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LANDING AN UNMANNED AIR VEHICLE: VISION BASED MOTION ESTIMATION AND NONLINEAR control

Asian Journal of control 2008年第3期1卷

作者： Omid Shakernia Yi Ma T. John Koo Shankar Sastry Dept. of Electrical Engineering & Computer Science University of California at Berkeley Berkeley CA94720-1774 U.S.A. Tak-Kuen John Koo received the B.Eng. degree in 1992 in Electronic Engineering and the M.Phil. in 1994 in Information Engineering both from the Chinese University of Hong Kong. From 1994 to 1995 he was a graduate student in Signal and Image Processing Institute at the University of Southern California. He is currently a Ph.D. Candidate in Electrical Engineering and Computer Sciences at the University of California at Berkeley. His research interests include nonlinear control theory hybrid systems inertial navigation systems with applications to unmanned aerial vehicles. He received the Distinguished M.Phil. Thesis Award of the Faculty of Engineering The Chinese University of Hong Kong in 1994. He was a consultant of SRI International in 1998. Currently he is the team leader of the Berkeley AeRobot Team and a delegate of The Graduate Assembly University of California at Berkeley. He is a student member of IEEE and SIAM. S. Shankar Sastry received his Ph.D. degree in 1981 from the University of California Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon McKay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and Bioengineering and Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University Canberra the University of Rome Scuola Normale and University of Pisa the CNRS laboratory LAAS in Toulouse (poste rouge) and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control robotic telesurgery control of hybrid systems and biological motor control. He is a coauthor (with M. Bodson) of “Adaptive Control: Stability Convergence and Robustness Prentice Hall 1989.” and (with R. Murray and Z. Li) of “A Mathematical Introduction to Robotic Manipulati

In this paper, we use computer vision as a feedback sensor in a control loop for landing an unmanned air vehicle (UAV) on a landing pad. The vision problem we address here is then a special case of the classic ego-motion estimation problem since all feature points lie on a planar surface (the landing pad). We study together the discrete and differential versions of the ego-motion estimation, in order to obtain both position and velocity of the UAV relative to the landing pad. After briefly reviewing existing algorithm for the discrete case, we present, in a unified geometric framework, a new estimation scheme for solving the differential case. We further show how the obtained algorithms enable the vision sensor to be placed in the feedback loop as a state observer for landing control. These algorithms are linear, numerically robust, and computationally inexpensive hence suitable for real-time implementation. We present a thorough performance evaluation of the motion estimation algorithms under varying levels of image measurement noise, altitudes of the camera above the landing pad, and different camera motions relative to the landing pad. A landing controller is then designed for a full dynamic model of the UAV. Using geometric nonlinear control theory, the dynamics of the UAV are decoupled into an inner system and outer system. The proposed control scheme is then based on the differential flatness of the outer system. For the overall closed-loop system, conditions are provided under which exponential stability can be guaranteed. In the closed-loop system, the controller is tightly coupled with the vision based state estimation and the only auxiliary sensor are accelerometers for measuring acceleration of the UAV. Finally, we show through simulation results that the designed vision-in-the-loop controller generates stable landing maneuvers even for large levels of image measurement noise. Experiments on a real UAV will be presented in future work.

关键词： Motion estimation computer vision based control unmanned air vehicle differential flatness

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International master in environmental process control engineering: An interdisciplinary approach to Curriculum Development

International master in environmental process control engine...

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SEFI and IGIP Joint Annual Conference 2007: Joining Forces in engineering Educations Towards Excellence

作者： Vilanova, R. Capodaglio, A. Katebi, R. Vehi, J. Escola Tècnica Superior d'Enginyeria University Autonoma of Barcelona Campus UAB Bellaterra08193 Spain Department of Hydraulic and Environmental Engineering Università Degli Studi di Pavia Pavia Italy Dept. of Electronic and Electrical Engineering Industrial Control Centre University of Strathclydc Glasgow GlasgowG1 1XQ United Kingdom Electronics Informatics and Automatics Institut d'Informàtica i Aplicacions University of Girona Campus Montilivi Girona17071 Spain

ISBN: (纸本)9789636617721

This communication's aim is to present an International experience in new Curriculum Development from the perspective of the new challenges for Higher Education in Europe, and with an interdisciplinary approach to content design. Bearing in mind the depicted future for the High Education Area in Europe, it is important to have the opportunity to learn from existing experiences. It is in this sense that this paper reports some important facts and rationales regarding both the development and the management of a Curriculum Development project, as well as the innovative features with respect to the curriculum's contents. Even though there exists a useful compendium on issues to be taken into account when facing a joint master's programme definition [1], this experience born out of an interdisciplinary consortium may provide interesting distinctive features and special added value for both the curriculum and engineering education. In a more concise way, this paper will present a) Body of knowledge of the master, envisioned as an interdisciplinary curriculum where synergies on both knowledge and procedures are intended to provide an added value. b) How the curriculum is structured and the main points identified as valuable for an International European Master programme. c) Management structures and information flows adopted, described from a management point of view.

关键词： Curricula

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A virtual control engineering laboratory based on an industrial pasteurisation process

A virtual control engineering laboratory based on an industr...

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作者： O'Mahony, Tom Torres, Luis Advanced Control Group Dept. of Electronic Engineering Cork Institute of Technology Cork Ireland

ISBN: (纸本)9783902661074

Virtual laboratories are becoming increasingly popular for educational purposes. This paper reports on the development of a virtual lab that is based on an industrial pasteurisation plant. An accurate first-principles non-linear single-input single-output physical model represents the pasteurisation process. A comprehensive range of experiments was designed to explore issues in, and support an introductory-level course in process control. The experiments focus on process modelling and PID control technology. Copyright © 2006 IFAC.

关键词： Three term control systems

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A comparative analysis of two neural-network-based estimators for efficiency optimization of an induction motor drive

A comparative analysis of two neural-network-based estimator...

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10th IEEE International Power electronics Congress, CIEP 2006

作者： Mino-Aguilar, G. Moreno-Eguilaz, J.M. Pryymak, B. Peracaula, J. Beristain, J.A. Dept. of Electronic and Engineering Barcelona Spain E.O. Paton Electric Welding Institute Dept. of Automatic Control Systems Kyiv Ukraine Technical Institute of Sonora Dept. of Electrical Electronic Engineering Sonora Mexico

ISBN: (纸本)1424405459

A comparative analysis on vector-controlled induction motor drive with efficiency optimization using a neural-network-based and a model-losses-based approaches as flux estimator is presented in this paper. On-line estimators for rotor, stator resistances, and mutual inductance are included, two different neural networks were trained varying their inputs, and was used the losses-model-based estimator with some estimated and nominal parameters. Modeling and simulation results are presented to confirm the best performance approach. © 2006 IEEE.

关键词： Induction motors

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Horizontal ground random excitation of structures carrying a rigid container partially filled with liquid

Horizontal ground random excitation of structures carrying a...

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ASME PVP2006/ICPVT-11 Conference

作者： Ikeda, Takashi Ibrahim, Raouf A. Dept. of Electronic and Control Systems Engineering Shimane University 1060 Nishikawatsu Matsue Japan Dept. of Mechanical Engineering Wayne State University Detroit MI 48202 United States

ISBN: (纸本)0791837823

Nonlinear random interaction of an elastic structure carrying a container, partially filled with liquid, under horizontal narrowband random excitation is investigated. The modal equations of motion are derived by using Galerkin's method, taking into account the nonlinearity of the hydrodynamic force when the natural frequency of the structure is close to the natural frequency of liquid sloshing. The system response statistics are numerically estimated using Monte Carlo simulation. The influences of the excitation center frequency, its bandwidth and liquid level on the system response are studied. As a result, it is found that the mean square response of the structure decreases as the center frequency approaches to the natural frequency of the structure, and that the sloshing in the container has an effect on the vibration suppression of the structure response. Copyright © 2006 by ASME.

关键词： Electric excitation

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Fuzzy controller design for networked control system with time-variant delays

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Journal of Systems engineering and electronics 2006年第1期17卷 172-176页

作者： Li Zhang Fang Huajing Dept. of Control Science and Engineering Huazhong Univ. of Science and Technology Wuhan 430074 P. R. China Coll. of Physics and Electronic Technology Hubei Univ. Wuhan 430062 P.R. China

Networked control system is new hot-point in control engineering. A new delayed model for networked control systems is presented, based on which an LQR controller is designed. A method of delays estimation online is also given. For the difficulty on implementation of LQR in NCSs with time-variant delays, the Mamdani intelligent logic with LQR controller is addressed. The stability of the networked control system is also given. Simulation results prove that the novel controller can make the system stable and robustly preserve the performance in terms of time-variant delays.

关键词： control engineering intelligent network.

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A virtual control engineering laboratory based on an industrial pasteurisation process

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IFAC Proceedings Volumes 2006年第6期39卷 469-474页

作者： Tom O'Mahony Luis Torres Control Group Dept. of Electronic Engineering Cork Institute of Technology Cork IRELAND

关键词： Pasteurisation process PID control LabVIEW control education virtual laboratory

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Remarks on the state convergence of nonlinear systems given any IP input

Remarks on the state convergence of nonlinear systems given ...

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45th IEEE Conference on Decision and control 2006, CDC

作者： Jayawardhana, Bayu Control and Power Group Dept. of Electrical and Electronic Engineering Imperial College London London SW7 2AZ United Kingdom

ISBN: (纸本)1424401712

In this paper, we study the state convergence of Lp-stable systems and input-to-state stable (ISS) systems given any Lp input signal where p Ε [1,∞). Under some conditions on the system equations, it is shown that if the system is dissipative with a proper storage function H and supply rate s(y,u) = up - kyp, k > 0 and it is zero-state detectable then the state x of the system converges to zero for any Lp input. This implies also that the system is also Lp -stable. Using the same technique, if the system is ISS, under some conditions on the system equations and on the smooth ISS Lyapunov function, then the state x of the system converges to zero for any Lp input. © 2006 IEEE.

关键词： Nonlinear control systems

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Research on adaptive fuzzy PID control for long time delay systems

Research on adaptive fuzzy PID control for long time delay s...

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Sixth International Symposium on Instrumentation and control Technology: Sensors, Automatic Measurement, control, and Computer Simulation

作者： Luo, Wenguang Lan, Hongli Chen, Wenhui Dept. of Electronic Information and Control Engineering Guangxi Univ. of Technology 268 Donghuan Road Liuzhou Guangxi 545006 China Dept. of Computer Engineering Guangxi Univ. of Technology 268 Donghuan Road Liuzhou Guangxi 545006 China

ISBN: (纸本)0819464538

An adaptive fuzzy PID controller is proposed to solve the problem that long time delay systems are difficult to be controlled. The controller is obtained by combining the fuzzy controller with PID controller in series, namely the output of the fuzzy controller is as the input of PID, and the control parameters of PID change nonlinearly with the system error's change. Meanwhile, the output scaling gain Ku of the fuzzy controller can be adaptively regulated. Two regulation methods are presented: one is that the linear function between Ku and the system's error is built up based on the system's dynamical characteristics;the other is that Ku is automatically regulated with the fuzzy inference whose two inputs are the comprehensive performance index and its change, the output is the increment of Ku. In the paper, we combine the controlled system with PID controller as an integrated system, and then build up its discrete state space model in the condition that the system's output delays. Based on these, the system's stability is analyzed with Lyapunov Direct Method. Simulation test results show the method provides good control performances to long time delay systems.

关键词： Three term control systems

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Fault detection by neuro-fuzzy identification in a nonlinear system

Fault detection by neuro-fuzzy identification in a nonlinear...

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作者： Blázquez, L. Felipe Aller, Fernando De Miguel, L. Javier Perán, J. Ramón Dept. Electrical and Electronic Engineering Univ. of León Campus de Vegazana s/n 24071 León Spain Dept. Systems Engineering and Control Univ. of Valladolid Paseo del Cauce s/n 47011 Valladolid Spain

ISBN: (纸本)9783902661142

This paper describes a fault detection and identification method, based on the parity equations approach, to be applied to nonlinear systems. The input-output nonlinear model of the plant, used in the method, has been obtained by a neural fuzzy inference system. The method proposed is able to detect both abrupt and incipient faults. This method has been applied with good performance to a real industrial pilot plant for fault detection in a level sensor. Copyright © 2006 IFAC.

关键词： Fault detection

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