We present a new observation model to improve the state estimation and prediction in a target tracking problems. There are two distinguished points in this approach. First, the measurement equation is set up in the po...
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We present a new observation model to improve the state estimation and prediction in a target tracking problems. There are two distinguished points in this approach. First, the measurement equation is set up in the polar coordinate and even combines the derivation measurement (range rate, azimuth rate, and elevation rate) with the usual position measurements (range, azimuth angle, and elevation angle). Next, the observation noise of sensor data is considered as a colored one and is being set up as a model of AR(1), by means of a pseudo measurement equation, and the requirement of Kalman filter can be satisfied. As a result, the accuracy of both the observation and prediction is increased.
In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid controlsystem. The proposed hybrid system consists of the discrete state system as the high-level proces...
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In this paper, we propose a new approach to the high-speed wall following of wheeled mobile robots using hybrid controlsystem. The proposed hybrid system consists of the discrete state system as the high-level process and the continuous state system as the low-level process. In discrete state system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The reference motion commands are translated into the control inputs for each wheel in the continuous state system. The hybrid controlsystem applied for wheeled mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in indoor navigation problem. Simulation results show that hybrid system approach is an effective method for the autonomous navigation. In the experiments of the indoor environments, we proved that the performance of the high-speed navigation is excellent.
A new reactor of SF/sub 6/ gas-insulated electromagnetic shield type for neutral grounding has been developed. This development succeeded in integrating the two functions of reactance and resistance in one reactor. Th...
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A new reactor of SF/sub 6/ gas-insulated electromagnetic shield type for neutral grounding has been developed. This development succeeded in integrating the two functions of reactance and resistance in one reactor. The paper describes the features of the new reactor and reports the results of the magnetic field analysis together with the test results of the reactor.
This paper solves the exact pole assignment problem for the single-input stochastic systems with unknown coefficients under the controllability assumption which is necessary and sufficient for the arbitrary pole assig...
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This paper solves the exact pole assignment problem for the single-input stochastic systems with unknown coefficients under the controllability assumption which is necessary and sufficient for the arbitrary pole assignment for systems with known coefficients. The system noise is required to be mutually independent with zero mean and bounded second moment. Two approaches to solving the problem are proposed: One is the iterative learning approach which can be applied when the state at a fixed time can be repeatedly observed with different feedback gains; the other is the adaptive control approach which works when the trajectories satisfy a nondegeneracy condition. Both methods are essentially based on stochastic approximation, and the feedback gains are recursively given without invoking the certainty-equivalency-principle.
This paper proposes a design method for a class D series-parallel (LC/sub s/C/sub p/) resonant inverter suitable to drive high-intensity discharge lamps. The high voltage needed to achieve the ignition of the lamp is ...
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ISBN:
(纸本)0780366069
This paper proposes a design method for a class D series-parallel (LC/sub s/C/sub p/) resonant inverter suitable to drive high-intensity discharge lamps. The high voltage needed to achieve the ignition of the lamp is reached by using the gain voltage of the resonant LC/sub s/C/sub p/ network with no auxiliary circuits for this purpose. By means of a soft start-up sequence the maximum voltage and current stress are maintained below prefixed values. In steady state, the operation point is calculated to limit the maximum power that the inverter delivers to the lamp. In this way, the variation of the lamp power caused by the lamp aging is limited in order to fulfil the standard. This design results in cost-effective circuits, simplifying the DC/AC power stage of an electronic ballast. The experimental results are given for two similar 100 W high-pressure sodium lamps with different aging.
A fuzzy control based three-phase sinusoidal current control space voltage vector modulated voltage source inverter is implemented in this paper. This fuzzy controller demonstrates better dynamic response than a conve...
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A fuzzy control based three-phase sinusoidal current control space voltage vector modulated voltage source inverter is implemented in this paper. This fuzzy controller demonstrates better dynamic response than a conventional PI controller and is chosen as a good alternative. The simulation results confirm the validity of the proposed fuzzy controller for a three-phase voltage-fed inverter with an inductive load.
A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexi...
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A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexing the controller. A numerical example is presented to illustrate the validity of the approach.
Since most of the chemical processes are represented typically by nonlinear models, the use of nonlinear geometric control in chemical processes is straightforward. This paper presents a decoupling application in a pa...
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Since most of the chemical processes are represented typically by nonlinear models, the use of nonlinear geometric control in chemical processes is straightforward. This paper presents a decoupling application in a paper machine headbox. The nonlinear geometric control is implemented with blocks for reference trajectory, tracking error, integrators of error feedback and with an anti-windup scheme. The results show a clear implementation scheme and good dynamical responses.
A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexi...
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A design approach of the initial state of the repetitive controller is proposed in this paper. The approach makes full use of the feature of the digital controller and optimizes the transient response without perplexing the controller. A numerical example is presented to illustrate the validity of the approach.
Through our research, we have developed a unique, autonomous decentralized system that can be used in the water control field. In conventional controlsystems, certain send-and-receive functions are installed in the f...
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Through our research, we have developed a unique, autonomous decentralized system that can be used in the water control field. In conventional controlsystems, certain send-and-receive functions are installed in the front-end processor (FEP) of the master station according to various properties of the information arriving from field terminals (FTs). The host computer reacts by sending control data to the FTs in accordance with the pre-installed optimum control algorithm, which receives transmitted information from the FEP. Our method intellectualizes a FT to be an intelligent field terminal (IFT) which judges the diverse information from devices of other FTs automatically and autonomously without depending on the host CPU or the FEP. The IFT provides multi-agent functions which can distinguish certain information conditions from other IFTs and can cooperate with the diverse functional agents of an IFT to resolve data conflicts among IFTs.
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