This paper comprises the control-oriented modeling of an integrated vehicle system including powertrain, brake, active suspension and steering components. As the first step, the models of a vehicle are formalized. In ...
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A new variable tap-length LMS algorithm is proposed in this paper. This algorithm can effectively obtain both fast convergence rate and small steady state error by non-linear weighting L errors of the current moment a...
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This paper deals with the topic of qLPV state-space model based control design in which LMIs are used to optimize the multi-objective control performance. In this paper we investigate how the convex hull of the polyto...
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ISBN:
(纸本)9789549260014
This paper deals with the topic of qLPV state-space model based control design in which LMIs are used to optimize the multi-objective control performance. In this paper we investigate how the convex hull of the polytopic model influences the state value estimation of the LMI based control design. We examine these influences through the control design of the two dimensional aeroelastic system's example. First we define various TP type polytopic model representations of a wing section whose vertices define different convex hulls. In the second step we investigate how these models lead to different performances of the state value estimation.
The paper comprises the control design of a road-friendly suspension system and the optimal choice of linear quadratic (LQ) weighting. By designing the influence of the dynamic loads of wheels it is possible to reduce...
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This paper addresses a fuzzy aggregated hierarchical sliding mode control approach for a class of underactuated systems. By capturing the physical nature of the class, an aggregated hierarchical structure of the slidi...
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This paper addresses a fuzzy aggregated hierarchical sliding mode control approach for a class of underactuated systems. By capturing the physical nature of the class, an aggregated hierarchical structure of the sliding surfaces is designed. The control law is deduced from the Lyapunov direct method. The stability of the inner sliding surfaces is proven. By fusing the priori knowledge about the class of systems, a fuzzy logic is designed to regulate the controller's gain. Finally, simulation results show the validity of the proposed approach through control problems of two typical underactuated systems.
In this paper, the robust output regulation problem of a networked linear system with uncertainties is considered. Based on internal model, distributed control scheme is adopted to achieve the objectives of asymptotic...
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This paper presents a decision support tool for the effectiveness of a Quality Management System (QMS) in a company. To develop this tool, a new approach PAHP based on the combination of the Pareto Optimality Concept ...
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This paper introduces a high performance vision tracking system for mobile robot using sensor data fusion. For mobile robots, it is difficult to collect continuous vision information due to robot's motion. To solv...
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This paper introduces a high performance vision tracking system for mobile robot using sensor data fusion. For mobile robots, it is difficult to collect continuous vision information due to robot's motion. To solve this problem, the proposed vision tracking system estimates the robot's position relative to a target and rotates the camera towards the target. This concept is derived from the human eye reflex mechanism, known as the Vestibulo-Ocular Reflex (VOR), for compensating the head motion. This concept for tracking the target results in much higher performance levels, when compared with the conventional method that rotates the camera using only vision information. The proposed system do not require heavy computing loads to process image data and can track the target continuously even during vision occlusion. The robot motion information is estimated using data from accelerometer, gyroscope, and encoders. This multi-sensor data fusion is achieved using Kalman filter. The proposed vision tracking system is implemented on a two-wheeled robot. The experimental results show that the proposed system achieves excellent tracking and recognition performance in various motion scenarios, including scenarios where camera is temporarily blocked from the target.
The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex com...
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ISBN:
(纸本)9781424476527
The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter-Varying (LPV) state-space models into polytopic model form, namely, to parameter-varying convex combination of Linear Time Invariant (LTI) systems. The main advantage of the TP model transformation is that it is executable in a straightforward way and the Linear Matrix Inequality (LMI) based control design frameworks can immediately be applied to the resulting polytopic models to yield controllers with tractable and guaranteed performance. The main contribution of this paper is that it represents the friction of a DC servo drive in TP model form, automatically designs LMI based controller for friction compensation. The reference signal compensation is also based on the TP model transformation. The results were simulated for speed control of the DC servo drive and were compared to other control techniques.
Attitude determination with navigation satellites is a key technology in aviation, marine and land navigation. In the method based on carrier phase difference, the double difference integer ambiguity solving is import...
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