Autonomous UAV must rely on the navigation system to fly in the indoor environment. However, the traditional navigation system such as GPS cannot be used in the indoor environment. A method of Simultaneous Location an...
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ISBN:
(纸本)9781509035496
Autonomous UAV must rely on the navigation system to fly in the indoor environment. However, the traditional navigation system such as GPS cannot be used in the indoor environment. A method of Simultaneous Location and Mapping (SLAM) based on RGB-D cameras is used to solve this matter. We adopt the RGB-D SLAM algorithm to locate the camera and build the 3D map of the environment in this paper. the framework and process of the algorithm are described in detail. the experiments show that the RGB-D SLAM algorithm can achieve good results.
Communication networks are increasingly applied in smart grid for information exchange and optimal operation. this paper presents an optimal active power control strategy for islanded microgrid in the presence of comm...
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ISBN:
(纸本)9781509035496
Communication networks are increasingly applied in smart grid for information exchange and optimal operation. this paper presents an optimal active power control strategy for islanded microgrid in the presence of communication delays. the control strategies are fully distributed. the impact of the diverse communication delays and the effectiveness of the algorithm are analyzed by using the Generalized Nyquist criterion. the proposed approach can minimize the total cost and maintain the supply-demand balance of the microgrid. Several case studies are carried out to verify the effectiveness of the proposed approach.
A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is e...
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ISBN:
(纸本)9781509035496
A sliding mode control (SMC) strategy is presented for a quadrotor-based hover system, which achieves asymptotic attitude regulation in the presence of electrical and physical constraints. A sliding mode observer is employed to estimate the angular velocities. In addition, the proposed control design incorporates the input voltage constraints inherent in practical systems. A rigorous Lyapunov-based analysis is provided to prove asymptotic regulation of the hover system attitude to a desired set point. Computer simulation results are also provided, which demonstrate the capability of the control law to achieve asymptotic attitude regulation when applied to the complete nonlinear system dynamics.
In this brief, a novel impulsive control has been proposed for consensus problems of discrete-time multi-agent systems. Utilizing the Lyapunov technique, a parametric discretetime Riccati equation has been obtained in...
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ISBN:
(纸本)9781509035496
In this brief, a novel impulsive control has been proposed for consensus problems of discrete-time multi-agent systems. Utilizing the Lyapunov technique, a parametric discretetime Riccati equation has been obtained in order to design impulsive controller. the derived criteria show that such impulsive control relies on the proper value of designed parameters and the upper bound of impulsive intervals. Finally, the applicability of proposed strategy is given through a numerical example.
In this paper, a distributed adaptive control scheme is proposed for n-th order multi-agent systems with pure integrator type of subsystem dynamics. It is assumed that the information transmission condition among diff...
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ISBN:
(纸本)9781509035496
In this paper, a distributed adaptive control scheme is proposed for n-th order multi-agent systems with pure integrator type of subsystem dynamics. It is assumed that the information transmission condition among different subsystems is represented by a fixed, balanced and weakly connected directed graph. the full knowledge of desired trajectory is allowed totally unknown by part of the subsystems, except that its first n-th derivatives are bounded. It is shown that the globally uniform boundedness of all closed-loop signals and asymptotically consensus tracking for all the subsystem outputs can be guaranteed.
In this paper, a new data-driven method is proposed for I/O constrained nonlinear systems. An iterative dynamic linearization is introduced for the controlled nonlinear systems. All of the constraints on the system in...
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ISBN:
(纸本)9781509035496
In this paper, a new data-driven method is proposed for I/O constrained nonlinear systems. An iterative dynamic linearization is introduced for the controlled nonlinear systems. All of the constraints on the system inputs and outputs are reformulated with a linear matrix inequality. the learning control law is then developed by minimizing a predesigned cost function subjected to the linear matrix inequality constraint. Simulation results illustrate the effectiveness of the proposed approach.
this paper presents a model-based approach to fault-adaptive control for damper lock-in place failures in variable-air-volume (VAV) boxes in building heating, ventilation and air-conditioning systems. the fault-adapti...
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ISBN:
(纸本)9781509035496
this paper presents a model-based approach to fault-adaptive control for damper lock-in place failures in variable-air-volume (VAV) boxes in building heating, ventilation and air-conditioning systems. the fault-adaptive controller integrates a dedicated bank of unknown input residual generators for fault detection/isolation followed by suitably designed fault estimators and a model predictive controller. the accommodation of the controller to the fault is achieved by online modification of the constraints in the model predictive control to achieve reduced energy consumption and thermal comfort under faulty modes. the proposed fault-adaptive control law is demonstrated on a four-zones building benchmark.
In recent years, Unmanned Air Vehicles (UAV) are gaining popularity among hobbyist, university-level researchers and military agencies. this paper presents the enhancement of a commercial-off-the-shelf (COTS) product ...
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ISBN:
(纸本)9781509035496
In recent years, Unmanned Air Vehicles (UAV) are gaining popularity among hobbyist, university-level researchers and military agencies. this paper presents the enhancement of a commercial-off-the-shelf (COTS) product that is capable of achieving semi-autonomous flight. the details of the selection of various components and software design are discussed. Take-off, hovering and landing controls for indoor flying capabilities are achieved by deriving the mathematical model of the quadcopter dynamics. Altitude control algorithm is implemented to ease the burden of the pilots. the final design of the quadcopter fulfils the flight capability and the required stability.
In this paper, we address adaptive predictor feedback design for a simplified drilling system in the presence of disturbance and time-delay. the main objective is to stabilize the bottomhole pressure at a critical dep...
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ISBN:
(纸本)9781509035496
In this paper, we address adaptive predictor feedback design for a simplified drilling system in the presence of disturbance and time-delay. the main objective is to stabilize the bottomhole pressure at a critical depth at a desired set-point directly. the stabilization of the dynamic system and the asymptotic tracking are demonstrated by the proposed adaptive control, where the adaptation employs Lyapunov update law design with normalization. the proposed method is evaluated using a high fidelity drilling simulator and cases from a North Sea drilling operation are simulated. the results show that the proposed predictor controller is effective to stabilize the bottom hole pressure within the desired margins and compensate the effects of the delay and disturbance.
In this paper, we deal withthe problem of imagebased visual tracking for mobile robots. It is noted that the presence of actuator dynamics and the unknown target motion increases the complexity of the system model an...
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ISBN:
(纸本)9781509035496
In this paper, we deal withthe problem of imagebased visual tracking for mobile robots. It is noted that the presence of actuator dynamics and the unknown target motion increases the complexity of the system model and makes the design of the controller more difficult. To solve this problem, we propose an adaptive control approach via utilizing backstepping technique and extended state observer (ESO). For the controller design, the adaptive technique is employed to estimate the bound of the target motion and the adaptive law is derived from the Lyapunov stability theory. We also adopt two ESOs to estimate and compensate for the disturbances affecting the mobile robot dynamics and the wheel actuator dynamics. It is shown that the proposed adaptive controller guarantees the boundness of all the signals in the closed-loop system and enables the tracking errors to exponentially converge to a compact set which is adjustable.
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