Model predictive control (MPC) is an optimization-based control framework which is attractive to industry both because it can be practically implemented and it can deal with constraints directly. One of the main drawb...
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Model predictive control (MPC) is an optimization-based control framework which is attractive to industry both because it can be practically implemented and it can deal with constraints directly. One of the main drawbacks of MPC is that large MPC horizon times can cause requirements of excessive computational time to solve the quadratic programming (QP) minimization which occurs in the calculation of the controller at each sampling interval. This motivates the study of finding faster ways for computing the QP problem associated with MPC. In this paper, a new nonfeasible active set method is proposed for solving the QP optimization problem that occurs in MPC. This method has the feature that it is typically an order of magnitude faster than traditional methods.
This paper describes an unusual behavior detection system based on an omni-directional vision sensor as one of the important elements in realizing "Sensing and Robotic Support Room" for elderly people. Such ...
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In this paper, the target is to reduce the energy consumption in the body sensor network as well as maximize the system lifetime of sensor nodes when they will make communication among body sensors and personal commun...
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Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best ...
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Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance for the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.
Feature extraction and matching is one of the most significant research areas in robot vision. In this paper, we present a new method for motion estimation and mapping using color feature extraction and matching. The ...
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ISBN:
(纸本)9781424420582
Feature extraction and matching is one of the most significant research areas in robot vision. In this paper, we present a new method for motion estimation and mapping using color feature extraction and matching. The proposed method reduces computational cost and has good performance. The experimental result shows that the proposed method not only runs faster but provides accurate result.
This paper describes a project that seeks to improve undergraduate learning by developing a cohesive program where experiments are introduced into a wide selection of ECE courses that currently do not have labs. Most ...
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We have proposed the voltage-current sensor embedded in a ceramic insulator for the real-time observation of the power factor in three-phase power distribution systems and carried out the finite element analysis to in...
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This paper describes a novel safety driving control scheme for electric power assisted wheelchairs based on the regenerative braking system. "Electric power assisted wheelchair" which assists the driving for...
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An Adaptive geometric features based filtering (AGFF) technique with a low computational complexity is proposed for removal of impulse noise in corrupted color images. The effective and efficient detection is based on...
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