The complex embedded systems used in aircraft and guided weapon systems have complex tasks and diverse I/O interfaces for controlling the interconnected slave systems. Some complex systems consist of many embedded sys...
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The complex embedded systems used in aircraft and guided weapon systems have complex tasks and diverse I/O interfaces for controlling the interconnected slave systems. Some complex systems consist of many embedded systems which are closely cooperated each other to perform designated mission. Hardware-in-the-Loop(HWIL) simulation system of complex embedded system suppose to be implemented as a complex system, which has a complex software architecture and hardware configuration, because it needs to support real-time computation of complex embedded system models within a strictly constrained time interval and real-time I/O interfaces. With the HWIL simulation system, the users may run HWIL simulation on the various test scenarios and may implement many sorts of software in accordance with the test scenarios. Therefore, it should have the well-designed software architecture to provide convenient way for developing HWIL simulation environment and support real-time control environment. It also should support interactive simulation control and real-time data acquisition capabilities to provide simulation state control and data analysing environment. This paper suggests layered HWIL simulation control system architecture, which comprises I/O device driver, I/O library, HWIL Simulation control executive, and application, for building evaluation environment of the complex embedded system. In this architecture, real-time control mechanism using internal CPU timer is included. It, also, suggests two protocols, named Command Processing Protocol(CPP) and Multi-rate Data Acquisition Protocol(MDAP), for interactive simulation control and real-time simulation data acquisition. The proposed architecture is implemented as tasks based on the Commercial Off-The-Shelf(COTS) real-time operating system which runs on the computing processor installed on VME bus platform.
Hysteresis nonlinearity exists in many physical actuators and actuator failures seem inevitable in practice. However, there is still no result available to compensate for failures of hysteric actuators in the design o...
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Hysteresis nonlinearity exists in many physical actuators and actuator failures seem inevitable in practice. However, there is still no result available to compensate for failures of hysteric actuators in the design of controllers based on adaptive approaches. In this paper, we address such a problem by considering controlling a class of unknown nonlinear systems with multiple hysteric actuators. Two schemes are presented to design control signals for these actuators. Both schemes can accommodate uncertain patterns, values and time of actuator failures, in addition to system parametric uncertainties. It is shown that the designed controllers can compensate for failure and hysteresis effects of the actuators in the sense that system stability and tracking performance are maintained no matter whether this is any actuator failure or not.
This paper develops a systematic procedure of designing global power system stabilizers (GPSSs) based on collocated control to enhance the damping during interarea oscillations. The availability of remote signals from...
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ISBN:
(纸本)9781457710001
This paper develops a systematic procedure of designing global power system stabilizers (GPSSs) based on collocated control to enhance the damping during interarea oscillations. The availability of remote signals from phasor measurement units (PMUs) enables the wide-area control in large scale systems. The closed loop eigenvalues are excluded from a region of the complex plane by the collocated control algorithm guaranteeing that low frequency modes must be damped. The optimum locations for GPSSs were selected using controllability. The damping performance of a 16-machine, 68-bus study system reinforced with GPSSs is examined in the frequency and time domains. The simulation results show that the control scheme is able to damp out interarea oscillations following possible disturbances.
The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. Thi...
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The paper analyzed and model of a fault tolerant electromechanical controlled worm gear driven fuel shut off valve for aerospace application. The analysis is mainly on design a reduced order fractional controller. This is for controlling the velocity of worm gear so that the friction torque due to uneven rotational speed can be avoided. Because with the friction and stiction and backlash the valve system performance is reduced and more and more unstable this leads the system to failure. The proposed controller can provide robustness against the uncertain loading torque and system parameter.
This paper aims to address the robust convergence problem that arises from discrete-time iterative learning control (ILC) systems subject to random disturbances. Two alternative approaches are considered in order to a...
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ISBN:
(纸本)9781612848006
This paper aims to address the robust convergence problem that arises from discrete-time iterative learning control (ILC) systems subject to random disturbances. Two alternative approaches are considered in order to achieve the perfect output tracking of the stochastic discrete-time ILC systems in the sense of both expectation and variance, which use the tracking error and the input error for analysis, respectively. It is shown that the convergence results of two approaches to ILC can be established by developing some statistical expressions in super-vector forms. Moreover, it is demonstrated that the convergence results of two approaches to ILC are not always equal, and they can keep the same only in the case where the controlled plants are square.
This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple con...
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ISBN:
(纸本)9781612848006
This paper is concerned with the column formation control of multi-robot systems that are subject to input constraints. A new leader-follower setup is proposed, under which the Lyapunov method can provide a simple controller in terms of two feedback parameters. It is shown that using an elliptic approximation to input constraints, the two feedback parameters can be obtained directly with a geometric analysis method. Moreover, a sufficient condition is presented for the leader robot to guarantee that the desired column formation can be achieved, with which a particular controller is designed by selecting two appropriate functions for the feedback parameters. Simulation results are included to verify the effectiveness of the proposed theoretical results.
The paper focuses on the design of a platoon control system which takes into consideration the knowledge of the inclinations of the road and the speed limits along the route of the platoon. By choosing the velocity of...
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ISBN:
(纸本)9781457708381
The paper focuses on the design of a platoon control system which takes into consideration the knowledge of the inclinations of the road and the speed limits along the route of the platoon. By choosing the velocity of the platoon fitting in with the inclinations of the road the number of unnecessary accelerations and brakings can be reduced. In the control design of the platoon system a balance between energy reduction and travelling time must be achieved. The control design is based on a parameter-dependent LPV method, which guarantees both disturbance attenuation and robustness against uncertainties.
Robust L_(2) - L_(infinity) consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus pro...
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ISBN:
(纸本)9781612848006
Robust L_(2) - L_(infinity) consensus control is studied for the second-order multi-agent systems with external disturbances and parameter uncertainties. By defining an appropriate controlled output, the consensus problem of the systems is transformed into a normal L_(2) - L_(infinity) control problem, and distributed state feedback protocols with time-delay are proposed. Sufficient conditions are established for the convergence to consensus of the network under fixed or switching topology. Numerical simulations are provided to demonstrate the effectiveness of our theoretical results.
This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative ...
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ISBN:
(纸本)9781612848006
This paper deals with the active collision avoidance maneuver for the chaser along the specified trajectory, and presents a maneuver approach with constant thrust. Using the 3D stereo vision measurement, The relative position parameters of the target spacecraft for analyzing the collision possibility are obtained by using the vision measurement and the target maneuver positions are calculated through the equidistance interpolation method. The working times of thrusters in three axes can be respectively computed by the time series analysis method. In particular, the perturbation and fuel consumption are addressed during the computation of working time. Furthermore, the acceleration sequences and the corresponding working time series can be employed to determine a switching control law for the active collision avoidance maneuver. The simulation results show that the switch control law can effectively guarantee the chaser moving along the specified trajectory.
This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and ...
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ISBN:
(纸本)9781612848006
This paper addresses the problem of tracking multiple maneuvering extended targets in the framework of random finite set theory. An elliptical model is adopted for exploiting sensor measurements of target extent, and the target dynamics is described by a jump Markov linear system which combines the shape parameters into the kinematic state vector. As each extended target gives rise to unlabeled multiple measurements per time step, all the received measurements are partitioned into a number of subsets so that the measurements in each subset are expected to stem from the same source. In addition, the best-fitting Gaussian approximation approach is employed to circumvent the difficulty of multiple model mixing in the Gaussian mixture probability hypothesis density (GM-PHD) filter. A numerical example is provided to compare the performance of the proposed filter with that of the GM-PHD filter without measurement partition.
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