Design and Analysis of FTZNN Applied to the Real-Time Solution of a Nonstationary Lyapunov Equation and Tracking Control of a Wheeled Mobile Manipulator

2018 ◽  
Vol 14 (1) ◽  
pp. 98-105 ◽  
Author(s):  
Lin Xiao ◽  
Bolin Liao ◽  
Shuai Li ◽  
Zhijun Zhang ◽  
Lei Ding ◽  
...  
Keyword(s):  
Real Time ◽  
Tracking Control ◽  
Lyapunov Equation ◽  
Mobile Manipulator ◽  
The Real ◽  
Time Solution

Research of Test Method for the Bogie Rotary Torque

2012 ◽  
Vol 503-504 ◽  
pp. 1045-1049
Author(s):  
Xiu Gang Wang ◽  
Hai Bing Qiu ◽  
Jian Su ◽  
Xiao Ning Cao ◽  
Heng Gang Wang
Keyword(s):  
Real Time ◽  
Curve Fitting ◽  
Euler Angle ◽  
Hydraulic Cylinder ◽  
Test Method ◽  
Control Input ◽  
The Real ◽  
Time Solution ◽  
Homogeneous Matrix

Rotary torque is one of the important parameters of the bogie. A scheme of the rotary torque test for the bogie was put forward, and the homogeneous matrix based on the Euler angle was introduced, the model of inverse pose of the slewing platform was built. Also, it implemented the real-time solution by means of simulink, and fitted the curve of hydraulic cylinder expansion amount and time by use of the MATLAB curve fitting toolbox. The method that took the motion curves of the actuators as the control input is put forward, which was of great value and laid the foundation for the test of rotary torque.

Simplified Methods of Position Fixing Using Earth Satellites

1971 ◽  
Vol 24 (4) ◽  
pp. 496-511
Author(s):  
T. M. B. Wright
Keyword(s):  
Real Time ◽  
Fourth Order ◽  
The Real ◽  
The Earth ◽  
Time Solution ◽  
Starting Point ◽  
Synchronous Time

The possibilities of using the measurement of the ranges to a pair of satellites to give an observer his position have been extensively studied, and expressions giving latitude and longitude have been derived. These since they involve powers of the fourth order are somewhat cumbersome, but given the appropriate computer on his craft an observer at a known distance from the centre of the Earth can obtain track data by measuring the ranges and continuously calculating his position. Alternatively, he may measure the incremental changes in these quantities from their value at the starting point which avoids (if a synchronous time or frequency technique is used) the necessity for continual two-way exchange of signals between the craft and the satellite, but the real-time solution of relatively complicated equations still has to be done.

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