The objective of the paper is to design the control system of following a predefined 3D path while maintaining a specified flight speed and considering the timing constraint. This can be accomplished by a cascaded sol...
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This paper reviews various right/left inverses of polynomial matrices, introduced by the authors as a result of their research works on minimum variance control for LTI MIMO systems. In consequence, a new, general, Sm...
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We apply recent results on robust global asymptotic stabilization of the attitude of a single rigid body to the problem of synchronizing the attitude of a network of rigid bodies using graph-local information. The pro...
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This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD ...
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This paper presents a Gaussian mixture probability hypothesis density (GM-PHD) smoother for tracking multiple maneuvering targets that follow jump Markov models. Unlike the generalization of the multiple model GM-PHD filters, our aim is to approximate the dynamics of the linear Gaussian jump Markov system (LGJMS) by a best-fitting Gaussian (BFG) distribution so that the GM-PHD smoother can be carried out with respect to an approximated linear Gaussian system. Our approach is inspired by the recognition that the BFG approximation provides an accurate performance measure for the LGJMS. Furthermore, the multiple model estimation is avoided and less computational cost is required. The effectiveness of the proposed smoother is verified with a numerical simulation.
The vision tracking system in this paper estimates the robot position relative to a target and rotates the camera towards the target. To estimate the robot position of mobile robot, the system combines information fro...
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In this paper, an adaptive iterative learning control (ILC) scheme is proposed for trajectory tracking of uncertain delay systems based on model matching technique. The reference model is a delay system operating over...
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In this paper, an adaptive iterative learning control (ILC) scheme is proposed for trajectory tracking of uncertain delay systems based on model matching technique. The reference model is a delay system operating over in a finite time interval. An iterative model matching controller is designed and an iteration domain adaptive law is chosen to estimate the unknown parameters. It shows that the model matching technique can be applied in a straightforward method to ILC problem. A simulation example is included to illustrate the designed scheme.
Actor-critic approach and natural-gradient-based methods have recently drawn significant interests in the area of reinforcement learning, and several algorithms have been studied along the line of the natural actor-cr...
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Actor-critic approach and natural-gradient-based methods have recently drawn significant interests in the area of reinforcement learning, and several algorithms have been studied along the line of the natural actor-critic strategy. This paper considers the problem of improving a previously reported RLS-based natural actor-critic algorithm toward a version that employs learning rate adaptation. In the actor part of the studied algorithm, we follow the strategy of performing parameter update via the use of the natural gradient together with learning rate adaptation, while in its update for the critic part, the recursive least-squares method is utilized for estimating the advantage function and the state value function. The applicability of the studied algorithm is illustrated via locomotion of a two-linked robot arm.
A voltage bus conditioner (VBC) may be used to alleviate the transient bus voltage in a DC distributed power system (DC DPS). The control of the VBC is proposed in this paper adopting the sliding mode control which pr...
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ISBN:
(纸本)9788986510119
A voltage bus conditioner (VBC) may be used to alleviate the transient bus voltage in a DC distributed power system (DC DPS). The control of the VBC is proposed in this paper adopting the sliding mode control which provides robustness, good dynamic response, and simple implementation. The proposed control method carries out the operation of alleviating the transient voltage on the bus and conserving the amount of energy stored. Simulation results will be presented for validating the proposed control technique.
This paper studied about microcontrollers interaction using RS232 as a communication tool and C to programming the interaction. PIC18F4520 will be used in this prototype and MPLAB as a software tool. Before run it int...
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Coronary artery heart disease is one of the main reasons of death in under development countries such as Iran. Based on vagueness in data and uncertainty in decision making finding an optimal way for diagnosis would b...
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