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检索条件"任意字段=International Conference on Complex Systems: Control and Modeling Problems"

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Robust adaptive attitude control of the quad-rotor UAV based on the LQR and NESO technique 14

Robust adaptive attitude control of the quad-rotor UAV based...

引用

14th IEEE international conference on control and Automation (ICCA)

作者： Zhou, Zeqiang Yu, Jianglong Dong, Xiwang Li, Qingdong Ren, Zhang Beihang Univ Sch Automat Sci & Elect Engn Beijing 100191 Peoples R China

ISBN: (纸本)9781538660898

Robust adaptive attitude control problems for the quad-rotor UAV with external disturbances and parametric uncertainties are investigated. Firstly, the nonlinear attitude movement model is established by considering the parametric uncertainties and the external disturbances. The linear quadratic regulator (LQR) controller is introduced to guarantee the control performance. Nonlinear extended state observer (NESO) is designed to estimate and compensate the internal uncertainties and external disturbance. Secondly, the robust adaptive attitude controller based on the LQR controller and the nonlinear extended state observer is proposed to achieve high precision attitude control. Then, the stability of the closed-loop system is proved. Finally, numerical simulations and physical experiments are performed to verify the effectiveness of theoretical results.

关键词： Attitude control Robustness Uncertainty Rotors Mathematical model Adaptation models Observers"

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PARAMETRIC STUDY OF HELICOPTER BLADE FOR ACTIVE TWIST control INCORPORATING MACRO FIBER COMPOSITE ACTUATOR

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ASME conference on Smart Materials, Adaptive Structures and Intelligent systems (SMASIS2018)

作者： Sicim, Muruvvet Sinem Demirci, Dincer Kaya, Metin Orhan Istanbul Tech Univ Fac Aeronaut & Astronaut Turkish Tech INC Istanbul Turkey Istanbul Tech Univ Fac Aeronaut & Astronaut Kale R&D Istanbul Turkey Istanbul Tech Univ Fac Aeronaut & Astronaut Istanbul Turkey

ISBN: (纸本)9780791851944

Helicopters suffer from a number of problems raised from the high vibratory loads, noise generation, load capacity limitations, forward speed limitation etc. Especially unsteady aerodynamic conditions due to the different aerodynamic environment between advised and retreating side of the rotor cause most of these problems. Researchers study on passive and active methods to eliminate negative effects of aerodynamic loads. Nowadays, active methods such as Higher Harmonic control (HHC), Individual Blade control (IBC), Active control of Structural Response (ACSR), Active Twist Blade (ATB), and Active Trailing-edge Flap (ATF) gain importance to vibration and noise reduction. In this paper, strain-induced blade twist control is studied integrated by Macro Fiber Composite (MFC) actuator. 3D model is presented to analyze the twisting of a morph and bimorph helicopter rotor blade comprising MFC actuator which is generally applied vibration suppression, shape control and health monitoring. The helicopter rotor blade is modeling with NACA23012 airfoil type and consists of D-spar made of unidirectional fiberglass, 45 Glass Fiber Reinforced Polymer (GFRP) and foam core. Two-way fluid-structure interaction (FSI) method is used to simulate loop between fluid flow and physical structure to enable the behavior of the complex system. To develop piezoelectric effects, thermal strain analogy based on the similarities between thermal and piezo strains. The optimization results are obtained to show the influence of different design parameters such as web length, spar circular fitting, MFC chord length on active twist control. Also, skin thickness, spar thickness, web thickness are used to optimization parameters to illustrate effects on torsion angle by applying response surface methodology. Selection of correct design parameters can then be determined based on this system results.

关键词： Composite materials Fibers Actuators Blades

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IMCIC 2018 - 9th international Multi-conference on complexity, Informatics and Cybernetics, Proceedings

IMCIC 2018 - 9th International Multi-Conference on Complexit...

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9th international Multi-conference on complexity, Informatics and Cybernetics, IMCIC 2018

ISBN: (纸本)9781941763698

The proceedings contain 68 papers. The topics discussed include: proposing an education system to judge the necessity of nuclear power in Japan;the index of higher education-business engagement - a methodology of the instrument monitoring university-business relations;pan-tilt and flight attitude control for UAV based inspection system of photovoltaic farm;an e-government systems development methodology framework;the potentials of open and distance education in solving the problems of limited access to higher education in Nigeria: National Open University of Nigeria (NOUN);a year of PR: a collection from an educational service center;inter-professional approach in the healthcare professions;sound driven elderly people monitoring system. fostering co-working between higher and lower education systems;biometric encryption system for increased security;an approach to communication for ICN and MANET using a softwarized infrastructure;moving from cloud to fog: implications and challenges;an performance analysis of a PSO-based algorithm for swarm robotics;modern information-communication methods of analysis and models of complex socio-technical systems;the warehouse problem: use of a simulation and scale model to evaluate intelligent control of an autonomous vehicle in a factory;information modeling and information retrieval for the internet of things (IoT) in buildings;blockchain and data protection: the value of personal data;and an empirical analysis of data security in a university anchored community wireless database against external hackers.

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IMCIC 2018 - 9th international Multi-conference on complexity, Informatics and Cybernetics, Proceedings

IMCIC 2018 - 9th International Multi-Conference on Complexit...

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9th international Multi-conference on complexity, Informatics and Cybernetics, IMCIC 2018

ISBN: (纸本)9781941763766

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Performance analysis of Transformer — Less Unified Power Flow controller

Performance analysis of Transformer — Less Unified Power Fl...

引用

international conference on Communication and Electronics systems (ICCES)

作者： Shaikh Mohammed Tauseef S. M. Kulkarni PES College of Engineering Aurangabad Maharashtra India

ISBN: (数字)9781728112619

ISBN: (纸本)9781728112626

The paper presents the simulation of an pioneering and unique method of FACTS controller called Unified Power Flow controller (UPFC) without transformer. Transformer-less Unified Power Flow controller consist of two cascaded multi-level inverter, which lessen the complication and bulkiness of the circuit. Basically traditional UPFC controller consists of two inverters connected back to back. Conventional methods of UPFC involve complex and bulk circuit resulting in the problem for isolation of the transformers & achieve high power rating with desired output. The proposed Transformer less UPFC controller will be cost effective and acquire low space then the conventional UPFC. A multilevel cascade configuration system will reduce the harmonics of the system hence increases the efficiency of the model and reduce bulkiness.

关键词： Inverters Load flow Reactive power Power transmission lines Automatic voltage control Integrated circuit modeling

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Safe Learning of Quadrotor Dynamics Using Barrier Certificates

Safe Learning of Quadrotor Dynamics Using Barrier Certificat...

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IEEE international conference on Robotics and Automation (ICRA)

作者： Wang, Li Theodorou, Evangelos A. Egerstedt, Magnus Georgia Inst Technol Sch Elect & Comp Engn Atlanta GA 30332 USA Georgia Inst Technol Sch Aerosp Engn Atlanta GA 30332 USA

ISBN: (纸本)9781538630815

To effectively control complex dynamical systems, accurate nonlinear models are typically needed. However, these models are not always known. In this paper, we present a data-driven approach based on Gaussian processes that learns models of quadrotors operating in partially unknown environments. What makes this challenging is that if the learning process is not carefully controlled, the system will go unstable, i.e., the quadcopter will crash. To this end, barrier certificates are employed for safe learning. The barrier certificates establish a non-conservative forward invariant safe region, in which high probability safety guarantees are provided based on the statistics of the Gaussian Process. A learning controller is designed to efficiently explore those uncertain states and expand the barrier certified safe region based on an adaptive sampling scheme. Simulation results are provided to demonstrate the effectiveness of the proposed approach.

关键词： Safety control systems Computational modeling Gaussian processes Adaptation models Lyapunov methods System dynamics"

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modeling of operating HPP units' state rational control system 14

Modeling of operating HPP units' state rational control syst...

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14th international Scientific and Technical conference on problems of Energy systems and Thermal Power complexes, PESPC 2018

作者： Zakharchenko, V.E. SMS-Automation Business Group Galaktionovskaya 7 Samara443020 Russia

It is very important to provide HPP operation in rational way. Start, stop and other operations of HPP units must be planned within ideas of HPP efficiency and safety. The article describes step by step algorithm for modelling and implementing of operating HPP unis' state rational control system. The rational control system is based on models of hydrounits and HPP joint control system. HPP efficiency is calculated with potential power losses method. HPP safety criterion includes parameters which could affect hydrounit health from automation system. The decision is made on overall criteria with operator preferences. The algorithm is supported by examples. Results can be used for modeling of hydro unit, joint control system and rational control system are easy to implement, and they could help to build up automatic operating HPP units' state rational control system. © 2018 IOP Publishing Ltd.

关键词： control systems

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Predictive-Delay control for Overloading in Real-Time Scheduling 6th

Predictive-Delay Control for Overloading in Real-Time Schedu...

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6th international conference on Simulation and modeling Methodologies, Technologies and Applications (SIMULTECH)

作者： Sahraoui, Zakaria Labed, Abdenour Ahmed-Nacer, Mohamed Grolleau, Emmanuel Ecole Mil Polytech Comp Sci Dept BP 17 Algiers Algeria Univ Sci & Technol Houari Boumediene Comp Sci Dept Algiers Algeria ENSMA LIAS Teleport 21 Av Clement AderBP 40109 F-86961 Futuroscope France

ISBN: (纸本)9783319698328;9783319698311

In multi-task control systems, control quality is subject to deterioration due to system dynamics and several scheduling artefacts. Based on open-loop scheduler or feedback scheduling, we investigate the advantage of some new techniques, such as the subtask scheduling and the predictive delay control, used to deal with control and scheduling co-design constraints. In the latter, at each time instant, the measurement signal is predicted by extrapolation that minimizes the effect of the measurement obsolescence. This predictive method, compared to other complex dynamic methods, is easier to formulate and its results within a discrete-time control algorithm are suitable for embedded systems. In the present work, simulations are conducted to show that the predictive-delay control can improve the control quality even in the absence of a dynamic priority assignment like in the Earlies deadline First Algorithm. However, in order to take advantage from the potential of both methods namely the predictive-delay control and the subtask-scheduling, another alternative is to combine them in the same solution to better deal with the input-output latency. The experimental validation is accomplished using the servo-motor and the inverted-pendulum systems through a stochastic execution-time implementation.

关键词： Overload Predictive-delay Input-output latency Subtask scheduling Real-time control Performance analysis Feedback-scheduling TrueTime

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Motorcycle control-oriented dynamics modeling for accelerated maneuvers on slippy terrains

Motorcycle control-oriented dynamics modeling for accelerate...

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international conference on Engineering Vibration (ICoEV)

作者： Jarzebowska, Elzbieta Ciesluk, Michal Warsaw Univ Technol Power & Aeronaut Engn Dept Nowowiejska 24 St PL-00665 Warsaw Poland

The paper presents a motorcycle dynamics model developed for testing and future model based controller designs for accelerated maneuvers on variable slip terrains. The dynamics is simplified, yet it captures real motorcycle behaviors when it accelerates and decelerates on a curvy trajectory and contact forces due to variable ground properties change and allow to generate slip. The tire - terrain model is based upon a simplified Pacejka model. The paper objective is not to obtain complex dynamical systems of equations like those required for high-fidelity simulations. Instead, the aim is to derive simple but reliable and manageable models that enable designing and implementing, and verifying control laws, as well as maintaining their capability to capture the main behaviors of real systems. The paper applies the adopted assumptions to develop the motorcycle model, and presents simulation tests for the motorcycle acceleration and deceleration during turn maneuvers, and during changes of the ground the vehicle moves on.

关键词： Motorcycles

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Variational inference-based EM for quantized FIR system parameter identification 14

Variational inference-based EM for quantized FIR system para...

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14th IEEE international conference on control and Automation (ICCA)

作者： Wang, Xiaoxu Li, Chaofeng Zhang, Jun Zhang, Qianyun Hu, Jinwen Northwestern Polytech Univ Automat Sch Xian 710072 Peoples R China Beijing Aerosp Automat Control Inst Beijing 100854 Peoples R China

ISBN: (纸本)9781538660898

In this paper, we propose a general method based on variational inference for the system parameter (SP) identification of quantized finite impulse response (FIR) systems. The core is to first express the transition probability from actual data to quantized output with a simple general Gaussian process characterized by compensation parameters (CPs). Then the SP and CPs are iteratively estimated by proposing an expectation maximization (EM) based on variational inference (EM-VI). The EM-VI avoids the complex integral calculation, but with good SP identification performance. Finally, the simulation demonstrates that the EM-VI is feasible and effective with the almost same accuracy as the existing algorithms, but requires the less computation.

关键词： Probability Finite impulse response filters Quantization (signal) Estimation Entropy Gaussian processes Computational modeling"

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