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Simulation and experimental study on attitude control of quadrotor

Simulation and experimental study on attitude control of qua...

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IEEE International Conference on Robotics and Biomimetics

作者： Nuttakorn Trirattanawananon Benjamas Panomruttanarug Kohji Higuchi Félix Mora-Camino Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Graduate School of Informatics and Engineering University of Electro-Communications Tokyo Japan French Civil Aviation Institute Toulouse France

ISBN: (纸本)9781479973989

This paper studies dynamic behavior of a quadrotor in both simulation and experiment when tracking desired attitude angles. The flight attitude control implemented in this research is designed based on a feedback control with an inner-loop structure as in the Aeroquad project. The feedback control configuration is applied to the dynamic model of a DIY qaudrotor UAV to simulate its attitude tracking behavior when tuning the PID gains based on a heuristic approach. The well-tuned PID controller is therefore applied to the experiment to validate the desired tracking response.

关键词： Attitude control Rotors Aerospace electronics DC motors Mathematical model Hardware Aerodynamics

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Performance Evaluation for Cooperative ADF Relaying V2I Communications with Burst transmission and PSA-CE schemes Over Quasi-Static Rayleigh Fading channels

Performance Evaluation for Cooperative ADF Relaying V2I Comm...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems engineering Conference 2014

作者： Gilwon Seo Min Baek Chungha Bong Kyunbyoung Ko the ConvergenceInformation Technology Research Center for Next-Generation Intelligent Transport System (C-ITRC for NGITS) the Communication and Signal Processing Lab.(CSPL)the Department of IT ConvergenceKorea National University of Transportation50 Daehak-roChungju-siChungbuk380-702 Korea the Department of Control and Instrumentation Engineering Korea National University of Transportation50 Daehak-roChungju-siChungbuk380-702 Korea

In this paper,we propose the analytical approach for adaptive decode-and-forward(ADF) relaying vehicle-toinfrastructure(V2I) schemes consisting of ND-symbol burst data transmission based on pilot symbol assisted-channel estimation(PSA-CE) methods over quasi-static Rayleigh fading *** first,we focus on the error-event at relaying on board equipments(OBEs) for ND-symbol burst data transmission,whereas previous researches considered one data symbol transmission so that they showed the best performance *** considering ND-symbol burst for ADF relaying schemes,we derive an exact bit error rate(BER) expression which can be the performance of practical ***,the practical channel estimation(CE) process is considered by pilot symbols ***,we investigate the effects of both a CE error and an estimated noise variance,which can be obtained by pilot symbol assisted(PSA)-CE methods,on the received signal-to-noise ratio(SNR) and ***,the average BER is derived in approximated closed-form expression for an arbitrary link *** derived analytical approach is verified based on the number of relaying OBEs,pilots,and data *** accuracy is confirmed by comparison with simulation results.

关键词： SNR Performance Evaluation for Cooperative ADF Relaying V2I Communications with Burst transmission and PSA-CE schemes Over Quasi-Static Rayleigh Fading channels Rayleigh ADF

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Performance Analysis of Cooperative HADF Relaying V2I Communication systems for ND-symbol Burst Transmission using PSA-CE methods Over Quasi-Static Rayleigh Fading channels

Performance Analysis of Cooperative HADF Relaying V2I Commun...

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17th International IEEE Conference on Intelligent Transportation systems & The Asia-Pacific Council on systems engineering Conference 2014

作者： Min Baek Gilwon Seo Chungha Bong Kyunbyoung Ko the Convergence-Information Technology Research Center for Next-Generation Intelligent Transport System (C-ITRC for NGITS) the Communication and Signal Processing Lab.(CSPL)the Department of IT ConvergenceKorea National University of Transportation50 Daehak-roChungju-siChungbuk380-702 Korea the Department of Control and Instrumentation Engineering Korea National University of Transportation50 Daehak-roChungju-siChungbuk380-702 Korea

In this paper,we derive the average symbol error rate(SER) for the ND-symbol burst hybrid adaptive decodeor-amplify-forward(HADF) relaying vehicle-to-infrastructure(V2I) communication systems over quasi-static independent and non-identical distributed(INID) Rayleigh fading *** proposed analytical approach includes channel estimation(CE)errors generated by practical pilot symbol assisted-CE(PSACE) ***,based on the error-events at relaying on board equipments(OBEs) for ND-symbol burst data transmission,the conditional SER expression has been derived as an exact ***,the approximated average SER(ASER)expressions are presented as the closed-forms and their accuracy is confirmed by the comparison with simulation ***,we can conclude that our analytical expressions are tractable forms,and can be used as a tool to verify effects of an erroneous detection and hybrid transmission at each relaying OBE on the combined signal-to-noise ratio(SNR) and ASER for cooperative HADF relaying communication systems.

关键词： SNR ADF Performance Analysis of Cooperative HADF Relaying V2I Communication systems for ND-symbol Burst Transmission using PSA-CE methods Over Quasi-Static Rayleigh Fading channels Rayleigh

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Approaches at KAIST NICIE Lab to quantifying situation awareness in nuclear power plant MCRs

Approaches at KAIST NICIE Lab to quantifying situation aware...

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作者： SEONG Poong-Hyun YIM Ho-Bin KIM Man-Cheol HA Jun-Su LEE Hyun-Chul LEE Seung-Woo Department of Nuclear and Quantum Engineering Korea Advanced Institute of Science and Technology School of Energy System Engineering Chung-Ang University Nuclear Engineering (Abu Dhabi Campus) Khalifa University of ScienceTechnology & Research (KUSTAR) Instrumentation & Control/Human Factors Division Korea Atomic Energy Research Institute Risk Assessment Department Korea Institute of Nuclear Safety

Situation awareness(SA) continues to receive a considerable amount of attention from the ergonomics community. But, techniques to measure SA have normally used expert judgment or a self-rating method so far. One of the problems of these techniques is inconsistency of results. So, empirical and analytical studies on an objective and quantitative SA measurement methods have been carried out at Nuclear I&C and Information engineering Lab(NICIE Lab) in Korea Advanced Institute of Science and Technology(KAIST). Empirical studies are based on physical and cognitive human behaviors, whereas analytical studies are mainly based on Bayesian inference. Eye movement signals and verbal protocol analysis were used for empirical approaches to obtain objective measures. FIR and SAE measures showed feasibility of an eye-tracking method for robust application. TSA score based on a verbal protocol analysis also showed its possibility of team SA(TSA) quantification. Bayesian inference was used for analytical approaches of SA quantification. The analytical quantification method was further expanded to consider some of the important human properties, and a SA modelling tool called ‘Co RSAGE, ver01" was developed.

关键词： situation awareness quantification empirical approach analytical approach

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Improvement of warning lag time in forward collision warning systems based on multifunctional warnings

Improvement of warning lag time in forward collision warning...

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2012 IEEE International Conference on Vehicular Electronics and Safety, ICVES 2012

作者： Thammakaroon, Peachanika Tangamchit, Poj Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781467309929

We present an improvement of forward collision warning (FCW) by adding more layers of warning functionality based on five stages of crash timeline. Generally, FCW operates at stage 3, the critical moment before crash. The added functionality is the location-based warning (LW) which warns the driver when driving toward a dangerous spot with high speed. LW operates at stage 2, an open condition to crash which comes from bad driving habit. We propose the use of warning lag time as a performance indicator, which is appropriate for real driving experiment. The warning lag time is defined as the time period between the issue of warning and the execution of brake by a normal driver. We performed real driving experiments with normal drivers and compare their brake actions with warnings from our system. The system with FCW alone achieved an average time lag of 1.47 sec., while the system with both FCW+LW can warn the driver faster with average time lag of 1.32 sec. The accuracy of both systems was about the same at 79%. © 2012 IEEE.

关键词： Brakes

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Optimized Design of Modified Proportional-Resonant controller for Current control of Active Filters

Optimized Design of Modified Proportional-Resonant Controlle...

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IEEE International Conference on Industrial Technology

作者： Wanchak Lenwari Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi(KMUTT) 126 Prachauthid Rd Bangmod Tungkru Bangkok Thailand

ISBN: (纸本)9781467345675

With the recent advances in power electronic technology, the increase of non-linear loads such as power converters has deteriorated power quality and sparked the research in power quality issue. Shunt Active filter(SAF) is a power electronic device developed to improve power quality. Proportional-resonant(PR) type controller appears to be appropriate for the control system in active filters, where the precise tracking performance of harmonic currents is required. However, due to the complexity of the controller structure, to obtain suitable controller parameters, it requires considerable design effort in particular for a non-expert. This paper presents an automated design procedure to optimize a modified proportional-multiple resonant controller for the compensation of all main order harmonics, the 5th,7th,11th,13th,17th and 19th harmonics. The principle of the proposed control method and the optimization procedure based on genetic algorithms are described in detail The excellent control performance has been carried out by simulations.

关键词： optimization modified proportional-resonant controller shunt active filters current control active filters Current control Optimal design Power quality controllers Optimization Procedure design effort control Methods current harmonics visual tracking control systems power conversion unit design process

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An operational algorithm for satellite attitude determination from GPS carrier phase

An operational algorithm for satellite attitude determinatio...

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2012 9th International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2012

作者： Tatiyaworanun, C. Purivigraipong, S. Department of Control and Instrumentation and Mechatronics Engineering Mahanakorn University of Technology Bangkok Thailand Centre for Electronic System Design and Signal Processing Department of Electronic Engineering Mahanakorn University of Technology Bangkok Thailand

ISBN: (纸本)9781467320245

This paper presents an operational approach for determining satellite attitude from carrier phase GPS (Global Positioning system) measurements. A conventional recursive least square (RLS) estimator was implemented without requiring spacecraft dynamics. The proposed approach can be applicable for general space missions, particularly for real-time operation onboard-spacecraft. The attitude angles and electrical path difference (line bias) between antenna chains caused an offset error in GPS observables, can be estimated. The implemented estimator was tested with a simulated data, and the flight data collected onboard a mini-satellite orbiting in low Earth orbit. © 2012 IEEE.

关键词： Global positioning system

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An anti-islanding for multiple photovoltaic inverters using harmonic current injections

An anti-islanding for multiple photovoltaic inverters using ...

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2012 9th International Conference on Electrical engineering/Electronics, Computer, Telecommunications and Information Technology, ECTI-CON 2012

作者： Patthamakunchai, Sutthipan Konghirun, Mongkol Lenwari, Wanchak Department of Electrical Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

ISBN: (纸本)9781467320245

Islanding phenomenon is one of the major concerns in the distributed generator (DG) systems. Islanding occurs when one or more DGs supplied local loads without connecting to the grid utility. This unintentional condition must be detected with the minimum time possible to prevent the hazardous effects to a person worked in the system or equipment connected to the network. The two main methods of anti-islanding are passive and active methods. The passive methods are excellent in the speed of detection and power quality. However, the passive have relatively large non-detection zone (NDZ). On the other hands, the active methods have less relatively small NDZ and still provide a good speed of detection. This paper proposes an anti-islanding technique for multiple grid-connected inverters in photovoltaic (PV) system based on an active method. By injecting harmonic currents with the same or different harmonic orders and monitoring the change at the point of common coupling (PCC), the islanding condition can be diagnosed. Due to its excellent algorithm looking at specific frequencies, the Goertzel algorithm is employed in this paper to identify frequency components. Simulation results using PSIM software confirm the effectiveness to the technique in accordance with the requirements of the interconnection standards, IEEE Std. 1547 and IEEE Std. 929-2000. © 2012 IEEE.

关键词： IEEE Standards

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Improvement of warning lag time in forward collision warning systems based on multifunctional warnings

Improvement of warning lag time in forward collision warning...

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IEEE International Conference on Vehicular Electronics and Safety (ICVES)

作者： Peachanika Thammakaroon Poj Tangamchit Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Bangkok Thailand

关键词： Vehicles Alarm systems Accidents Sensors Vehicle crash testing Safety Computer crashes

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Two-degree-of-freedom ℋ∞ control design for harmonic current control of shunt active filters

Two-degree-of-freedom ℋ∞ control design for harmonic curre...

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International Conference on Harmonics and Quality of Power

作者： Sudchai Boonto Wanchak Lenwari Department of Control System and Instrumentation Engineering King Mongkut's University of Technology Thonburi Bangkok Thailand

This paper presents a precise harmonic current control for shunt active filters (SAF) based on the robust control design. To ensure robust stability causing by system uncertainties and tracking performance, the robust control employing a two-degree-of-freedom ℋ ∞ control method is designed to accurately track harmonics generated by nonlinear loads in power system. The controller is synthesized by using mixed sensitivity loop shaping. The principle of the proposed control method and the design procedure are described. Robustness to parameter uncertainties can be achieved. The excellent control performance has been carried out by simulations.

关键词： Switches Current measurement

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