the proceedings contain 92 papers. the special focus in this conference is on Electronic Design, Applications, Numerical Computations, Optimizations, Artificial Intelligence, Computer Applications, vision, Image, Sign...
ISBN:
(纸本)9789811017193
the proceedings contain 92 papers. the special focus in this conference is on Electronic Design, Applications, Numerical Computations, Optimizations, Artificial Intelligence, Computer Applications, vision, Image, Signal Processing, robotics, control, Mechatronics, automation, Telecommunications, RF, Antenna, Applications, Power Systems, High Voltage Engineering, and Renewable Energy. the topics include: A fast transient voltage regulator design with all ceramic output capacitor for mobile microprocessors;autonomous agent for universal verification methodology test bench of hard memory controller;development of at-speed interconnect test to capture marginal open defect on FPGA;testing of embedded SRAMs using parasitic extraction method;optimal Chiller loading using improved particle swarm optimization;a dynamic scatter search algorithm for solving traveling salesman problem;phishing webpage detection using weighted URL Tokens for identity keywords retrieval;an analysis of heterogeneous swarm evacuation model;user specific weights based on score distance and EER for weighted sum rule fusion;optical setup for solar wafer edge chip inspection;comparison of matching methods for copy-move image forgery detection;gait silhouette extraction from videos containing illumination variates;macroalgae recognition based on histogram oriented gradient;density-based denoising of point cloud;classification of four class motor imagery for brain computer interface;automatic segmentation of CMRIs for LV contour detection;stability of discrete-time internal model control against several perturbations;an autonomous lane-keeping ground vehicle control system for highway drive;and comparison of mamdani and sugeno fuzzy logic performance as speed controller.
A solution to the problem of autonomous navigation of a truck and trailer system is developed using a nonlinear optimal control method. the kinematic model of the autonomous vehicle undergoes linearization through Tay...
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ISBN:
(纸本)9781538631584
A solution to the problem of autonomous navigation of a truck and trailer system is developed using a nonlinear optimal control method. the kinematic model of the autonomous vehicle undergoes linearization through Taylor series expansion. the linearization is performed at a temporary operating point (equilibrium) that is re-computed at each time instant using the present value of the state vector and the last value of the control inputs vector. the linearization is based on the Jacobian matrices of the model. For the linearized equivalent model of the truck and trailer system an H-infinity feedback controller is designed. the feedback control gain is obtained from the solution of an algebraic Riccati equation at each iteration of the control algorithm. the stability of the control loop is proven with Lyapunov analysis. It is demonstrated that the control loop exhibits the H-infinity tracking performance which signifies elevated robustness against modelling errors and external disturbances. Moreover, under moderate conditions the global asymptotic stability of the control loop is assured. Finally, to implement state estimation-based control for the autonomous vehicle, through the processing of a small number of sensor measurements, the H-infinity Kalman Filter is proposed.
In this study, a motor feedback control system for education using a microcomputer called ARM32 was developed. this system is comprised of easily available electronic parts. the development functions and the control r...
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ISBN:
(纸本)9781509035496
In this study, a motor feedback control system for education using a microcomputer called ARM32 was developed. this system is comprised of easily available electronic parts. the development functions and the control response examples are shown in this paper.
Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence condit...
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ISBN:
(纸本)9781509035496
Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. then the convergence conditions of the open-loop iterative learning schemes is presented.
the slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered fin...
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ISBN:
(纸本)9781509035496
the slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. the results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.
this paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are establi...
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ISBN:
(纸本)9781509035496
this paper develops a model predictive flocking control scheme for the Cucker-Smale multi-agent model. A decentralized controller is designed based only on neighboring measurements. Connectivity conditions are established for guaranteeing the convergence to a rigid flock. Finally, numerical simulation demonstrates the effectiveness of the control scheme.
this paper presents a control scheme for a linear time invariant (LTI) system with uncertainty and disturbance, which are not assumed to be matched withthe control input. the presented control scheme consists of a st...
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ISBN:
(纸本)9781509035496
this paper presents a control scheme for a linear time invariant (LTI) system with uncertainty and disturbance, which are not assumed to be matched withthe control input. the presented control scheme consists of a stabilizing feedback controller and a newly developed feedforward mechanism, which counteracts the uncertainty and disturbance through the reference path. In contrast to the related control methods, such as time delay control (TDC) and uncertainty and disturbance estimation (UDE) based control, the scheme presented in this paper does not impose any structural constraints on the controlled plant. the presented control scheme was verified experimentally using a flexible mechanical testbed with a poorly damped resonance.
In this paper, novel control and update laws for predictor-based Model Reference Adaptive control for the case of overactuated systems are presented. A weaker assumption than positive definiteness of the control effec...
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ISBN:
(纸本)9781509035496
In this paper, novel control and update laws for predictor-based Model Reference Adaptive control for the case of overactuated systems are presented. A weaker assumption than positive definiteness of the control effectiveness matrix is formulated. this allows to take actuator failures and even changes in the control direction into account. Furthermore, it is shown that the number of adaptive parameters can be reduced avoiding overparameterization. the control law is applied to a hexarotor example and simulation results demonstrate the control law's capabilities.
the SAGITTA Research Demonstrator is a flying-wing UAV testbed. Its digital flight control system, which is being developed by the Institute of Flight System Dynamics of the Technical University Munich, consists of ca...
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ISBN:
(纸本)9781509035496
the SAGITTA Research Demonstrator is a flying-wing UAV testbed. Its digital flight control system, which is being developed by the Institute of Flight System Dynamics of the Technical University Munich, consists of cascaded control loops. In a UAV operation scenario, different control loops need to be engaged at different times or connected in different ways to fulfill a given mission. this has to be done with respect to commands from the flight operator or even automatically based on sensor information or data link availability. the task is handled by a system automation module which is part of the flight control system software. Its structure and implementation are introduced and described in this paper.
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