In this paper, the weighted average consensus-based unscented Kalman filtering combined with event-triggered communication mechanism is developed. Each sensor node chooses to transmit its latest measurement update to ...
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ISBN:
(纸本)9781538695821
In this paper, the weighted average consensus-based unscented Kalman filtering combined with event-triggered communication mechanism is developed. Each sensor node chooses to transmit its latest measurement update to the corresponding remote estimator based on its own event-triggering condition. A sufficient condition is derived to guarantee that the estimation error is bounded in mean square. Finally, an illustrative example is presented to demonstrate the feasibility and effectiveness of the proposed algorithm.
In fisheries industry, flatfish accounts for about half of the domestic fish production and is a specie with active aquaculture activities. As flatfish grows, classification according to the size should be periodicall...
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ISBN:
(纸本)9788993215151
In fisheries industry, flatfish accounts for about half of the domestic fish production and is a specie with active aquaculture activities. As flatfish grows, classification according to the size should be periodically carried out for efficient growth. In this paper, the correlation between area and weight of flatfish required for classification algorithms using machine vision is derived. 120 simulations are performed using flatfish models and the area is obtained through image processing. In image processing process, the area of flatfish model is calculated using a reference square known in size. the weight of actual fish corresponding to the length of the model is obtained using the reference equation. then, regression analysis is performed to derive the interpolation of linear and power equations which show correlation between area and weight of the flatfish.
In this paper, the problem of event-triggered fuzzy-rule-dependent filter design for networked system is investigated. For the original system, our focus is on establishing a new fuzzy filtering error system, consider...
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ISBN:
(纸本)9781538695821
In this paper, the problem of event-triggered fuzzy-rule-dependent filter design for networked system is investigated. For the original system, our focus is on establishing a new fuzzy filtering error system, considering the event-triggered scheme, the network-induced delays. then, constructing a desired Lyapunov-Krasovskii function, sufficient stability conditions can be obtained to ensure that the new fuzzy filtering error system is mean-square asymptotically stable with H-infinity performance. Finally, transform these stability criteria into convex optimization problems, which can be calculated by the standard optimization toolbox.
We investigate the optimal control problem for networked control systems consisting of a linear plant controlled by a remote controller and a local controller. By virtue of the maximum principle, we establish a non-ho...
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ISBN:
(纸本)9781538695821
We investigate the optimal control problem for networked control systems consisting of a linear plant controlled by a remote controller and a local controller. By virtue of the maximum principle, we establish a non-homogeneous relationship between the state and the costate of this class of systems. Based on this relationship, the optimal controllers are derived in terms of the two Riccati equations.
this paper investigates the frequency properties of linear active disturbance rejection control. For stable or critical stable second-order LTI plants, it proposes a new parameter tuning approach. the approach is prov...
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ISBN:
(纸本)9781538695821
this paper investigates the frequency properties of linear active disturbance rejection control. For stable or critical stable second-order LTI plants, it proposes a new parameter tuning approach. the approach is proved that can guarantee the closed-loop has a given gain crossover frequency and a phase margin no less than a given value between 32 degrees and 73 degrees.
In this paper, a station-keeping controller is designed for a multi-vectored (four thrusts) propeller airship by using path following approach. Firstly, the nonlinear models of the airship are introduced, including ki...
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ISBN:
(纸本)9781538695821
In this paper, a station-keeping controller is designed for a multi-vectored (four thrusts) propeller airship by using path following approach. Firstly, the nonlinear models of the airship are introduced, including kinematics and dynamics, and the T-S fuzzy model is derived using linearization. then, the station-keeping controller is designed, which consists of two modules: a guidance loop and a robust model predictive control(MPC). the guidance loop uses the guidance-based path following(GBPF) principle to calculate the desired yaw rate and velocities of the airship, while the robust MPC calculates a feedback control law to track the desired yaw rate and velocities by solving linear matrix inequalities (LMIs). Simulation results for the multi-vectored propeller airship are carried out to illustrate the effectiveness of the proposed method.
A new control strategy using only output feedback for the stabilization of uncertain nonminimum phase systems is presented in this paper. Multiple observers for the unmeasured states of the plant, the output signal an...
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ISBN:
(纸本)9781538695821
A new control strategy using only output feedback for the stabilization of uncertain nonminimum phase systems is presented in this paper. Multiple observers for the unmeasured states of the plant, the output signal and unknown disturbances have served as the basis for the design of a sliding mode control law robust to parametric uncertainties and exogenous perturbations. Global asymptotic stability is demonstrated for the closed-loop system. Simulation results illustrate the performance of the proposed control algorithm.
Computational resources are vital especially for systems with limited computational capabilities. We propose a computationally efficient formulation for Nonlinear Model Predictive control (NMPC) algorithm for a discre...
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ISBN:
(纸本)9781538695821
Computational resources are vital especially for systems with limited computational capabilities. We propose a computationally efficient formulation for Nonlinear Model Predictive control (NMPC) algorithm for a discrete time nonlinear system affected by additive and multiplicative disturbances. Factors which contribute to the computationally efficient formulation are: avoiding stability related terminal cost and constraints in the optimization problem formulation, varying prediction horizon online according to the cost value and use of event triggering. Simulations and analysis were carried out in nonlinear models of mechanical system and the Quadruple Tank Process (QTP). the effect of disturbance on the control algorithm was considered and solutions suggested.
this paper presents the design and implementation of an automatic inspection system for parts rejection in a manufacturing process, where parts are the short pieces of circle- and square-pipes. the designed model is b...
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ISBN:
(纸本)9788993215151
this paper presents the design and implementation of an automatic inspection system for parts rejection in a manufacturing process, where parts are the short pieces of circle- and square-pipes. the designed model is based on a stereo vision and programmable logic controller (PLC). Both shape classification and height measurement of the parts can be achieved simultaneously with a stereo vision. Its computation is implemented in Raspberry Pi broad, which is supported by Python and OpenCV. the simplified stereo vision is established by two commercially available webcams and it has already been calibrated. If the shape and height of products are not correct, the rejected signal is produced and passes to a PLC. Meanwhile, the PLC of model Siemens S7-1200 is applied to controlthe pneumatic rejection cylinder. the designed method is completely executed and evaluated. the experimental result shows good synchronization between Raspberry Pi and PLC. the accuracy of shape classification is more than 98% and the error of height measurement is less than +/- 1mm.
In this paper, a low-cost vision-based autonomous landing architecture for an unmanned aerial vehicle (UAV) on a moving platform is presented. First, a novel landing pad was designed for a monocular camera to robustly...
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ISBN:
(纸本)9781538695821
In this paper, a low-cost vision-based autonomous landing architecture for an unmanned aerial vehicle (UAV) on a moving platform is presented. First, a novel landing pad was designed for a monocular camera to robustly detect the pad in both high and low altitudes. In order to solve mirror effect and occasional misidentification, a 3D points cluster algorithm for relative position estimation is presented. Second, the dynamics of the quadrotor is simplified for this lading task and a PD controller is designed based on the estimated relative position. Finally, the low-cost system architecture of the quadrotor and the experiment results are both presented to show the effectiveness of the proposed method.
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