In this contribution a new discrete event control scheme is proposed to ensure a defined and a reproducible process in reactive sputtering plants. the control scheme is based on a novel hybrid model that describes the...
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ISBN:
(纸本)9798331518509;9798331518493
In this contribution a new discrete event control scheme is proposed to ensure a defined and a reproducible process in reactive sputtering plants. the control scheme is based on a novel hybrid model that describes the pressure behaviour and the electrical behaviour of such processes. A new automation system is developed to allow the experimental validation of the control scheme, which consists of two parts. An interlock control prevents prohibited process states and a sequence control ensures a desired sequence of process states. Experimental data are shown to demonstrate the applicability of the discrete event control scheme and of the automation system.
In this paper, an adaptive super-twisting algorithm is introduced for controlling a Brushless DC motor (BLDC) drive *** main focus of this study is the assumption that the bounds of uncertainties and perturbations are...
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ISBN:
(纸本)9798331518509;9798331518493
In this paper, an adaptive super-twisting algorithm is introduced for controlling a Brushless DC motor (BLDC) drive *** main focus of this study is the assumption that the bounds of uncertainties and perturbations are unknown. the proposed control strategy employs dynamically adapted control gains to ensure the controller's finite-time stability. A key aspect of the adaptation algorithm is its ability to avoid the overestimation of the control gain values. the controller's effectiveness is demonstrated through simulation and experiments on a test setup.
Fiducial markers play a common role in robotics, but their usability is constrained by the distance they can operate in. this limitation arises from the pixel count necessary for accurate detection. this paper present...
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ISBN:
(纸本)9798331518509;9798331518493
Fiducial markers play a common role in robotics, but their usability is constrained by the distance they can operate in. this limitation arises from the pixel count necessary for accurate detection. this paper presents a fiducial marker designed to be identifiable from just a few pixels. the proposed marker utilizes colors to improve the certainty of the detection while keeping the features of the marker as simple as possible. Experiments have been conducted to show the range in which the proposed marker can be used compared to the popular ArUco marker.
Withthe advent of advanced communication technologies, networked control systems have seen remarkable growth in recent times. Although numerous theoretical works exist in this field, solid experimental testbeds featu...
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ISBN:
(纸本)9798331518509;9798331518493
Withthe advent of advanced communication technologies, networked control systems have seen remarkable growth in recent times. Although numerous theoretical works exist in this field, solid experimental testbeds featuring actual hardware with networking capabilities that emulate real systems under real channel conditions are rare. this work aims to fill this gap by designing and developing a Hardware-in-the-Loop system with networking capabilities using software defined radios for closed-loop testing of hardware devices in a networked control environment before their actual deployment.
this paper introduces a modified altitude hold system, designed for VTOL aircraft. the method differs from the conventional approach by blending pilot and controller commands, significantly reducing pilot workload. Au...
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ISBN:
(纸本)9798331518509;9798331518493
this paper introduces a modified altitude hold system, designed for VTOL aircraft. the method differs from the conventional approach by blending pilot and controller commands, significantly reducing pilot workload. Authority blending ability is crucial during emergency and severe weather situations, where the feedback controller's performance can prove insufficient. the developed control law was successfully verified with extensive pilot-in-the-loop simulations, utilizing the Tustin model of manual control. the resulting algorithm demonstrated smooth command blending throughout the flight envelope, enhancing safety and performance of VTOL aircraft operations in urban environment.
this paper introduces a system developed to tackle the challenge of enclosing and tracking a moving target in multi-robot systems, taking into account motion and field of view (FOV) constraints. Initially, a method ut...
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ISBN:
(纸本)9798331518509;9798331518493
this paper introduces a system developed to tackle the challenge of enclosing and tracking a moving target in multi-robot systems, taking into account motion and field of view (FOV) constraints. Initially, a method utilizing relative position measurement is proposed. Following this, a reference trajectory is crafted to adhere to the motion and FOV constraints. Finally, considering the uncertainty in mobile robots and incorporating the prescribed performance bound (PPB) technique, adaptive tracking control solutions are devised. Experimental results show that the robots efficiently follow the designated reference trajectory, ensuring guaranteed transient performance for position and direction tracking errors, complying with motion and FOV constraints, and achieving swift enclosure and tracking of target objects.
the automatic recognition of real people is particularly important in many fields of activity. the article proposes a complex system for recognizing people taking into account possible fraud attacks. A Long Short-Term...
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ISBN:
(纸本)9798331518509;9798331518493
the automatic recognition of real people is particularly important in many fields of activity. the article proposes a complex system for recognizing people taking into account possible fraud attacks. A Long Short-Term Memory neural network was used to detect possible frauds in the video sequences, and to recognize the person in the case after validation as a real person, two Siamese neural networks implemented with VGG 16 and ResNet 50 were tested. the obtained results were compared for Euclidean distance, Cosine distance, and for two training methods: Contrastive Loss and Triple Loss. the best results were obtained for VGG 16, Cosine distance, and Triple Loss.
vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) subject to uncertain nonlinear dynamics with directed topologies. An adaptive distributed control approach is developed based on the finite-time Lya...
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ISBN:
(纸本)9798331518509;9798331518493
vertical take-off and landing (VTOL) unmanned aerial vehicles (UAVs) subject to uncertain nonlinear dynamics with directed topologies. An adaptive distributed control approach is developed based on the finite-time Lyapunov theory and the technique of fractional power feedback. the proposed control law has the cascade structure consisting of an inner-loop attitude controller and an outer-loop position controller since aircrafts have slower position dynamics and faster attitude dynamics. It is shown that the finite-time formation can be achieved via the proposed control law, and upper bounds on convergence time is taken into account. Finally, simulations are carried out to illustrate the effectiveness of the proposed control approach.
In this research work, we propose an optimal control law based on a variational approach for a spherical robot system with internal actuation. this system is particularly significant because it is nonlinear and has no...
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ISBN:
(纸本)9798331518509;9798331518493
In this research work, we propose an optimal control law based on a variational approach for a spherical robot system with internal actuation. this system is particularly significant because it is nonlinear and has nonholonomic constraints. Furthermore, full Lie group symmetry is not available and is broken due to advection parameters arising out of subgroup symmetry. We address two control objectives: a contact position stabilization problem with zero angular velocities and that with constant spin. the control objective is defined through a cost functional encompassing both stabilization error and control effort. Energy optimal control law is deduced from a control Hamiltonian function using a variational approach, and finally, optimal state and costate dynamics are calculated. the performance of the proposed optimal controller is evaluated through simulation analysis.
In this paper, a finite-time model predictive control (MPC) framework is proposed for continuous-time systems subject to constraints. the proposed finite-time MPC is extended from the methodology for discrete-time sys...
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ISBN:
(纸本)9798331518509;9798331518493
In this paper, a finite-time model predictive control (MPC) framework is proposed for continuous-time systems subject to constraints. the proposed finite-time MPC is extended from the methodology for discrete-time systems, where the control horizon is set equal to the system dimension, and only terminal cost is penalized in the optimization. Zero-Order-Holder (ZOH) is applied to ensure that no ripple exists between two consecutive sampling intervals, such that finite-time transient process and zero steady-state error can be guaranteed. Combined with feedback linearization, the proposed deadbeat MPC is applicable to nonlinear continuous-time systems.
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