国家重点基础研究发展计划(2012CB821201)
- 作品数：2 被引量：14H指数：1
- 相关作者：王平贾英民更多>>
- 相关机构：北京航空航天大学更多>>
- 发文基金：国家自然科学基金国家重点基础研究发展计划更多>>
- 相关领域：自动化与计算机技术更多>>
- Boundary sliding mode control approach to a one-link flexible beam contact force problem with boundary input disturbances
- This paper investigates a contact force control problem of a one-link flexible beam with boundary input distur...
- Fengming HanYingmin Jia
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- Visual Tracking Strategy of a Wheeled Mobile Robot and a Multi-DOF Crane Equipped With a Camera
- ＜正＞This paper presents a visual tracking strategy of a wheeled mobile robot and a moving object which is equip...
- LING JianhengLI YiJIA Yingmin
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- Landmark Design for Indoor Localization of Mobile Robots
- This paper focuses on the landmark design for mobile robot localization in indoor environment.A design method ...
- Longhui WangBingwei GaoYingmin Jia
- 关键词：LOCALIZATION
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- Adaptive Neural Network Control of Uncertain Strict-Feedback Systems with Full-State Constrains by Integral-Barrier Lyapunov Functions
- In this paper,an adaptive neural network(NN) control method is developed for a class of nonlinear uncertain st...
- Tengfei Zhang； Yingmin Jia；
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- Trajectory Tracking Control for Omnidirectional Mobile Robots with Full-State Constraints
- ＜正＞1 Introduction During recent few years,omnidirectional mobile robots have been widely applied in different ...
- Wenhao ZhengYingmin Jia
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- Robust adaptive fixed-time 6 DOF tracking control for spacecraft non-cooperative rendezvous
- In this paper, the problem of adaptive fixed-time 6 degree-of-freedom(DOF) tracking control for spacecraft non...
- Yi HuangYingmin Jia
- 关键词：SPACECRAFT
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- 具有状态约束与输入饱和的全向移动机器人自适应跟踪控制被引量：13
- 2019年
- 研究了全状态约束与输入饱和情况下的全向移动机器人轨迹跟踪控制问题.首先,针对一类三轮驱动的全向移动机器人,考虑系统存在模型参数不确定与外部扰动,建立了运动学与动力学模型;其次,利用障碍Lyapunov函数,结合反步设计方法,有效处理全向移动机器人跟踪过程中存在的状态约束,保证所有状态变量不会超出状态约束的限制区域;然后,针对系统参数不确定和未知有界扰动,设计相应的自适应律进行处理;同时,提出一种抗饱和补偿器保证机器人输入力矩满足饱和约束;并且利用Lyapunov理论分析证明了当选取合适的控制参数时闭环系统中的所有信号均能保证一致有界;最后,通过与未考虑状态约束和输入饱和的控制器以及经典比例-微分控制器进行仿真对比,验证了该方法的有效性和鲁棒性.
- 郑文昊贾英民
- 关键词：全向移动机器人跟踪控制自适应控制
- 具有有界输入领航者的二阶非线性多智能体系统的协调跟踪被引量：1
- 2016年
- 针对领航者的控制输入为非零但有界的情形,研究了具有本质非线性动态的二阶多智能体系统的协调跟踪问题.利用邻居智能体之间的相对状态信息,分别提出了具有静态和自适应控制增益的两种控制协议.针对静态控制协议情形,基于李雅普诺夫稳定性理论得到了多智能体系统的状态全局指数达到一致时控制增益所需满足的条件.此外,在自适应控制协议作用下,证明了多智能体系统不需要借助任何全局信息就可以实现协调跟踪.最后,仿真实例验证了所得理论结果的正确性.
- 王平贾英民
- Feature extraction and image registration in the final approaching phase of rendezvous and docking
- Motion information of the target spacecraft can be calculated according coordinate change of feature points ba...
- Wenjing Pei； Yingmin Jia；
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- Adaptive Sliding Mode Control for an Active Gravity Offload System
- ＜正＞1 Introduction Various methods of reducing gravity have been used such as parabolic flight,air-bearing,neut...
- Jiao JiaYingmin JiaShihao Sun
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