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Second order sliding mode controller for longitudinal wheel slip control

Second order sliding mode controller for longitudinal wheel ...

引用

2012 IEEE 8th International Colloquium on Signal Processing and Its Applications, CSPA 2012

作者： Hamzah, Norhazimi Md Sam, Yahaya Selamat, Hazlina Aripin, M. Khairi Ghazali, Rozaimi Faculty of Electrical Engineering Universiti Teknologi MARA Pulau Pinang Malaysia Faculty of Electrical Engineering Universiti Teknologi Malaysia Johor Malaysia Control Instrumentation and Automation Department Faculty of Electrical Engineering UTeM Melaka Malaysia Faculty of Electrical and Electronic Engineering Universiti Tun Hussein Onn Malaysia Johor Malaysia

ISBN: (纸本)9781467309615

This paper investigates the longitudinal wheel slip tracking control approach for ground vehicle. A mathematical model of a quarter vehicle undergoing a straight-line braking maneuver is used as the control model. Second order sliding mode (SOSM) control approach using super-twisting technique is proposed to manipulate the braking torque to control the wheel slip. The effectiveness of the SOSM is compared to the conventional sliding mode in the simulations of emergency straight line braking in Simulink. With the SOSM, the chattering phenomenon is eliminated, giving a smooth tracking trajectory and lower slip error and control effort. © 2012 IEEE.

关键词： Sliding mode control

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Visibility Enhancement of Single Hazy Images Using Hybrid Dark Channel Prior

Visibility Enhancement of Single Hazy Images Using Hybrid Da...

引用

IEEE International Conference on Systems, Man, and Cybernetics

作者： Yi-Jui Cheng Bo-Hao Chen Shih-Chia Huang Sy-Yen Kuo Andrey Kopylov Oleg Seredin Leonid Mestetskiy Boris Vishnyakov Yury Vizilter Oleg Vygolov Chia-Ruei Lian Chi-Ting Wu Department of Electronic Engineering National Taipei University of Technology Taipei 106 Taiwan Department of Electrical Engineering National Taiwan University Taipei 106 Taiwan Department of Automation and Remote Control Tula State University Tula 300012 Russian Computational Mathematics and Cybernetics Faculty Moscow State University Moscow 119991 Russian State Research Institute of Aviation Systems (GosNIIAS) Moscow 125319 Russian TPV Technology Limited (TPV) New Taipei City 23553 Taiwan

ISBN: (纸本)9781479906505

Outdoor images captured during inclement weather conditions generally exhibit visibility degradation. Localized light sources often result from activation of streetlights and vehicle headlights and are common scenarios in these conditions. The presence of localized light sources in hazy images may cause the generation of oversaturation artifacts when those images are restored by traditional state-of-the-art haze removal techniques. Therefore, we propose a novel haze removal approach based on the proposed hybrid dark channel prior technique in order to remedy the problems associated with localized light sources during image restoration. The overall results show that the proposed haze removal approach can recover haze-free images more effectively than can the other previous state-of-the-art haze removal approach while avoiding over-saturation.

关键词： haze removal dark channel prior localized light

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Evaluations of different Simultaneous Localization and Mapping (SLAM) algorithms

Evaluations of different Simultaneous Localization and Mappi...

引用

38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012

作者： Tuna, Gurkan Gulez, Kayhan Cagri Gungor, V. Veli Mumcu, T. Trakya University Department of Computer Programming Edirne Turkey Yildiz Technical University Electrical-Electronics Faculty Control and Automation Eng. Dept. Istanbul Turkey Bahcesehir University Faculty of Engineering Department of Computer Engineering Istanbul Turkey

ISBN: (纸本)9781467324212

Simultaneous Localization and Mapping (SLAM) algorithms with multiple autonomous robots have received considerable attention in recent years. In general, SLAM algorithms use odometry information and measurements from exteroceptive sensors of robots. The accuracy of these measurements and the performance of the corresponding SLAM algorithm directly affect the overall success of the system. This paper presents comparative performance evaluations of three Simultaneous Localization and Mapping (SLAM) algorithms using Extended Kalman Filter (EKF), Compressed Extended Kalman Filter (CEKF) and Unscented Kalman Filter (UKF). Specifically, it focuses on their SLAM performances and processing time requirements. To show the effect of CPU power on the processing time of SLAM algorithms, two notebooks and a netbook with different specifications have been used. Comparative simulation results show that processing time requirements are consistent with the computational complexities of SLAM algorithms. The results we obtained are consistent with the CPU power tests of independent organizations and show that higher processing power decreases processing time accordingly. The results also show that CEKF is more suitable for outdoor SLAM applications where there are a lot of natural and artificial features. © 2012 IEEE.

关键词： Extended Kalman filters

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Robust stability analysis of nonlinear switched systems with Filippov solutions

Robust stability analysis of nonlinear switched systems with...

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7th IFAC Symposium on Robust control Design, ROCOND'12

作者： Ahmadi, Mohamadreza Mojallali, Hamed Wisniewski, Rafael Izadi-Zamanabadi, Roozbeh Department of Electrical Engineering Faculty of Engineering University of Guilan Rasht Iran Department of Electronic Systems Automation and Control Aalborg University Fredrik Bajers Vej 7 C 9220 Aalborg East Denmark

ISBN: (纸本)9783902823038

This paper addresses the stability problem of a class of nonlinear switched systems with partitioned state-space and state-dependent switching. In lieu of the Carathéodory solutions, the general Filippov solutions are considered. This encapsulates solutions with infinite switching in finite time. Based on the theory of differential inclusions, a Lyapunov stability theorem is brought forward. These results are also extended to switched systems subject to polytopic uncertainty. Furthermore, the proposed stability theorems are reformulated using the sum of squares decomposition method which provides sufficient means to construct the corresponding Lyapunov functions via available semi-definite programming techniques. © 2012 IFAC.

关键词： Lyapunov functions

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Real-time safety circuit based on combined MEMS sensor data for rehabilitation device

Real-time safety circuit based on combined MEMS sensor data ...

引用

2012 13th International Carpathian control Conference, ICCC 2012

作者： Židek, Kamil Hošovský, Alexander Maxim, Vladislav Department of Mathematics Informatics and Cybernetics Faculty of Manufacturing Technologies with a Seat in Presov TU Kosice Presov Slovakia Department of Automation Control and Human Machine Interaction Faculty of Mechanical Engineering TU Kosice Kosice Slovakia

ISBN: (纸本)9781457718687

The article deals with implementation of MEMS sensors to real-time safety circuit for automated rehabilitation device. It is necessary to acquire information about some dangerous situation during the rehabilitation process as fast as possible. We need a real-time response from sensors, because there is additional time needed to stop a device of several milliseconds. There is designed solution the angle, velocity, acceleration and vibration of each joints of rehabilitation arm are monitored. The Device works independently of the control system, detects critical states, stops rehabilitation process and store critical data. Two accelerometers (analog and digital) and one gyroscope sensor are used in the device. The main information is acquired from combination of MEMS accelerometer values. Gyroscope provides a check data for operation reliability. The designed solution can be used in other automated devices too, where some unpredictable error during the operation can cause a human injury. © 2012 IEEE.

关键词： Gyroscopes

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A self-Tuning decentralized PI control for multivariable plant

A self-Tuning decentralized PI control for multivariable pla...

引用

2012 IEEE International Conference on control System, Computing and engineering, ICCSCE 2012

作者： Samsudin, S.I. Rahrnat, M.F. Wahab, Norhaliza Abdul Razali, Mashitah Che Gaya, Muhamad Sani Salim, Sy Najib Sy Department of Industrial Electronics Faculty of Electronics and Computer Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia Department of Control and Instrumentation Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia 81310 Skudai Malaysia Department of Control Instrumentation and Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Hang Tuah Jaya 76100 Durian Tunggal Melaka Malaysia

ISBN: (纸本)9781467331432

Tuning of controller is one of the most basic functions in control engineering in obtaining optimal control parameters and hence achieving optimal dynamic responses of the system. The work presents the self-Tuning PI controller that potential to auto-Tune the controller parameters and adapting the changes in controlled process parameter for a MIMO system. The decentralized PI controller with an adaptive interaction algorithm is developed and tested to nonlinear multivariable wastewater treatment plant. It is aims to self-Tune the PI control parameters in regulating the substrate and DO concentrations from a steady state operating point. It was observed that the proposed control structure and the tuning algorithm were successfully tracks the desired set-point with considerable effects in noisy environment. © 2012 IEEE.

关键词： MIMO systems

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An artificial immune pattern recognition approach for damage classification in structures 1

引用

2nd International Conference of Electrical and Electronics engineering, ICEEE 2011

作者： Zhou, Yue Tang, Shi Zang, Chuanzhi Zhou, Rui Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang 110168 China No. 3 Laboratory Shenyang Institute of Automation Chinese Academy of Sciendes Shenyang 110016 China

ISBN: (数字)9783642260018

ISBN: (纸本)9783642260001

Structural Health Monitoring (SHM) is one of the research topics that have received growing interest in research communities. While a lot of efforts have been made in detecting damages in structures, very few researches have been conducted for the structure damage classification problem. This paper presents an artificial immune pattern recognition (AIPR) approach for the damage classification in structures. An AIPR-based Structure Damage Classifier (AIPR-SDC) has been developed, which incorporates several novel characteristics of the natural immune system. The immune learning algorithm can remember various data patterns by generating a set of memory cells that contain representative feature vectors for each pattern, which are extracted from the compressed data using the auto regression exogenous (ARX) algorithm. The AIPR-SDC approach has been tested using a benchmark structure proposed by the IASC-ASCE Structural Health Monitoring Task Group. The test results show the feasibility of using the AIPR-SDC method for the structure damage classification. © 2012 Springer-Verlag.

关键词： Structural health monitoring

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Modified projective synchronization between genesio and rossler chaotic systems with uncertainties

Modified projective synchronization between genesio and ross...

引用

2012 International Conference on Electrical Insulating Materials and Electrical engineering, EIMEE 2012

作者： Du, Liming Wang, Fengying Liu, Jifei Pan, Rui State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Shengyang Liaoning 110819 China Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang China

ISBN: (纸本)9783037854518

The paper discusses the modified projective synchronization of two different chaotic systems by nonlinear control laws, considering the conditions of the master-slave systems with uncertain parameters, the synchronization problem between Genesio system and Rossler system has been investigated, adopting the adaptive control method, a sufficient condition is attainted for the modified projective synchronization between master and slave system, finally, The control performances are verified by the numerical examples. © (2012) Trans Tech Publications, Switzerland.

关键词： Synchronization

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Intelligent rehabilitation devices and user interfaces

Intelligent rehabilitation devices and user interfaces

引用

10th IEEE Jubilee International Symposium on Applied Machine Intelligence and Informatics, SAMI 2012

作者： Balog, R. Szerdiová, L. Šimšík, D. Galajdová, Alena Onofrejová, D. Technical University of Košice Mechanical Engineering Faculty Department of Automation Control and Human Machine Interactions Košice Slovakia Technical University of Košice MEF Department of Industrial Engineering and Management Slovakia

ISBN: (纸本)9781457701979

The paper presents a brief overview of the projects integrating the development of ICTs with the rehabilitation system for people with risk of fall that are solved under the Ambient Assistive Technology (AAL) programme. The paper includes description of our concept of the diagnostic and rehabilitation system with preventative features to decrease the risks of fall and its consequences in elderly. It integrates functions of two systems developed within the two research projects MonAMI (6FP) and SMILING (7FP) where we participated. The main goal is to ensure higher safety for seniors who are in risk of falls and are living alone. The first module of the integrated rehabilitation system is aimed to identification of falls and emergency communication system for the households of elderly living alone. The platform for that is system developed under the 6FP - MonAMI. The second module of the diagnostic and rehabilitation system plays a preventive role as a home rehabilitation device used for regular training of gait during daily activities. The device is based on an innovation of the motorized mechatronic shoe TUKE developed under the 7FP project SMILING. Users train their walk ability during performance of everyday tasks while solving unexpected perturbations simulating influence of external environment by surmounting the uncertainty when stepping on. The complex system is undertaking the challenge to come in market where we see an absence of preventive, diagnostic-rehabilitation centers aimed on people (elderly) with risk of fall. The end users will be rehabilitation clinics, geriatric centers, social services and condition centers, but preferably individual users, mostly seniors. © 2012 IEEE.

关键词： Assistive technology

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Bounded synchronization of switched dynamical networks with non-identical nodes

Bounded synchronization of switched dynamical networks with ...

引用

2012 International Conference on Modelling, Identification and control, ICMIC 2012

作者： Du, Liming Wang, Fengying Qiao, Feng State Key Laboratory of Synthetical Automation for Process Industries Northeastern University Ministry of Education of China China Faculty of Information and Control Engineering Shenyang Jianzhu University Shenyang 110819 China

ISBN: (纸本)9780956715715

This paper investigates the synchronization problem of a complex dynamical network with non-identical nodes and switching topology. Neither an equilibrium for each node nor a synchronization manifold is assumed to exist. We select average state trajectory as the target of synchronization and establish the error dynamical equations. Using single Lyapunov function method and the bounded synchronization theory, the switching law design method presented which guarantee the bounded synchronization of switched dynamical networks with non-identical nodes. Simulation results verify the validity of the results. © 2012 Huazhong Univ of Sci & Tec.

关键词： Synchronization

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