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10 results on '"Gong, Shuli"'

5. Trajectory Design and Tracking Control for Nonlinear Underactuated Wheeled Inverted Pendulum

Author

Xinghui Zhang, Yuanyuan Liu, Jinhua She, Ancai Zhang, and Gong Shuli

Subjects
0209 industrial biotechnology, Article Subject, Underactuation, Computer science, General Mathematics, lcsh:Mathematics, 020208 electrical & electronic engineering, General Engineering, 02 engineering and technology, Optimal control, lcsh:QA1-939, Inverted pendulum, Mechanical system, Nonlinear system, 020901 industrial engineering & automation, Control theory, lcsh:TA1-2040, 0202 electrical engineering, electronic engineering, information engineering, Trajectory, Configuration space, Motion planning, lcsh:Engineering (General). Civil engineering (General)
Abstract

An underactuated wheeled inverted pendulum (UWIP) is a nonlinear mechanical system that has two degrees of freedom and has only one control input. The motion planning problem for this nonlinear system is difficult to solve because of the existence of an uncontrollable manifold in the configuration space. In this paper, we present a method of designing motion trajectory for this underactuated system. The design of trajectory is based on the dynamic properties of the UWIP system. Furthermore, the tracking control of the UWIP for the constructed trajectory is also studied. A tracking control law is designed by using quadratic optimal control theory. Numerical simulation results verify the effectiveness of the presented theoretical results.

Published
2018

10. Weighted multilinear hardy operators on Herz type spaces.

Author

Gong S, Fu Z, and Ma B

Subjects
Algorithms, Models, Theoretical
Abstract

This paper focuses on the bounds of weighted multilinear Hardy operators on the product Herz spaces and the product Morrey-Herz spaces, respectively. We present a sufficient condition on the weight function that guarantees weighted multilinear Hardy operators to be bounded on the product Herz spaces. And the condition is necessary under certain assumptions. Finally, we extend the obtained results to the product Morrey-Herz spaces.

Published
2014
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