Fangli Mou and Dan Wu
In recent years, owing to the rapidly increasing labor costs, the demand for robots in daily services and industrial operations has been increased significantly. For further…
Abstract
Purpose
In recent years, owing to the rapidly increasing labor costs, the demand for robots in daily services and industrial operations has been increased significantly. For further applications and human–robot interaction in an unstructured open environment, fast and accurate tracking and strong disturbance rejection ability are required. However, utilizing a conventional controller can make it difficult for the robot to meet these demands, and when a robot is required to perform at a high-speed and large range of motion, conventional controllers may not perform effectively or even lead to the instability.
Design/methodology/approach
The main idea is to develop the control law by combining the SMC feedback with the ADRC control architecture to improve the robustness and control quality of a conventional SMC controller. The problem is formulated and solved in the framework of ADRC. For better estimation and control performance, a generalized proportional integral observer (GPIO) technique is employed to estimate and compensate for unmodeled dynamics and other unknown time-varying disturbances. And benefiting from the usage of GPIO, a new SMC law can be designed by synthesizing the estimation and its history.
Findings
The employed methodology introduced a significant improvement in handling the uncertainties of the system parameters without compromising the nominal system control quality and intuitiveness of the conventional ADRC design. First, the proposed method combines the advantages of the ADRC and SMC method, which achieved the best tracking performance among these controllers. Second, the proposed controller is sufficiently robust to various disturbances and results in smaller tracking errors. Third, the proposed control method is insensitive to control parameters which indicates a good application potential.
Originality/value
High-performance robot tracking control is the basis for further robot applications in open environments and human–robot interfaces, which require high tracking accuracy and strong disturbance rejection. However, both the varied dynamics of the system and rapidly changing nonlinear coupling characteristic significantly increase the control difficulty. The proposed method gives a new replacement of PID controller in robot systems, which does not require an accurate dynamic system model, is insensitive to control parameters and can perform promisingly for response rapidity and steady-state accuracy, as well as in the presence of strong unknown disturbances.
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Martin Kornberger, Clarissa Ruth Marie Schott, Dan-Richard Knudsen and Christian Andvik
This paper aims to point to the shift in the temporal orientation, going from reporting on the past to creating insights about the future, which might be suggestive of perennial…
Abstract
Purpose
This paper aims to point to the shift in the temporal orientation, going from reporting on the past to creating insights about the future, which might be suggestive of perennial managerial attempts to push the boundaries of bounded rationality.
Design/methodology/approach
In this essay, the authors want to critically engage with the concept of “data-driven management” in the context of digitalization. To do so, they sketch the edges of current discourses around the emerging idea of data-driven management and its relationship with the inner workings of organizations from an accounting perspective. They question the often-times supposed objectivity and increased rationality of the concept and instead introduce the idea of becoming “data-curious” (before being data-driven).
Findings
The authors observe that this push also seems to be accompanied by trends of individualized decision-making and prevailing hopes of technology to solve organizational problems. They therefore suggest that it is valuable for current debates to take a moment to give attention, in practice and in research, to the role of temporality, benefits of collective decision-making and changes in professions (of accountants).
Originality/value
The aim of this paper is to spark curiosity and engagement with the phenomenon of data-driven management by outlining a novel set of potential future pathways of research and point towards methods that might help studying the questions arising for a data-curious approach.
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Guangxing Ji, Zhizhu Lai, Dan Yan, Leying Wu and Zheng Wang
The purpose of this study is to assess the spatiotemporal patterns of future meteorological drought in the Yellow River Basin under different representative concentration pathway…
Abstract
Purpose
The purpose of this study is to assess the spatiotemporal patterns of future meteorological drought in the Yellow River Basin under different representative concentration pathway (RCP) scenarios.
Design/methodology/approach
Delta method is used to process the future climate data of the global climate models, then analyzed the spatiotemporal variation trend of drought in the Yellow River Basin based on standardized precipitation evaporation index (SPEI) under four RCP scenarios.
Findings
This research was funded by the National Natural Science Foundation of China (41901239), Soft Science Research Project of Henan Province (212400410077, 192400410085), the National Key Research and Development Program of China (2016YFA0602703), China Postdoctoral Science Foundation (2018M640670) and the special fund of top talents in Henan Agricultural University (30501031).
Originality/value
This study can provide support for future meteorological drought management and prevention in the Yellow River Basin and provide a theoretical basis for water resources management.