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10th International Conference on Electrical and Electronics engineering, ELECO 2017

作者： Türkmen, Abdullah Korkut, M. Yusuf Erdem, Mustafa Gönül, Ömer Sezer, Volkan Mechatronics Graduate Program Istanbul Technical University Istanbul Turkey Energy Institute Istanbul Technical University Istanbul Turkey Dept. of Control and Automation Engineering Istanbul Technical University Istanbul Turkey

ISBN: (纸本)9786050107371

Inverted pendulum systems have an important place in practice for control problems due to their nonlinear structures. It is a very difficult task to control the orientation and speed of objects and robots which are free in three dimensions. These systems constitute the substructure of many advanced systems. Conventional actuators may not be used in such applications due to various limitations. Under these circumstances usage of reaction wheels come into prominence. Reaction wheel based systems are used for orienting, coordinating and balancing of spacecraft, transport systems, and other such systems. In this study, dual axis self-balancing reaction wheel based inverted pendulum system which is a basis for many complex systems has been designed, manufactured and controlled. © 2017 EMO (Turkish Chamber of Electrical Enginners).

关键词： Inverted pendulum

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Robotic applications in the automation of agricultural production under greenhouse: A review 3

Robotic applications in the automation of agricultural produ...

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3rd IEEE Colombian Conference on Automatic control, CCAC 2017

作者： Tangarife, Hector Ivan Diaz, Andres Escobar CMM Investigation Group GICEMET SENA Dept. Electronic. Spe. Computer Science and Automation District University FJC Bogotá Colombia Investigation Group ORCA Dept. Control Engineering and Telecommunications District University Francisco José de Caldas Bogotá Colombia

ISBN: (纸本)9781538603987

This article shows a review of the state of the art in the agricultural automation under greenhouse through the use of robotics platforms as a source of solution to different problems that arise in the agricultural sector specially under controlled conditions;the writing is part of a wide review of the agricultural automation under greenhouse and a set of proposals that consider applications in various fields of research, autonomous localized irrigation, neural networks, automatic learning, monitoring and control systems among others. It is intended to determine the most recent advances in techniques for sowing, applications of chemical for sanitary control, fertilization, harvest, where robotics is used as a source to solve agricultural problems. The review includes consultation in well-known national and international journals, research carried out in centers and research groups or companies dedicated to implementation addressed to the agricultural sector, finally it is determined the solutions that can be implemented to propose new topics, research lines, development and technology transfer to the agricultural sector. © 2017 IEEE.

关键词： Greenhouses

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A unified angle control scheme for hypersonic vehicle based on disturbance rejection 21

A unified angle control scheme for hypersonic vehicle based ...

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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Piao, Minnan Zhu, Kai Sun, Mingwei Chen, Zengqiang Dept. of Automation and Intelligent Science College of Computer and Control Engineering Nankai University Tianjin300350 China Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Hypersonic vehicles are characterized with strong nonlinearities, coupling effects and uncertainties as well as fast time-varying parameters, which impose great difficulty to the attitude control. This study proposes a unified scheme for all the Euler angles, angle of attack, and sideslip angle. First, three controllers based on active disturbance rejection control (ADRC) are designed for the Euler angles respectively, in which the external disturbances and the internal uncertainties can be estimated by the extended state observer (ESO) and compensated in real time actively. Then the geometric relations among the angles with different time scales are utilized to transform the commands of α and β into the commands of the pitch angle and the yaw angle. Next the stability-margin tester method is employed to tune the controller parameters, which guarantees the stability and robustness of the control system. 1000 nonlinear six-degree-of-freedom Monte Carlo simulation results demonstrate the good tracking performance and the robustness of the proposed control method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： Hypersonic vehicles

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A Lyapunov based model reference adaptive control of a quadrotor

A Lyapunov based model reference adaptive control of a quadr...

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International Conference on Electrical and Electronics engineering, ELECO

作者： Onur Akgün Evren Subaşı Türker Türker Faculty of Engineering Turkish-German University Istanbul Turkey Dept. of Control & Automation Engineering Yildiz Technical University Istanbul Turkey

Model reference adaptive controller is proposed to control the position of a quadrotor with uncertain model parameters. The controller design procedure is provided considering position and attitude dynamics as outer and inner loops respectively. Reference signals for roll and pitch angles are obtained from the outer loop controller while the inner loop controller drives the tracking error of roll and pitch angle dynamics to zero. Stability analysis for both inner and outer loop error dynamics are performed and the adaptation laws are derived based on Lyapunov stability theory. Since the reference models can also be assigned separately for inner and outer loops, the speed of the responses of position and attitude dynamics are adjusted independently improving the control performance. The viability and the success of the proposed controller are tested through simulations studies performed for different tracking scenarios.

关键词： Adaptation models Attitude control Vehicle dynamics Lyapunov methods Helicopters Dynamics Position control

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Repetitive control design and implementation for periodic motion tracking in aerial robots

Repetitive control design and implementation for periodic mo...

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American control Conference

作者： Xiang He Dejun Guo Kam K. Leang Design Automation Robotics and Control (DARC) Lab Univ. of Utah Robotics Center Dept. of Mechanical Engineering

ISBN: (纸本)9781509045839

This paper describes the design and implementation of a repetitive controller (RC) for tracking periodic trajectories in aerial robots, such as unmanned aerial vehicles (UAVs). The RC is ideally suited for situations where the robot is required to execute a defined flight pattern, over and over again in a periodic fashion. Applications include precision agriculture, and search and rescue, where the desired trajectory is often periodic in time and known a priori. Compared to iterative learning control (ILC), RC is a feedback-based approach which can be plugged into an existing feedback control loop to improve the tracking of period trajectories. Herein, a plug-in type RC is applied to a micro aerial robot, and a systematic approach is presented for designing the control system. The plug-in nature of the design also allows users to enable/disable the controller on the fly. The proposed RC is also compared to existing approaches, including no-reset ILC, which have recently been applied to control aerial robots. The effectiveness of the RC is demonstrated on a custom-designed experimental micro aerial robot. Tracking of circle, square, and figure-eight trajectories are shown in both simulations and experiments. In these cases, the RC reduces the average tracking error by over 58% compared to a well-tuned PID controller, and simulations that compare to no-reset ILC show that the performance of RC is less sensitive to changes in the reference trajectory.

关键词： Aerial robot Ritchey-Chretien telescope Unmanned Aerial Vehicle design control trajectory tracking International Labour Conference simulating Rescue Periodic Motion

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Overview of Radon Background Correction Technology for Airborne Gamma Spectrometry

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IOP Conference Series: Earth and Environmental Science 2019年第1期281卷

作者： Chenhao Zeng Wanchang Lai Xiaojie Feng Chen Fan Jinfei Wu Runqiu Gu The College of Nuclear Technology and Automation Engineering Chengdu University of Technology Chengdu 610059 Sichuan China Dept. of Military Installation Army Logistical University of PLA Chongqing 401311 China School of Control Engineering Chengdu University of Information Technology Chengdu 610225 Sichuan China Radiation Detection & Protection Institute of Nuclear Industry Chengdu 610503 Sichuan China

In radiometric measurements, the radiation characteristics of radon and its daughters will increase the detection background value and affect the detection results. Research institutes in various regions of the world have studied the effects of radon and its daughters, and have done a lot of work according to the special climate, geological conditions and characteristics of radioactive events in their regions. In the view of the influence of radon background in airborne gamma-ray spectrometry measurement, this paper summarizes the research results of radon background correction in gamma-ray spectrometry measurement from three aspects in the world scope: environmental radiation monitoring, radiation monitoring instruments and nuclear emergency monitoring. In the aspect of environmental radiation monitoring, the research unit mainly considers the climatic factors such as rainfall, temperature and humidity, atmospheric and hydrological changes and seasonal changes, geological factors such as altitude, mineral types, and measurement means such as alpha measurement and inverse derivation gamma measurement. In terms of radiation monitoring instruments, radon and its daughters are mainly considered to reduce the impact and improve the measurement accuracy. In the aspect of nuclear emergency monitoring, the main consideration is how to improve the accuracy of measurement and avoid false alarm. On this basis, the research trend and development direction of radon background correction in airborne gamma-ray spectrometry are put forward.

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Synchronized Cell-Balancing Charging of Supercapacitors

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IFAC-PapersOnLine 2017年第1期50卷 3338-3343页

作者： Li H. Peng J. He J. Huang Z. Pan J. School of Information Science and Engineering Central South University Changsha 410087 China Department of Computer Science University of Victoria Victoria V8P5C2 Canada Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Shanghai 200240 China

As a classical cell balancing solution in low-power supercapacitor applications, the switched resistor circuit is vulnerable to resistance deviation effects with existing cell balancing methods. In this paper, we propose a synchronized cell balancing method for switched resistor circuits based on the consensus theory and a cyber-physical approach, with the aim of synchronizing cell voltages before they are fully charged. It is shown that the proposed cell-balancing algorithm is robust to resistance deviation effects. Extensive simulations are provided to show the effectiveness of the proposed method. © 2017

关键词： Cell balancing Charging Consensus Cyber-physical systems Supercapacitors

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On active decoupling control for horizontal-lateral direction of hypersonic flight based on HIFOO 21

On active decoupling control for horizontal-lateral directio...

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21st AIAA International Space Planes and Hypersonics Technologies Conference, Hypersonics 2017

作者： Ma, Shunjian Zhu, Kai Sun, Mingwei Wang, Zenghui Chen, Zengqiang Dept. of Automation and Intelligent Science Nankai University College of Computer and Control Engineering Tianjin300350 China Beijing Aerospace Technology Institute Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Beijing Aerospace Technology Institute Beijing100074 China Department of Electrical and Mining Engineering University of South Africa FL1710 South Africa

ISBN: (数字)9781624104633

ISBN: (纸本)9781624104633

Nowadays, hypersonic flight vehicles are widely studied. Since their high nonlinearity, strong coupling and uncertain factors, the conventional three-channel independent control design method is often unable to work well. In this paper, an active disturbance rejection controller (ADRC) is utilized to cancel internal uncertainties and exogenous disturbances for longitudinal dynamics. Then, the MIMO robust controller is obtained by choosing proper sensitivity functions and weighting functions to reduce horizontal-lateral direction coupling. The conventional H robust controllor is high-order, which is difficult for practitioners to implement. With frequency transformation, both ADRC for the longitudinal dynamics and MIMO robust controller for the horizontal-lateral dynamics are reformed into the static output feedback structure to reduce the high order of controller. Finally, all parameters in the controllers can be optimized by HIFOO (H-Infinity Fixed Order Optimization). The Winged-Cone, a 6-freedom NASA hypersonic vehicle model, is used as a benchmark, and Monte Carlo simulations demonstrate the effectiveness of the proposed method. © 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.

关键词： controllers

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Distributed Visual 3-D Localization of A Human Using Pedestrian Detection Algorithm: A Passivity-Based Approach

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IFAC-PapersOnLine 2016年第22期49卷 210-215页

作者： Hatanaka, Takeshi Funada, Riku Gezer, Gülsüm Fujita, Masayuki Dept. Systems and Control Engineering School of Engineering Tokyo Institute of Technology 2-12-1 S5-16 O-okayama Meguro-ku Tokyo152-8550 Japan Dept. Control and Automation Eng. Yildiz Tech. Univ. Turkey

In this paper, we investigate a distributed visual 3-D localization of a human using a pedestrian detection algorithm for a camera network. We first formulate the problem as a distributed optimization problem. Then, PI consensus estimator-based distributed optimization scheme is extended so that it is applicable to the present problem. We then prove convergence to the optimal solution based on the passivity paradigm. We finally demonstrate the present solution through simulation both in static and dynamic cases. © 2016

关键词： Signal detection Cameras Camera network Distributed optimization Human localizations Passivity Pedestrian detection

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Preserving data-privacy with added noises: Optimal estimation and privacy analysis

arXiv

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arXiv 2017年

作者： He, Jianping Cai, Lin Guan, Xinping Dept. of Automation Shanghai Jiao Tong University Key Laboratory of System Control and Information Processing Ministry of Education of China Shanghai China Dept. of Electrical & Computer Engineering University of Victoria BC Canada

Networked systems often relies on distributed algorithms to achieve a global computation goal with iterative local information exchanges between neighbor nodes. To preserve data privacy, a node may add a random noise to its original data for information exchange at each iteration. Nevertheless, a neighbor node can estimate other’s original data based on the information it received. The estimation accuracy and data privacy can be measured in terms of (ϵ, δ)-data-privacy, defined as the probability of ϵ-accurate estimation (the difference of an estimation and the original data is within ϵ) is no larger than δ (the disclosure probability). How to optimize the estimation and analyze data privacy is a critical and open issue. In this paper, a theoretical framework is developed to investigate how to optimize the estimation of neighbor’s original data using the local information received, named optimal distributed estimation. Then, we study the disclosure probability under the optimal estimation for data privacy analysis. We further apply the developed framework to analyze the data privacy of the privacy-preserving average consensus algorithm and identify the optimal noises for the algorithm. Copyright © 2017, The Authors. All rights reserved.

关键词： Iterative methods

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