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A multiple neural-network-based controller for a class of nonlinear systems

A multiple neural-network-based controller for a class of no...

引用

international conference on control, automation, robotics and vision

作者： Koshy George Rashmi Ugarakhod PES Centre for Intelligent Systems Department of Telecommunication Engineering PES Institute of Technology Bangalore India Dept. of Electronics & Communication Engg PES University Bangalore India

Improving the transient behaviour of neural-networked-based control of a class of nonlinear systems is the goal of this paper. this is achieved by leveraging the faster convergence of the online sequential learning al... 详细信息

ISBN: (纸本)9781509035502

关键词： Nonlinear systems Transient analysis Heuristic algorithms Adaptation models Approximation algorithms control systems Fuzzy control

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An optimal active power control strategy of islanded microgrid with diverse communication delays

An optimal active power control strategy of islanded microgr...

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international conference on control, automation, robotics and vision

作者： Gang Chen Zhongyuan Zhao Mingxiang Dai College of Automation Chongqing University Chongqing China

ISBN: (纸本)9781509035502

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.

关键词： distributed control Islanded microgrid optimal control communication delay

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Research on new algorithm of dealing with distance ambiguity for high frequency PD radar

Research on new algorithm of dealing with distance ambiguity...

引用

international conference on control, automation, robotics and vision

作者： Kai-Rui Zhao Yang Li Ya-Zhou Hu Xin-Hua Huang Long-Bin Hou School of Automation Northwestern Polytechnical University (NWPU) Xi'an China Department of Engineering Technology Changhe Aircraft Industry Group Co. LTD JingDeZhen China

ISBN: (纸本)9781509035502

In the high-frequency PD radar engineering applications, it is easy to produce the distance ambiguity problem. the most commonly used solutions of the fuzzy algorithms are Chinese remainder theorem, one-dimensional set of algorithms and more than poor look-up table method. this paper presents a new algorithm of range ambiguity resolution, first of all estimate a set of fuzzy distance number of wavelengths through the lattice theory, and then implement the estimation of the true distance in the framework of maximum likelihood estimation. Finally, the simulation experiments show that, the solution of fuzzy algorithm under the assurance to solve the ambiguity of the accuracy of the premise, compared to in the Chinese remainder theorem, one-dimensional set algorithm, residual look-up table method has a faster processing speed.

关键词： maximum likelihood estimation Chinese remainder theorem one-dimensional set algorithm residual look-up table method Lattice theory

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Adaptive control of uncertain gear transmission servo systems with dead-zone nonlinearity

Adaptive control of uncertain gear transmission servo system...

引用

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

作者： Bin Xie Wei Wang Zongyu Zuo School of Automation Science and Electrical Engineering Beihang University Beijing China

ISBN: (纸本)9781509035502

In this paper, the position control problem of a gear transmission servo system with dead-zone nonlinearity is investigated. All the parameters involved in both system model and dead-zone nonlinearity model are allowed totally unknown. An adaptive back stepping control scheme is presented. the effects of dead-zone nonlinearities are described by mismatched and matched disturbances, which are compensated by introducing additional estimates of their bounds in control laws and robust terms in parameter update laws. It is shown that all the closed-loop signals can be ensured bounded and the output regulation error will converge to a compact set. Simulation results are provided to show the effectiveness of the proposed adaptive control scheme.

关键词： Gears Adaptation models Servomotors Torque automation Backstepping Adaptive control

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Distributed neuro-adaptive control of multi-agent systems and its application in micro-grids

Distributed neuro-adaptive control of multi-agent systems an...

引用

international conference on control, automation, robotics and vision

作者： Haoyang Wang Tao Huang Junhao Huang Tiedong Ma College of Automation Chongqing University Chongqing China

ISBN: (纸本)9781509035502

In this paper, the distributed control of micro-grids is regarded as the consensus problem for a class of nonlinear multi-agent systems. An effective distributed adaptive control strategy is proposed based only on local information of the network structure. Dynamics of agents are assumed to be unknown and estimated by Neural Networks. the leader is ultimately followed by the followers with bounded synchronization error. To verify the effectiveness of the cooperative tracking adaptive controller, one simulation in micro-grid system is given finally.

关键词： neural adaptive control micro-grid system nonlinear multi-agent systems distributed cooperative control

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Relative localization with computer vision and UWB range for flying robot formation control

Relative localization with computer vision and UWB range for...

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international conference on control, automation, robotics and vision

作者： B. Ramirez H. Chung H. Derhamy J. Eliasson J. C. Barca Faculty of Information Technology Monash University Clayton VIC 3800 Australia Department of Mechanical and Aerospace Engineering Monash University Clayton VIC 3800 Australia Department of Computer Science Electrical and Space Engineering Lule? University of Technology 971 87 Lule? Sweden

ISBN: (纸本)9781509035502

Relative localization is a core problem for swarm robotics since each swarm node must determine where neighboring robots are located to accomplish cooperative tasks such as formation control. In this paper we present a system that performs relative localization between a stationary marker and a flying robot in real-time. Relative distances are obtained using ultra-wide band radio, while a low-cost webcam provide angle measurements. To achieve the latter, we employed the Camshift algorithm and a Kalman filter. We tested our system outdoors during daylight using centimeter-accuracy GPS measurements as ground truth. three data sets have been collected from a series of experiments and it shows that errors in estimated relative positions are between +/-0.190 m on the x-East axis and +/-0.291 m on the z-North axis at 95% confidence level.

关键词： Camshift Flying robot Relative Localization UWB Range Computer vision

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Designing a system automation for a novel UAV demonstrator

Designing a system automation for a novel UAV demonstrator

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international conference on control, automation, robotics and vision

作者： Christoph Krause Florian Holzapfel Institude of Flight System Dynamics Technical University of Munich 85748 Garching bei Munchen Germany

ISBN: (纸本)9781509035502

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.

关键词： State Machine System automation Flight Management Vehicle Management Flight control System UAV SAGITTA

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Nonlinear tracking control and structural vibration suppression for aircraft using synthetic jet actuators

Nonlinear tracking control and structural vibration suppress...

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international conference on control, automation, robotics and vision

作者： Natalie Ramos-Pedroza Krishna Bhavithavya Kidambi William MacKunis Mahmut Reyhanoglu Department of Physical Sciences Embry-Riddle Aeronautical University Daytona Beach Florida

ISBN: (纸本)9781509035502

A synthetic jet actuator (SJA)-based control method is developed, which is rigorously proven to achieve accurate aircraft trajectory tracking control while simultaneously regulating limit cycle oscillations (LCO) in aircraft wings. To achieve the result, innovative tracking error system development is utilized along with a robust-inverse control structure. the robust-inverse control structure is utilized to compensate for the parametric uncertainty and nonlinearity inherent in the SJA mathematical model without the use of adaptive parameter estimation or function approximation schemes. After recasting the dynamics in a form amenable to control design, a nonlinear control law is developed, which achieves asymptotic trajectory tracking in the presence of external disturbances and structural disturbances due to LCO. A Lyapunov-based stability analysis is utilized to prove semi-global asymptotic trajectory tracking in the presence of LCO disturbances and parametric uncertainty in the SJA actuator model. Numerical simulation results are provided to demonstrate the capability of the proposed SJA-based control method to achieve simultaneous trajectory tracking and LCO regulation.

关键词： Liquid crystal on silicon Actuators Stability analysis Aircraft Trajectory tracking Robustness Aerospace control

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Synchronization control of networked robot systems with uncertain frictions

Synchronization control of networked robot systems with unce...

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

作者： Bin Zhang Deyuan Meng School of Automation Beijing University of Posts and Telecommunication (BUPT) Beijing China

ISBN: (纸本)9781509035502

this paper addresses adaptive synchronization control problem of networked robot systems characterized by Lagrangian function, where exact dynamic models are unknown and velocity measurements are unavailable. A class of distributed observers, comprised of multiple dynamic variables and static variables, are established based on not imposing a priori restriction on the boundness of the observer states. the observer is compatible for different control schemes with or without structure uncertainties. Using the estimated states given by the observer, adaptive distributed control input is developed, and then closed-loop dynamic models for filtered vectors are established. It is proven that our proposed control scheme permits global exact state estimation and global asymptotic synchronization while compensating for structure uncertainties.

关键词： Observers Synchronization Robots Adaptive systems Decentralized control Symmetric matrices Uncertainty

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Distributed adaptive control of multi-agent systems under directed graph for asymptotically consensus tracking

Distributed adaptive control of multi-agent systems under di...

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

作者： Wei Wang Jiangshuai Huang Changyun Wen School of Automation Science and Electrical Engineering Beihang University Beijing China School of Automation Chongqing University Chongqing China School of Electrical and Electronic Engineering Nanyang Technological University Singapore

ISBN: (纸本)9781509035502

In this paper, a distributed adaptive control scheme is proposed for nth 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 nth 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.

关键词： Adaptive control Trajectory Information processing automation Multi-agent systems Electronic mail Laplace equations

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