In this paper we consider the problem of stabilizing the seeker scan loop mounted in a missile head. The system consist of a spin-stabilizing gyro-optics assembly and its driving signal processor. The model contains t...
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The underactuated free floating robot in space is nonlinear systems where velocity and acceleration constraints are both nonintegrable, therefore it is a second-order nonholonomic system. Some of the existing non-holo...
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The underactuated free floating robot in space is nonlinear systems where velocity and acceleration constraints are both nonintegrable, therefore it is a second-order nonholonomic system. Some of the existing non-holonomic control methods will not be directly applicable to such systems as it is extremely difficult, if not impossible, to find the control Lie brackets. In this paper, by investigating the system dynamics in dept., we propose a simple velocity-based method to control the unactuated joints and a multi-step composite strategy to implement orientation tracking tasks. The proposed algorithm is of significance in controlling of space robots when some joints fail to function, or they are intentionally set to be passive for energy efficiency and safety purposes.
Proposes a simple and effective method for building a fuzzy model from data. A three-layered RBF network is introduced to implement the fuzzy model. Differing from existing clustering-based methods, in this approach t...
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A fast and computationally efficient fuzzy clustering approach is presented. In this approach, fuzzy clustering is implemented in two hierarchical phases: subclusters generation by a self-organising network and fuzzy ...
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We give an algorithm for the single-stage maximization criterion to attain multichannel blind deconvolution. This criterion determines the coefficients of equalizers for all channels simultaneously. However, the origi...
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We give an algorithm for the single-stage maximization criterion to attain multichannel blind deconvolution. This criterion determines the coefficients of equalizers for all channels simultaneously. However, the original maximization criterion has many constrains so that it is difficult to directly implement it as a numerical algorithm. By exploiting pre-whitening and lattice representations of paraunitary systems, we can reduce the original maximization problem into a simple constraint-free one and then present a stochastic gradient algorithm.
The implementation of road trains consisting of multiple hooked semi-trailers presents mechanical realization and traffic related problems. Among these problems, the most basic is the off-tracking problem. This paper ...
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The implementation of road trains consisting of multiple hooked semi-trailers presents mechanical realization and traffic related problems. Among these problems, the most basic is the off-tracking problem. This paper proposes a solution based on a kingpin sliding technique, that allows articulated semi-trailers to follow exactly the tractor's path. Simulation results showed that, for highway paths, the off-tracking deviation is completely eliminated.
Today more than ever efforts of governments and companies try to provide safe and efficient transportation through air, over water and on land. Current highway transportation systems, except of the intelligent and aut...
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Today more than ever efforts of governments and companies try to provide safe and efficient transportation through air, over water and on land. Current highway transportation systems, except of the intelligent and automated aspect, do not present any other significant development especially concerning the "truck vehicle". This paper proposes the idea of long truck-trains with multiple semi-trailers as highway vehicle systems for freight transportation. The basic mechanical characteristics of the truck-train are described and the corresponding steering problems are introduced. The paper states also the path following problem and includes a discussion of the various traffic and steering rules that must be applied when a truck-train travels on a multi-lane highway.
The implementation of a new estimation method with alternative process models for the state estimation of the baker’s yeast fermentation is presented. Some of the implementation issues are discussed using the data ob...
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The implementation of a new estimation method with alternative process models for the state estimation of the baker’s yeast fermentation is presented. Some of the implementation issues are discussed using the data obtained from simulation tests.
This paper deals with the robust predictive control, and proposes a new approach based on Laguerre filters modelling. It is shown that this approach of modelling can bring some advantages to the robust predictive cont...
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This paper deals with the robust predictive control, and proposes a new approach based on Laguerre filters modelling. It is shown that this approach of modelling can bring some advantages to the robust predictive control context. Robustness conditions are also given. Simulation results are presented to illustrate the new robust predictive control algorithm. Ce travail propose une loi de commande prédictive assez simple, basée sur un modèle des polynomes de Laguerre. Ce modéle donne une représentation compacte du processus. On montre que cette approche fournit un apport dans la loi de commande prédictive et robuste. Les conditions de robustesse seront aussi présentées ainsi que les résultats obtenus en simulation afin d'illustrer les performances de ce nouvel algorithme de commande prédictive et robuste.
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