This brief presents a development of a real-time hardware-in-the-loop system using software-defined radios to emulate multi-sensor networked control systems (NCS) under real-world conditions. Also, a dedicated estimat...
详细信息
This brief presents a development of a real-time hardware-in-the-loop system using software-defined radios to emulate multi-sensor networked control systems (NCS) under real-world conditions. Also, a dedicated estimation algorithm for NCS using binary phase shift keying modulation, addressing signal-to-noise ratio constraints and channel characteristics from a sensor fusion perspective is addressed. This system supports remote placement of modules like sensors, estimators, and controllers interconnected via wireless channels, enabling distributed operation. This brief experimentally evaluates two scenarios: one involving a single measurement and the other utilizing a fusion-based approach. The proposed system, acting as a testbed helps in system evaluation before deployment.
Unmanned Aerial Vehicles (UAVs) have received considerable attention from the academic community and technology solutions companies, given their civilian and military applications. The autopilot system shall be thorou...
详细信息
ISBN:
(纸本)9781467395199
Unmanned Aerial Vehicles (UAVs) have received considerable attention from the academic community and technology solutions companies, given their civilian and military applications. The autopilot system shall be thoroughly tested in lab because an accident may cause irreversible damage to the UAV. This article presents a proposal of a hardware-In-the-loop platform for testing and validation of a small fixed-wing aircraft. Besides a communication system, it was developed a deflection measurement platform of the aircraft control surfaces. This measurement platform was validated, enabling future work on implementing embedded control algorithms.
Unmanned Aerial Vehicles (UAVs) have received considerable attention from the academic community and technology solutions companies, given their civilian and military applications. The autopilot system shall be thorou...
详细信息
ISBN:
(纸本)9781467395205
Unmanned Aerial Vehicles (UAVs) have received considerable attention from the academic community and technology solutions companies, given their civilian and military applications. The autopilot system shall be thoroughly tested in lab because an accident may cause irreversible damage to the UAV. This article presents a proposal of a hardware-In-the-loop platform for testing and validation of a small fixed-wing aircraft. Besides a communication system, it was developed a deflection measurement platform of the aircraft control surfaces. This measurement platform was validated, enabling future work on implementing embedded control algorithms.
In this work, we demonstrate the effectiveness of nonlinear model predictive control (NMPC) approximation based on deep neural network (DNN). MPC has been widely adopted in autonomous driving control problems to handl...
详细信息
ISBN:
(纸本)9798331517939;9788993215380
In this work, we demonstrate the effectiveness of nonlinear model predictive control (NMPC) approximation based on deep neural network (DNN). MPC has been widely adopted in autonomous driving control problems to handle multiple objectives and constraints. We first design the implicit NMPC for the forward and backward motions of a truck-trailer (TT) system, which follows the reference path while maintaining safety between the head truck (HT) and the trailer (TR). However, the computational load in implicit MPC makes it a challenge for real-time implementations. To alleviate the computational burden in implicit NMPC online, an NMPC approximation approach based on DNN is adopted in this study to achieve a parametric function approximation. We conduct a comparative study on the proposed approach and a baseline controller for control performance analysis, and the computational load is evaluated on a hardware-in-the-loop (HIL) experimental system.
暂无评论