| 1 | 3-D Locomotion control for a biomimetic robot fish显示文摘This paper concerns with 3-D locomotion control methods for a biomimetic robot fish. The system architecture of the fish is firstly presented based on a physical model of carangiform fish. The robot fish has a flexible body, a rigid caudal fin and a pair of pectoral fins, driven by several servomotors. The motion control of the robot fish are then divided into speed control, orientation control, submerge control and transient motion control, corresponding algorithms are detailed respectively.Finally, experiments and analyses on a 4-1ink, radio-controlled robot fish prototype with 3-D locomotion show its good performance. | ZhigangZHANG ShuoWANG MinTAN | 2004 | 控制理论与应用(英文版)2004，2，2： | 1 |
| 3 | Model Predictive Yaw Control Using Fuzzy-Deduced Weighting Factor for Large-Scale Wind Turbines显示文摘Yaw control system plays an important role in helping large-scale horizontal wind turbines capture the wind energy.To track the stochastic and fast-changing wind direction,the nacelle is rotated by the yaw control system.Therein,a difficulty consists in the variation speed of the wind direction much faster than the rotation speed of the nacelle.To deal with this difficulty,model predictive control has been recently proposed in the literature,in which the previewed wind direction is employed into the predictive model,and the estimated captured energy and yaw actuator usage are two contradictive objectives.Since the performance of the model predictive control strat-egy relies largely on the weighting factor that is designed to balance the two objectives,the weighting factor should be carefully selected.In this study,a fuzzy-deduced scheme is proposed to derive the weighting factor of the mod-el predictive yaw control.For the proposed fuzzy-deduced strategy,the variation degree and the increment of the wind direction during the predictive horizon are used as the inputs,and the weighting factor is the output,which is dynamically adjusted.The proposed model predictive yaw control is demonstrated by some simulations using real wind data and its performance is compared with the conventional model predictive control with thefixed weighting factor.Comparison results confirm the outweighing performance of the proposed control strategy over the conventional one. | Shuowang Zhang Lingxiang Huang Dongran Song Ke Xu Xuebing Yang Xiaoping Song | 2021 | Energy Engineering2021，118，2： | 0 |
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