Jian Zhong Qiao, Hao Wu, Yukai Zhu, Jianwei Xu and Wenshuo Li
This paper is concerned with the repetitive trajectory tracking control for space manipulators under model uncertainties and vibration disturbances.
Abstract
Purpose
This paper is concerned with the repetitive trajectory tracking control for space manipulators under model uncertainties and vibration disturbances.
Design/methodology/approach
The model uncertainties and link vibration of manipulators will degrade the tracking performance of space manipulators; in this paper, a new hybrid control scheme that consists of a composite hierarchical anti-disturbance controller and an iterative learning controller is developed to solve this problem.
Findings
The composite hierarchical controller can effectively attenuate model uncertainties and reject vibration disturbances, whereas the iterative learning controller is able to improve the tracking accuracy for repetitive reference trajectory.
Originality/value
The proposed scheme compensates for the shortcomings of iterative learning control which can only deal with repetitive disturbances, ensuring the accuracy and repeatability of space manipulators under model uncertainties and random disturbances.
Details
Keywords
Daxin Tian, Weiqiang Gong, Wenhao Liu, Xuting Duan, Yukai Zhu, Chao Liu and Xin Li
This paper aims to introduce vehicular network platform, routing and broadcasting methods and vehicular positioning enhancement technology, which are three aspects of the…
Abstract
Purpose
This paper aims to introduce vehicular network platform, routing and broadcasting methods and vehicular positioning enhancement technology, which are three aspects of the applications of intelligent computing in vehicular networks. From this paper, the role of intelligent algorithm in the field of transportation and the vehicular networks can be understood.
Design/methodology/approach
In this paper, the authors introduce three different methods in three layers of vehicle networking, which are data cleaning based on machine learning, routing algorithm based on epidemic model and cooperative localization algorithm based on the connect vehicles.
Findings
In Section 2, a novel classification-based framework is proposed to efficiently assess the data quality and screen out the abnormal vehicles in database. In Section 3, the authors can find when traffic conditions varied from free flow to congestion, the number of message copies increased dramatically and the reachability also improved. The error of vehicle positioning is reduced by 35.39% based on the CV-IMM-EKF in Section 4. Finally, it can be concluded that the intelligent computing in the vehicle network system is effective, and it will improve the development of the car networking system.
Originality/value
This paper reviews the research of intelligent algorithms in three related areas of vehicle networking. In the field of vehicle networking, these research results are conducive to promoting data processing and algorithm optimization, and it may lay the foundation for the new methods.
Details
Keywords
Chong Wang, Yingjie Wang, Kegu Adi, Yunzhong Huang, Yuanming Chen, Shouxu Wang, Wei He, Yao Tang, Yukai Sun, Weihua Zhang, Chenggang Xu and Xuemei He
The purpose of this paper is to establish an accurate model to quantify the effect of conductor roughness on insertion loss (IL) and provide improved measurements and suggestions…
Abstract
Purpose
The purpose of this paper is to establish an accurate model to quantify the effect of conductor roughness on insertion loss (IL) and provide improved measurements and suggestions for manufacturing good conductive copper lines of printed circuit board.
Design/methodology/approach
To practically investigates the modified model of conductor roughness, three different kinds of alternate oxidation treatments were used to provide transmission lines with different roughness. The IL results were measured by a vector net analyzer for comparisons with the modified model results.
Findings
An accurate model, with only a 1.8% deviation on average from the measured values, is established. Compared with other models, the modified model is more reliable in industrial manufacturing.
Originality/value
This paper introduces the influence of tiny roughness structures on IL. Besides, this paper discusses the effect of current distribution on IL.