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检索条件"主题词=Computer algorithms"

共 3464 条记录，以下是3331-3340 订阅

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Triple Tilting Rotor mini-UAV: Modeling and Embedded Control of the Attitude

Triple Tilting Rotor mini-UAV: Modeling and Embedded Control...

引用

2008 American Control Conference, Pages 3088-3529

作者： J. Escareno A. Sanchez O. Garcia R. Lozano Heudiasyc-UTC UMR 6599 Centre de Recherches de Royallieu B.P. 20529 60205 Compiegne France

ISBN: (纸本)9781424420780

The goal of this paper is to present a novel configuration for a three-rotor mini Unmanned Aerial Vehicle (UAV). The proposed design incorporates advantageous structural features which enhance the maneuverability of the rotorcraft. The detailed mathematical model of the vehicle's attitude is obtained through the Newton-Euler formulation. In terms of control, we propose a control law which is robust with respect to dynamical couplings and adverse torques. The vehicle tilts simultaneously the three rotors to stabilize the yaw dynamics. The resulting control algorithm is simple for embedded purposes. A customized low-cost embedded system was developed to test an autonomous stabilized-attitude flight, obtaining satisfactory results.

关键词： Three-rotor aircraft Coupled dynamics Collective tilting Homemade IMU Embedded architecture VTOL Attitude control law maneuverability Structural properties embedding computer algorithms Treble

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Robust Fuzzy Tracking Control For a Class of Perturbed Non Square Nonlinear Systems

Robust Fuzzy Tracking Control For a Class of Perturbed Non S...

引用

American Control Conference

作者： Sinda Aloui Olivier Pages Ahmed El Hajjaji Abdessattar Chaari Yassine Koubaa University of Picardie Jules Verne (UPJV) MIS 7 Rue du Moulin Neuf 8000 Amiens France Electrical Engineering Department National Engineering School B.P W 3080 Sfax Tunisia

ISBN: (纸本)9781424474264

A stable adaptive fuzzy control based tracking control is developed for a class of Multi Input Multi Output (MIMO) non square nonlinear systems with external disturbances using sliding mode algorithm. This control algorithm further justifies that non square systems can be controlled in their original non square form instead of squaring them by adding or eliminating variables. This method integrates adaptive fuzzy systems to approximate the unknown nonlinear functions. Then, in order to reduce the chattering phenomenon without deteriorating the tracking performances, the discontinuous term in the conventional sliding mode technique is replaced by an adaptive Proportional Integral (PI) term. All parameter adaptive laws are derived based on Lyapunov stability analysis. The overall adaptive fuzzy scheme guarantees the convergence to zero of tracking errors as well as the boundedness of all signals in the closed-loop system. The validity of the proposed approach is shown by computer simulations.

关键词： adaptive fuzzy system tracking control external disturbance computer algorithms non Fuzzy

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Development of a Plug-and-Play Multiple RTU Coordination Control Algorithm for Small/Medium Commercial Buildings

Development of a Plug-and-Play Multiple RTU Coordination Con...

引用

American Control Conference

作者： Donghun Kim James E. Braun Jie Cai Jianghai Hu School of Mechanical Engineering Purdue University West Lafayette IN USA Electrical and Computer Engineering Purdue University West Lafayette IN USA

ISBN: (纸本)9781479917730

There have been very few advanced control algorithms developed for small commercial buildings due to practical difficulties such as the spatial comfort variations, significant disturbances, high sensor costs, and high cost of site-specific engineering solutions. High implementation cost has been a major impediment to successful market penetration. The focus of this work is to develop and demonstrate plug-and-play optimal coordination of multiple roof top units (RTUs). The goal is to minimize the time required to configure the control strategy in order to enable a more cost effective control implementation for small commercial building applications.

关键词： commercial buildings Plug and play control strategy computer algorithms coordinated control

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Research on Leader-Follower Cooperative for Multi-Unmanned Surface Vehicles Based on Sigmoid Method

Research on Leader-Follower Cooperative for Multi-Unmanned S...

引用

Artificial Intelligence and Electromechanical Automation (AIEA), International Conference on

作者： Chong Qu Gongxing Wu Shuli Jia LinLing Wang Automation Engineering Department Shanghai Marine Diesel Engine Research Institute Shanghai China College of Ocean Science and Engineering Shanghai Maritime University Shanghai China

ISBN: (数字)9781728182889

ISBN: (纸本)9781728182896

According to the actual needs of marine resource development and marine environmental protection, in order to solve the problem of cooperative operation of multiple Unmanned Surface Vehicles (USVs), a multi-USVs cooperative path tracking algorithm based on Sigmoid function is proposed. The characteristic model for multi-USVs synchronous navigation is established. The path tracking algorithm is studied for the leader USV based on the inverse trigonometric function method. Considering the turning speed, the follower USV collaborative control algorithm is discussed. The control algorithm is used for the cooperative navigation control of multi-USVs. In this paper, simulation experiments on cooperative navigation of multi-USVs are carried out. The experimental data shows the feasibility and reliability of the leader-follower cooperative mechanism and cooperative control algorithm.

关键词： Multiple Unmanned Surface Vehicle Cooperative control Leader-follower Sigmoid function coordinated control Ground vehicles computer algorithms Sigmoid Colon Resource development Unmanned Surface Vessel environment protection navigation

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algorithms, Data Structures, and Problem Solving With C++ 2

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1996年

作者： [美] Mark Allen Weiss

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Control-oriented modelling of gas-liquid cylindrical cyclones

Control-oriented modelling of gas-liquid cylindrical cyclone...

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American Control Conference

作者： Torstein Thode Kristoffersen Christian Holden Sigurd Skogestad Olav Egeland Department of Mechanical and Industrial Engineering Norwegian University of Science and Technology (NTNU) Department of Chemical Engineering Norwegian University of Science and Technology (NTNU)

ISBN: (纸本)9781509045839

Compact separators are increasingly used for subsea separation of hydrocarbons, because of their low weight and low cost. A problem is their small volume, which makes them very sensitive to flow variations. This can degrade separation performance, which in turn can cause operational problems and economic loss. Improved control can increase robustness and therefore, the focus of this paper is to derive a control-oriented model based on first principles to enable the development of robust control algorithms. The derived model is controlled by a PI feedback control algorithm and tuned using the SIMC tuning rules. The model is qualitatively verified in simulations, and the behaviour confirmed with reported observations from experimental work and field applications from literature.

关键词： Underweight cyclones Hydrocarbons tuning Cylindrical Turning focus FOCUSING Standing Orders simulating Separators Modeling Object oriented modeling computer algorithms economic losses

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Quadrotor Trajectory Tracking Control using Non-Linear Model Predictive Control with ROS Implementation

Quadrotor Trajectory Tracking Control using Non-Linear Model...

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International Conference on Control, Mechatronics and Automation (ICCMA)

作者： Mohamed Owis Seif El-Bouhy Ayman El-Badawy Mechatronics Department German University in Cairo Cairo Egypt

ISBN: (纸本)9781728137889

This paper presents a Model Predictive Controller for trajectory tracking control of the quadrotor using the ACADO Toolkit on Matlab/Simulink. Model Predictive Control (MPC) prediction feature and ability to obtain optimal control action yields an accurate trajectory tracking performance. The controller is applied to a quadrotor system. The mathematical model was derived using Newton's and Euler's laws. Simulations for the trajectory tracking test was done for evaluating the trajectory tracking performance. Afterwards, an interface between RotorS Gazebo Simulator and Simulink was implemented using the Robot Operating System (ROS) for validation of the controller's performance. The paper presents the results of both simulations under disturbances to determine the suitability and validity of the proposed control algorithm.

关键词： adaptive control control engineering computing helicopters mobile robots nonlinear control systems optimal control predictive control trajectory control control engineering computing trajectory control Predictive control Nonlinear control systems Helicopters Mobile robots Optimal control trajectory tracking adaptive control nonlinear model predictive control computer algorithms control action Predictive controllers

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Stability of Rate and Power Control algorithms in Wireless Cellular Networks

Stability of Rate and Power Control Algorithms in Wireless C...

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IEEE Conference on Decision and Control

作者： Anders Moller Ulf T. Jonsson Mats Blomgren Fredrik Gunnarsson Center for Industrial and Applied Mathematics (CIAM) and the Royal Swedish Academy of Sciences KTH Ericsson Research

ISBN: (纸本)9781612848006

In radio resource management for cellular networks a trade-off has to be made between the congestion level, related to cell coverage and intercell interference, and the Quality of Service (QoS) or data rates of the users. This is implemented by using a fast inner power control loop and an outer rate control algorithm, working on a slower time scale. Due to the distributed nature of the network, both information and control is distributed. Measurements of congestion and QoS are used in the control loops and this introduces a nonlinear feedback. Another complicating factor is that filtering, computations and information exchange in the network introduce time delays. In this paper we propose a general high order model as a cascade system with an outer and inner control loop. The control algorithms use distributed information available in the network. The full system model includes the nonlinear feedback from congestion and QoS measurements, time delays and time scale modelling. We provide sufficient conditions for stability and convergence of the system. Our primary analysis tool is input output theory.

关键词： Quality of service control ring Cellular networks computer algorithms nonlinear feedback cascade systems Power control Sufficient conditions inter-cell interference time scales Data transfer rates information exchange management of resources

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Reactive Power Scheduler for Voltage Regulation of Distributed Energy Systems

Reactive Power Scheduler for Voltage Regulation of Distribut...

引用

IEEE Energy Conversion Congress and Exposition

作者： Ali Safayet Iqbal Husain Yilmaz Sozer Electrical and Computer Engineering Department North Carolina State University Raleigh NC USA Electrical and Computer Engineering Department The University of Akron Akron OH USA

ISBN: (纸本)9781479903375

A new reactive power scheduler control algorithm for the distributed voltage regulation with PQ inverters is proposed in this research. An elegant approach to achieve voltage regulation in utility grid is proposed through appropriate control of the renewable energy systems. PQ inverter capable of producing the reactive power is used to either achieve local voltage regulation or produce the reactive power commanded from the outer voltage regulator in the upper hierarchy of the grid management system. The proposed PQ scheduler and PQ inverters will work harmoniously in the local substation with minimum communication interface. The proposed control techniques achieve efficient utilization of the PQ inverters with maximum efficiency. The proposed energy network and the control algorithms are modeled at the system level to verify the effectiveness of the proposed system architecture.

关键词： modeled proposed effectiveness Voltage regulation Reactive power computer algorithms scheduler program Inventors system level ENERGY SYSTEMS distributed energy system energy grid Building systems maximum efficiency

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Adaptive Damping Power Take-Off Control for a Three-Body Wave Energy Converter

Adaptive Damping Power Take-Off Control for a Three-Body Wav...

引用

IEEE Energy Conversion Congress and Exposition

作者： Zhe Zhang Ted Brekken Ken Rhinefrank Al Schacher Joe Prudell Erik Hammagren Pukha Lenee-Bluhm School of Electrical Engineering and Computer Sci. Oregon State University Corvallis Oregon 97331 Columbia Power Technologies Inc. 4920A SW 3rd Street Corvallis OR 97333

ISBN: (纸本)9781479903375

The performance of the power take-off (PTO) system for a wave energy converter (WEC) depends largely on its control algorithm. This paper presents an adaptive damping control algorithm which improves power capture across a range of sea states. The comparison between this control algorithm and other active control approaches such as linear damping is presented. Short term wave elevation forecasting methods and wave period determination methods are also discussed as pre-requirements for this method. This research is conducted for a novel WEC, developed by Columbia Power Technologies (COLUMBIA POWER). All hydrodynamic models are validated with their 1:7 and 1:33 scale tests.

关键词： PTO WEC linear Power output Westinghouse Electric Corporation computer algorithms Linear Linear damping WAVE ENERGY CONVERTERS Power Standing Orders

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