,was held from February 15 to 17,perhaps in an attempt to make up for its absence at the Wor... When the 55th Munich Security Conference(MSC),the annual gathering to discuss international security issues in Munich,Germany,was held from February 15 to 17,perhaps in an attempt to make up for its absence at the World Economic Forum annual meeting in Davos,Switzerland,in January,the United States sent a large delegation. 展开更多
关键词 SLIDING UNCERTAINTY
Modeling and robust adaptive control for a coaxial twelve-rotor UAV 预览
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作者 裴信彪 Peng Cheng +2 位作者 Bai Yue Wu Helong Ma Ping 《高技术通讯:英文版》 CAS 2019年第2期137-143,共7页
Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust ada... Compared with the quad-rotor unmanned aerial vehicle (UAV), the coaxial twelve-rotor UAV has stronger load carrying capacity, higher driving ability and stronger damage resistance. This paper focuses on its robust adaptive control. First, a mathematical model of a coaxial twelve-rotor is established. Aiming at the problem of model uncertainty and external disturbance of the coaxial twelve-rotor UAV, the attitude controller is innovatively adopted with the combination of a backstepping sliding mode controller (BSMC) and an adaptive radial basis function neural network (RBFNN). The BSMC combines the advantages of backstepping control and sliding mode control, which has a simple design process and strong robustness. The RBFNN as an uncertain observer, can effectively estimate the total uncertainty. Then the stability of the twelve-rotor UAV control system is proved by Lyapunov stability theorem. Finally, it is proved that the robust adaptive control strategy presented in this paper can overcome model uncertainty and external disturbance effectively through numerical simulation and prototype of twelve-rotor UAV tests. 展开更多
关键词 COAXIAL twelve-rotor unmanned aerial vehicle (UAV) backstepping sliding mode controller (BSMC) adaptive radial basis function neural network (RBFNN) external disturbances
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