The objective of this work is to simultaneously control and identify the nonlinear longitudinal dynamics of small-scale fixed-wing Unmanned Aerial Vehicles (UAVs). The main difficulty in this endeavor lies in the sati...
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ISBN:
(数字)9781665465076
ISBN:
(纸本)9781665465083
The objective of this work is to simultaneously control and identify the nonlinear longitudinal dynamics of small-scale fixed-wing Unmanned Aerial Vehicles (UAVs). The main difficulty in this endeavor lies in the satisfaction of the Persistence of Excitation (PE) condition, which eventually ensures accurate learning. Towards this direction, our key components comprise Radial Basis Function - Neural Networks (RBF-NNs), which are suitable mathematical models for universal function approximation, alongside with: i) the recently developed Dynamic Regression Extension and Mixing (DREM) technique; a new procedure for designing parameter estimators with enhanced performance, as well as ii) a novel control design for the longitudinal UAV dynamics utilizing the Prescribed Performance control (PPC) methodology, which enables robust trajectory tracking with predetermined transient and steady state quality, even in the presence of model uncertainties.
This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified by Asano and Luo (2006) that underactuated virtual passive dynamic walking can be realized by using the rolling...
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This paper investigates the effect of semicircular feet on dynamic bipedal walking. It has been clarified by Asano and Luo (2006) that underactuated virtual passive dynamic walking can be realized by using the rolling effect, which acts as the ankle-joint torque virtually. It has been also shown that, throughout parameter studies, the rolling effect dramatically increases the stable domain of limit cycles. Now that the effect of semicircular feet during stance phase has been discussed, this paper then focuses the effect on mechanical energy dissipation by heel-strike. It is theoretically clarified that, through modeling and analysis of an inelastic collision, increasing walking speed is achieved not by the rolling effect during stance phase but by the effect of reducing mechanical energy dissipation by heel-strike.
The design of PID controllers for systems with interacting loops is discussed. It is important to deal with the interaction at the lower-level loops, since supervisory control based on for instance MPC seldom has suff...
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The design of PID controllers for systems with interacting loops is discussed. It is important to deal with the interaction at the lower-level loops, since supervisory control based on for instance MPC seldom has sufficient bandwidth. A new scheme based on modified scalar PID design and static decoupling is developed, where the frequency characteristics of the coupling between the lower-level loops is taken into account. This leads to a design method emphasizing the trade-off between the individual loop performances and the so called interaction indices. The controller is easily implemented, due to its simple configuration based on standard components. The method is applied to a couple of examples.
In this work we focus on iterative learning control(ILC) design for tracking iteration-varying reference trajectories that are generated by high-order internal models(HOIM).An HOIM can be formulated as a polynomial op...
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In this work we focus on iterative learning control(ILC) design for tracking iteration-varying reference trajectories that are generated by high-order internal models(HOIM).An HOIM can be formulated as a polynomial operator between consecutive iterations to describe the changes of desired trajectories in the iteration *** classical ILC for tracking iteration-invariant reference trajectories, on the other hand,is a special case of HOIM where the polynomial renders to a unity coefficient or a special first order internal *** inserting the HOIM into P-type ILC, the tracking performance along the iteration axis is investigated for a class of continuoustime nonlinear *** of conventional time-weighted norm method guarantees validity of proposed algorithm in a sense of data-driven control.
A robotic system at the discrete event level requires a suitable discrete event controller that guarantees coordination and dead lock avoidance. It requires also a robust system of fault detection and localization bas...
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ISBN:
(纸本)9781424458424
A robotic system at the discrete event level requires a suitable discrete event controller that guarantees coordination and dead lock avoidance. It requires also a robust system of fault detection and localization based on minimum feedback information. This paper proposes a new approach fulfilling the discrete event coordinated control and also achieving the fault detection and localization (FDL) tasks. This approach is based on Petri net model of the robotic system, on Petri net supervisor employing place invariant technique, and based on a Petri net diagnoser on employing g-marking concept. The robotic system under investigation is composed of two autonomous robots to be moved in five rooms according to certain crossing control rules. The application of the proposed approach results in coordinated robots motion and detection and localization of a simulated fault.
In many discrete-event systems (DES) both state and event information are of importance to the systems designer. As a first step towards obtaining hierarchical models of systems, the behavior of DESs with unobservable...
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In many discrete-event systems (DES) both state and event information are of importance to the systems designer. As a first step towards obtaining hierarchical models of systems, the behavior of DESs with unobservable transitions and state output maps is considered. Observers for deterministic DES are generalized to nondeterministic DES and characterized using the join semi-lattice of compatible partitions of a transition system. This characterization points to efficient algorithms for computing both strong and weak state-event observers as solutions to the relational coarsest partition problem. The strong and weak observation equivalences of Milner are shown to be special cases of our observers under the trivial (constant) state output map.< >
A fundamental question in systems biology is what combinations of mean and variance of the species present in a stochastic biochemical reaction network are attainable by perturbing the system with an external signal. ...
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In this paper a novel algorithm is presented for the efficient two-dimensional (2-D) symmetric noncausal finite impulse response (FIR) filtering and autoregressive (AR) modeling. Symmetric filter masks of general boun...
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In this paper a novel algorithm is presented for the efficient two-dimensional (2-D) symmetric noncausal finite impulse response (FIR) filtering and autoregressive (AR) modeling. Symmetric filter masks of general boundaries are allowed. The proposed algorithm offers the greatest maneuverability in the 2-D index space in a computational efficient way. This flexibility can be taken into advantage if the shape of the 2-D mask is not a priori known and has to be dynamically configured.< >
The paper considers a set-membership joint estimation of variables and parameters in complex dynamic networks based on parametric uncertain models and limited hard measurements. The recursive estimation algorithm with...
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The paper considers a set-membership joint estimation of variables and parameters in complex dynamic networks based on parametric uncertain models and limited hard measurements. The recursive estimation algorithm with moving measurement window is derived that is suitable for on line network monitoring. The window allows stabilising the classic recursive estimation algorithm and significantly improves the estimate tightness. The estimator is validated on a case study water distribution network. Tight set estimates of unmeasured pipe flows, nodal heads and pipe resistances are obtained.
The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuato...
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The feedback control structures are required in the presence of any kind of uncertainty. The benefits of the feedback are mainly paid with an excessive bandwidth that amplifies the sensor noise, saturating the actuators. This implies the necessity of design tradeoffs highly transparent from the Quantitative Feedback Theory. Supposing a given uncertainty for a plant, the set of performance and stability requirements will condition the problem solution. Taking advantage of the QFT bound typology and formulation, the contribution of the robust specification values to their simultaneous achievement will be analysed and particularly as regards the challenging task of the controller design.
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