简介：我们在这份报纸在场计划方法的一条柔韧的联机路径，它在否认GPS、撒布障碍的环境安全地允许一只微旋转飞机雄蜂到苍蝇与限制了机载的计算力量。途径基于到二个点边界价值问题(TPBVP)的一张高效地管理的格子地图和一个靠近形式的答案。而TPBVP的答案产生光滑的轨道，格子地图帮助轨道评估。最后，交换算法的一条最高层的轨道被利用最小化计算费用。建议途径的优点包括它计算资源的保存，轨道产生的坚韧性和对未知环境的反应的活泼。结果在实际雄蜂平台上被认识到并且成功地在真实飞行测试示威了。飞行测试的录像能被发现在：http://uav.ece.nus.edu.sg/robust-online-path-planning-Lai2015.html。

简介：Adual-stageservosystemconsistsofaprimarycoarseactuatorforfacilitatinglargemotionandasecondarymicro-actuatorforsmallbutprecisemotiontoimprovetrackingperformance.Piezoelectricmicro-actuatormadefromleadzirconatetitanate(PZT)hasbeenapopularchoiceforthesecondarystage.However,theadvantagegainedbytheresolutionofthesecondaryPZTactuatorisreducedbyitsinherenthysteresisnonlinearity.Modelbasedhysteresiscompensationtechniquesarepreferredduetotheirsimplicityandfastresponse.Identificationandmodelingaretwosubstantialpartsinsuchmodel-basedtechniques.ThispaperpresentsarigorousanalysisandmodelingofthehysteresisofPZTmicro-actuator.ModifiedGeneralizedPrandtl-IshlinskiiandColeman-Hodgdonmodelsarestudied.Identificationofthemodelthroughnonlinearleastsquareandparticleswarmoptimizationareexaminedandcompared.Severalanalysesaredonethroughtuningofthemodelparametersandidentificationtechniques.Experimentalanalysisandsimulationresultsunderscoretheeffectivenessofthismodelingapproach.Finallyasadesignexample,adual-stagesimulationanalysisisdonetoshowtheeffectivenessofsystematicmodelingonhysteresiscompensation.