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Pilot Misoperation control Based on L1 Adaptation and INDI Methods

Pilot Misoperation Control Based on L1 Adaptation and INDI M...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Jin Wan Dan Huang Lei Song Lu Ding Shan Fu School of Aeronautics and Astronautics Shanghai Jiao Tong University School of Electronic Information and Electrical Engineering Shanghai Jiao Tong University

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the pilot's error is one of the important factors affecting flight safety, which may cause serious consequences. this article mainly discusses the continuous operating deviation and sudden large-scale misoperation during the flight process. For the two types of error models, the controllers are designed to reduce the impact after the misoperation occurs, and simulation verification is performed. Simulation results show that the L1 adaptive controller can effectively suppress the impact of continuous operating deviation on control performance and improve flight comfort; the incremental nonlinear dynamic inverse controller can effectively reduce the impact of large misoperation and restore the original flight state.

关键词： Safety Adaptation models Mathematical model Low-pass filters Interference Attitude control Uncertainty

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Event Triggered Fault Tolerant control for Nonlinear Systems Based on Adaptive Fault Estimation

Event Triggered Fault Tolerant Control for Nonlinear Systems...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Quan-Yong Fan Shuoheng Xu Chao Deng Cai-Cheng Wang School of Automation Northwestern Polytechnical University Xi'an China School of Electrical and Electronic Engineering Nanyang Technological University Singapore North Automatic Control Technology Institute Taiyuan China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, the problem of event triggered fault- tolerant control for nonlinear systems based on neural network learning technique is investigated. To achieve the main objective, a novel dynamic fault estimation method is proposed so that the fault mode of the system considered can be determined quickly. then, one appropriate reference dynamics is selected. Based on the model reference control mechanism, the neural network is employed to learn the desired control policy when the event triggering condition is met. the stability of the closed-loop system is proved based on Lyapunov stability theory. Moreover, there does not exist the Zeno phenomenon using the proposed event triggered control method. Finally, the the effectiveness of the proposed method is verified on a single-joint manipulator system.

关键词： Estimation Fault tolerant systems Fault tolerance Networked control systems Trajectory Security Robots

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Symbolic Self-triggered control of Continuous-time Non-deterministic Systems without Stability Assumptions for 2-LTL Specifications

Symbolic Self-triggered Control of Continuous-time Non-deter...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Sasinee Pruekprasert Clovis Eberhart Jérémy Dubut National Institute of Informatics Tokyo Japan Japanese-French Laboratory for Informatics

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

We propose a symbolic self-triggered controller synthesis procedure for non-deterministic continuous-time nonlinear systems without stability assumptions. the goal is to compute a controller that satisfies two objectives. the first objective is represented as a specification in a fragment of LTL, which we call 2-LTL. the second one is an energy objective, in the sense that control inputs are issued only when necessary, which saves energy. To this end, we first quantise the state and input spaces, and then translate the controller synthesis problem to the computation of a winning strategy in a mean-payoff parity game. We illustrate the feasibility of our method on the example of a navigating nonholonomic robot.

关键词： Games Stability analysis control systems Aerospace electronics Trajectory Sensors Safety

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Containment control of second-order multi-agent systems via asynchronous sampled-data control

Containment control of second-order multi-agent systems via ...

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Hongjian Chen Lulu Chen Jinliang Shao Glasgow college University of Electronic Science and Technology of China Sichuan P. R. China School of Automation Engineering University of Electronic Science and Technology of China Sichuan P. R. China Shenzhen Institute of Artificial Intelligence and Robotics for Society Shenzhen P. R. China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper formulates and solves an asynchronous sampled-data containment control problem of second-order multi-agent systems, in which each agent only receives the neighbors' information at certain sampling instants determined by its own clock, not all sampling instants. It is not assumed that the time sequence in which each agent receives its neighbors' information is evenly spaced. A distributed containment control protocol in the asynchronous sampled-data setting is designed. Main research tools, including nonnegative matrix theory and the composite of binary relation, are used to derive a necessary and sufficient condition guaranteeing that all the followers asymptotically converge to a convex hull formed by the static leaders. An example is provided to demonstrate the effectiveness of our theoretical result.

关键词： Multi-agent systems Sensors Clocks Vehicle dynamics Sensor systems Protocols Mathematical model

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A multi-hop distributed indoor localization algorithm for ultra-wide-band sensor network

A multi-hop distributed indoor localization algorithm for ul...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Chengyang He Yinqiu Xia Chengpu Yu Chaoyang Jiang Beijing Institute of Technology Chongqing Innovation Center China School of Automation Beijing Institute of Technology China School of Mechanical Engineering Beijing Institute of Technology China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper proposes a multi-hop distributed sensor network localization method based on UWB ranging measurements. Different from the positioning algorithm suitable for known indoor environments, this algorithm is designed for the exploration needs of unknown areas. Based on the barycentric coordinates of the tetrahedron, the expansion of the sensor network is realized through the multi-hop of the UWB sensor. the proposed algorithm can be applied for three-dimensional space. By designing time-varying weight coefficients and combining Taylor expansion, the localization performance is enhanced. Finally, a numerical simulation is given to verify the effectiveness of the proposed algorithm.

关键词： Distance measurement Indoor environment Spread spectrum communication Robot sensing systems Global Positioning System automation Ultra wideband technology

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Multi-Sensor-based Predictive control for Autonomous Parking in Presence of Pedestrians

Multi-Sensor-based Predictive Control for Autonomous Parking...

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international conference on control, automation, robotics and vision (ICARCV)

作者： David Pérez-Morales Olivier Kermorgant Salvador Domínguez-Quijada Philippe Martinet LS2N Laboratoire des Sciences du Numérique de Nantes École Centrale de Nantes Nantes France INRIA Sophia Antipolis Valbonne France

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper explores the feasibility of a Multi-Sensor-Based Predictive control (MSBPC) approach in order to have constraint-based backward non-parallel (perpendicular and diagonal) parking maneuvers capable of dealing with moving pedestrians and, if necessary, performing multiple maneuvers. Our technique relies solely in sensor data expressed relative to the vehicle and therefore no localization is inherently required. Since the proposed approach does not plan any path and instead the controller maneuvers the vehicle directly, the classical path planning related issues are avoided. Real experimentation validates the effectiveness of our approach.

关键词： Robot sensing systems Robots Path planning Kinematics Data models Automobiles Transmission line matrix methods

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Distributed State Estimation for Nonlinear Networked System with Correlated Noises

Distributed State Estimation for Nonlinear Networked System ...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Yuan Liang Sibo Hu Xiwang Dong Qingdong Li Zhang Ren School of Automation Science and Electrical Engineering Beihang University Beijing P. R. China Beijing Advanced Innovation Center for Big Data and Brain Computing Beihang University Beijing P. R. China

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

In this paper, the problem of distributed state estimation for nonlinear networked system with correlated noises is investigated. First, a distributed weighted consensus-based cubature information filtering algorithm is designed, of which the goal is to achieve accurate estimated states with the presence of correlated noises in a fully distributed fashion. then based on the statistical linear approximation method, it is further proved that, the estimated states of the proposed filtering algorithm are consistent. Finally, the improved performance of the proposed filtering algorithm are confirmed by the numerical simulation.

关键词： Sensors Sensor fusion Noise measurement Sensor systems Wireless sensor networks State estimation Kalman filters

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Furuta Pendulum Real-Time System with Brushless Dc Motor and Cascade Hybrid control

Furuta Pendulum Real-Time System with Brushless Dc Motor and...

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international conference on control, automation, robotics and vision (ICARCV)

作者： Ewelina Cholodowicz Przemyslaw Orlowski Pomeranian University of Technology Szczecin Faculty of Electrical Engineering Szczecin Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

the inverted pendulum is one of the popular testbeds in the control theory education, owning to its complex characteristics (nonlinear, underactuated), along with its realworld applications, for example in transportation, walking of robots etc. this paper is dedicated to the problem of Furuta pendulum control. It describes a mathematical model of the Furuta pendulum, the linearization process and the results of the identification experiment. Two methods for the brushless DC motor control have been proposed. the last section is dedicated to the achievements of experimental research on control systems implementation. the main aim of this work is to present the achievements of the designed stand and to compare two different approaches of Furuta pendulum control with brushless DC motor. On the basis of the conducted research, it is stated that a magnetic encoder control allows a more effective and better tracking of the setpoint with respect to the modelling inaccuracy in comparison to the sinusoidal generator controller.

关键词： DC motors Brushless DC motors Rotors Mathematical model Generators Torque Legged locomotion

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Feasible Schedule Under Faults in the Assembly System

Feasible Schedule Under Faults in The Assembly System

引用

international conference on control, automation, robotics and vision (ICARCV)

作者： Pawel Majdzik Institute of Control and Computation Engineering University of Zielona Góra Zielona Góra Poland

ISBN: (数字)9781728177090

ISBN: (纸本)9781728177106

this paper addresses an application of a fault-tolerant control to a cubes `packing system. the core issue concerns a control of a set of parallel manipulators which transport cubes from various points to a final storage. the main contribution of this paper is an analytical description of a set of manipulators by means of the max-plus algebra equations. the task of these manipulators is a handling of transport of cubes in accordance with a reference schedule. the proposed mathematical approach has to take into consideration both synchronization and choice issues as well as faults. In addition, diagnostics and fault-tolerant control strategy are developed and applied to the system of cubes' packing being considered. All constraints are defined and incorporated into this control strategy. the proposed approach is able to compensate or eliminate the influence of some faults, e.g., delays occurring in the manipulators or reduced velocities of transportation means. Finally, an example exhibiting effectiveness of the proposed control scheme is presented.

关键词： Manipulators Robots Task analysis Belts Transportation Algebra Synchronization

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Selected Methods for Increasing the Accuracy of Vehicle Lights Detection 24

Selected Methods for Increasing the Accuracy of Vehicle Ligh...

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24th international conference on Methods and Models in automation and robotics (MMAR)

作者： Bogacki, Piotr Dlugosz, Rafal Aptiv Serv Poland SA Ul Podgorki Tynieckie 2 PL-30399 Krakow Poland AGH Univ Sci & Technol Fac Comp Sci Elect & Telecommun Krakow Poland UTP Univ Sci & Technol Fac Telecommunicat Comp Sci & Elect Engn Bydgoszcz Poland

ISBN: (纸本)9781728109336

the paper presents selected methods for improving the accuracy of classification of headlights and taillights of the vehicles. the methods include analyzing blob properties and locations of the detections. A new feature for describing binary blob shape has been proposed. Moreover, data augmentation technique has been used to improve the results of the classification. the referenced system is based on convolutional neural networks (CNNs). New solutions have been tested with comprehensive set of video sequences (of total duration exceeding ten hours) under various weather conditions and from different road types.

关键词： computer vision headlight control night time vehicle detection

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