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AIAA Guidance, Navigation, and control Conference 2007

作者： Härkegård, Ola Glad, Torkel Saab AB SE-581 88 Linköping Sweden Linköping University SE-581 83 Linköping Sweden Flight Control System Saab Aerosystems Sweden Division of Automatic Control Dept. of Electrical Engineering Sweden

ISBN: (纸本)1563479044

A backstepping design for an aircraft described by rigid body dynamics is proposed. The system states are the unit velocity vector and the angular velocity in a body-fixed coordinate system. The result can be viewed as a multi-variable controller for angle of attack, sideslip angle, and velocity vector roll rate. The backstepping design is performed on the rigid body dynamics described on vector form. The resulting controller achieves convergence to a desired state from almost all starting points. Guidelines are given for tuning the controller to affect the characteristics of the short period mode, the roll mode and the dutch roll mode. A coupled high angle of attack, high roll rate maneuver is simulated using a simplified aircraft model to illustrate the design.

关键词： Flight control systems

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Identification and control experimentation with a remote platform of an autonomous in-scale fast-ferry model

Identification and control experimentation with a remote pla...

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作者： Velasco, F.J. Revestido, E. López, E. Moyano, E. Dept. Electronics Technology and Systems Engineering and Automatic Control Univ. Cantabria Spain Spain Dept. Applied Mathematics and Computing Sciences Univ. Cantabria Spain

ISBN: (纸本)9783902661623

In this paper a parametric lineal model of heading is obtained, using a remote experimentation platform for marine vehicles. This platform has an in-scale fast-ferry physical model, TF-120 which is autonomous and has all the elements required to emulate a real vessel. The physical model is controlled remotely from a PC using Wi-Fi communications. The tests for the data acquisition with the platform for marine vehicles were carried out in the surroundings of the Bay of Santander. The parametric model identified is used to design a PID controller for heading autopilot and a simulation of this system is performed in Simulink. Copyright © 2007 IFAC.

关键词： Three term control systems

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Optimal code and carrier tracking loop design for Galileo BOC(1, 1)

Optimal code and carrier tracking loop design for Galileo BO...

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20th International Technical Meeting of the Satellite Division of The Institute of Navigation 2007 ION GNSS 2007

作者： Jee, Gyu-In Im, Sung-Hyuck Lee, Byung-Hyun Navigation and Control System Lab. Dept. of Electronics Engineering Konkuk University Seoul 143-701 Korea Republic of

ISBN: (纸本)9781605600697

In this paper we deal with the Galileo BOC(1, 1) signal tracking loop optimization. It is shown that the DLL/PLL/FLL design can be shown as an optimal controller design problem. A state space model is derived for Galileo signal tracking problem. Based on this a combined DLL/PLL/FLL is design by use of the Linear Quadratic Gaussian (LQG) optimal control theory. The LQG loop filter is a regulator. It derives the total code and phase tracking errors as small as possible and results in the minimum mean squared error control performance. Therefore we can optimally design a combined receiver loop filters for code, carrier, and frequency tracking. This could results in an improved tracking performance over the conventionally, separately and independently designed tracking loops. The designed tracking loops are applied to real Galileo BOC(1, 1) signal received from the GlOVE-A satellite. Signal processing results showed improved tracking performance of the LQG based tracking loops over the conventional approach.

关键词： Signal processing

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Obtaining ship trajectories of an autonomous in-scale fast-ferry by identifying a heading model

Obtaining ship trajectories of an autonomous in-scale fast-f...

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IEEE International Symposium on Intelligent Signal Processing

作者： Velasco, F. J. Revestido, E. Lopez, E. Moyano, E. Dept. Electronics Technology and Systems Engineering and Automatic Control Univ. Cantabria Dept. Sciences and Navigation Technics Engines and Naval Architecture Univ. País Vasco (UPV/EHU) Dept. Applied Mathematics and Computing Sciences Univ. Cantabria

ISBN: (纸本)9781424408290

The aim of this paper is to obtain a model for an in-scale fast-ferry model TF-120 including the dynamics and kinematics, using a remote experimentation platform for marine vehicles. The physical model is autonomous and is controlled remotely from a PC using Wi-Fi communications. The identification and validation of the dynamical model is obtained with turning circle maneuverings. In this model are included the kinematical equations. The tests with the autonomous in-scale physical model of the high-speed ship were carried out in the surroundings of the Bay of Santander. With this model. simulations with several turbojets angles are made.

关键词： parametric identification ship physical model manoeuvring heading idemification

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Texture retrieval based on a non-parametric measure for multivariate distributions 07

Texture retrieval based on a non-parametric measure for mult...

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6th ACM International Conference on Image and Video Retrieval, CIVR 2007

作者： Pothos, Vasileios K. Theoharatos, Christos Economou, George Ifantis, Apostolos Electronics Laboratory Dept. of Physics University of Patras Patras 26500 Greece Control System and Signal Laboratory Dept. of Electrical Engineering Technological Institute of Patras Patras 26334 Greece

ISBN: (纸本)1595937331

In the present study, an efficient strategy for retrieving texture images from large texture databases is introduced and studied within a distributional-statistical framework. Our approach incorporates the multivariate Wald-Wolfowitz test (WW-test), a non-parametric statistical test that measures the similarity between two different sets of multivariate data, which is utilized here for comparing texture distributions. By summarizing the texture information using standard feature extraction methodologies, the similarity measure provides a comprehensive estimate of the match between different images based on graph theory. The proposed "distributional metric" is shown to handle efficiently the texture space dimensionality and the limited sample size drawn from a given image. The experimental results, from the application on a typical texture database, clearly demonstrate the effectiveness of our approach over other texture distribution (dis)similarity metrics. In addition, its performance is used to evaluate several approaches for texture representation. Even though the classification results are obtained on grayscale images, a direct extension to color-based ones can be straightforward. Copyright 2007 ACM.

关键词： Multivariable systems

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Tool supporting the co-design of control systems and their real-time implementation: Current status and future directions

Tool supporting the co-design of control systems and their r...

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Joint 2006 IEEE Conference on control Applications (CCA), Computer-Aided control systems Design Symposium (CACSD) and International Symposium on Intelligent control (ISIC)

作者： Törngren, Martin Henriksson, Dan Årzen, Karl-Erik Cervin, Anton Hanzalek, Zdenek Division of Mechatronics Dept. of Machine Design Kungliga Tekniska Högskolan SE-100 44 Stockholm Sweden Dept. of Automatic Control Lund Institute of Technology Faculty of Electrical Engineering Czech Technical University Prague

ISBN: (纸本)0780397975

control systems design has traditionally been treated separately from the design of its software and hardware implementation. The increasing use of embedded control in for example distributed, safety critical and mass-produced systems has caused an increasing need for the simultaneous consideration of the control system and its implementation platform during development. To this end, there is a need for both theoretical contributions and supporting tools that assist designers in understanding and analyzing the intricate relationships between the qualities, such as control performance, robustness and cost, and design parameters related to control system and platform design. This paper explores issues in co-design. A number of representative tools are compared with the purposes of illustrating different approaches concerning the levels of abstraction, analysis vs. synthesis features, constraints addressed and usability features. A perspective to the co-design tools is also provided, where opportunities and challenges for future design environments are discussed. © 2006 IEEE.

关键词： control systems

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Fuzzy observer-based control of servomechanisms subject to friction dynamics

Fuzzy observer-based control of servomechanisms subject to f...

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33rd Annual Conference of the IEEE Industrial Electronics Society, IECON

作者： Mostefai, Lotfi Denaï, Mouloud Hori, Yoichi Institute of Industrial Science University of Tokyo 4-6-1 Komaba Meguro Tokyo Japan Dept. Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)1424407834

This paper proposes an approach of dynamic fuzzy modeling applied to friction compensation to enhance the performance of a servodrive system in tracking a trajectory. The fuzzy observer is derived from the dynamic nature of friction, and is used to suppress friction-induced errors. The linearity of the local models simplifies the design of the observer and its estimation capabilities are improved with the addition of a nonlinear compensating gain. Simulation results demonstrate the effectiveness of this observer-based control strategy. ©2007 IEEE.

关键词： Friction

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Optimal guaranteed cost control for fuzzy descriptor systems with time-varying delay

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Journal of systems engineering and Electronics 2008年第3期000卷

作者： Tian Weihua Zhang Huaguang Tian Weihua (School of Information Science and Engineering Northeastern Univ. Shenyang 110004 P. R. China Dept. of Automatic Control Shenyang Inst. of Engineering Shenyang 110136 P. R. China) Zhang Huaguang (School of Information Science and Engineering Northeastern Univ. Shenyang 110004 P. R. China.)

Based on the delay-independent rule, the problem of optimal guaranteed cost control for a class of Takagi-Sugeno (T-S) fuzzy descriptor systems with time-varying delay is studied. A linear quadratic cost function is considered as the performance index of the closed-loop system. Sufficient conditions for the existence of guaranteed cost controllers via state feedback are given in terms of linear matrix inequalities (LMIs), and the design of an optimal guaranteed cost controller can be reduced to a convex optimization problem. It is shown that the designed controller not only guarantees the asymptotic stability of the closed-loop fuzzy descriptor delay system, but also provides an optimized upper bound of the guaranteed cost. At last, a numerical example is given to illustrate the effectiveness of the proposed method and the perfect performance of the optimal guaranteed cost controller.

关键词： fuzzy descriptor systems optimal guaranteed cost control time-varying delay linear matrix inequalities (LMIs)

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A robust gender and age estimation under varying facial pose

IEEJ Transactions on Electronics, Information and Systems

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IEEJ Transactions on Electronics, Information and systems 2007年第7期127卷 1022-1029+7页

作者： Takimoto, Hironori Mitsukura, Yasue Fukumi, Minoru Akamatsu, Norio Dept. of Control Engineering Sasebo National College of Technology Japan Graduate School of Bio-Applications and System Enginnering Tokyo University of Agriculture and Technology Japan Dept. of Information Science and Intteligent Syst. Faculty of Eng. University of Tokushima Japan Sasebo National College of Technology Japan Tokyo University of Agriculture and Technology Japan University of Tokushima Japan

This paper presents a method for gender and age estimation which is robust for facial pose changing. We propose a feature point detection method which is the Adapted Retinal Sampling Method (ARSM), and a feature extraction method. A basic concept of the ARSM is to add knowledge about the facial structure into the Retinal Sampling Method. In this method, feature points are detected based on 7 points corresponding to facial organ from face image. The reason why we used 7 points to basis of feature point detection is that facial organ is conspicuous in facial region, and it is comparatively easy to extract. As features which is robust for facial pose changing, a skin texture, a hue and a gabor jet are used for the gender and age estimation. For classification of gender and estimation of seriate age, we use a multi-layered neural network. Moreover, we examine the left-right symmetric property of the face concerning gender and age estimation by the proposed method.

关键词： Feature extraction

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On relaxations applicable to model predictive control for systems with binary control signals

On relaxations applicable to model predictive control for sy...

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作者： Axehill, Daniel Vandenberghe, Lieven Hansson, Anders Div. of Automatic Control Linköpings Universitet 581 83 Linköping Sweden Dept. of Electrical Engineering University of California Los Angeles Los Angeles CA 90095-1594 United States

ISBN: (纸本)9783902661289

In this work, different relaxations applicable to an MPC problem with binary control signals are compared. The relaxations considered are the QP relaxation, the standard SDP relaxation and an alternative equality constrained SDP relaxation. The relaxations are related theoretically, and both the tightness of the bounds and the computational complexities are compared in numerical experiments. The result is that for long prediction horizons, the equality constrained SDP relaxation proposed in this paper provides a good trade-off between the quality of the relaxation and the computational time. Copyright © 2007 IFAC.

关键词： Hybrid systems

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