The paper examines the conditions for isolating the unknown input detection from the effects of the measurements noise in the important family of positional control problems. The study is motivated by the need of impr...
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The paper examines the conditions for isolating the unknown input detection from the effects of the measurements noise in the important family of positional control problems. The study is motivated by the need of improving the homing performance of interceptor missiles against randomly maneuvering targets. The required isolation is possible if, in addition to noisy relative position measurements, noise-free measurement of the line of slight rate or the relative lateral velocity is available. Although with noisy measurement of line of slight rate the isolation of the input is not possible, the detection filter designed for the noise-free case succeeds to provide a satisfactory estimate of target acceleration, which is needed for an improved homing performance.
Infrared (IR) and visible images are commonly used in the detection and tracking of a moving target. A novel contour extraction scheme for a moving vehicle is proposed in this paper. Firstly, a motion segmentation tec...
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Infrared (IR) and visible images are commonly used in the detection and tracking of a moving target. A novel contour extraction scheme for a moving vehicle is proposed in this paper. Firstly, a motion segmentation technology is applied to get an initial contour. Secondly, a dynamic contour is applied to represent the initial contour and then converges to the target's contour. Lastly, a novel image fusion is proposed, which minimizes the B-spline norm's square of control point vector's difference in two modal images. Image registration is not required. The experiment indicates that for visible images, average contour extraction error decreases by 58.14% after the fusion. Moreover, a fast iteration algorithm of dynamic contour based on the Newmark algorithm is devised. This image fusion is implemented only with control point vectors and is suitable for real-time processing.
A generalised minimum variance controller is developed for linear time-varying systems. The plants to be controlled are described using a controlled autoregressive moving average model and are exponentially stable. Bo...
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A generalised minimum variance controller is developed for linear time-varying systems. The plants to be controlled are described using a controlled autoregressive moving average model and are exponentially stable. Both, the plant parameters and the noise variance are time-varying. The generalised minimum variance cost functional is the sum of a tracking error variance between a filtered plant output and a filtered reference plus a penalty term of filtered plant input. Time-varying filters are introduced for weighting to make the controller more flexible.
A constrained linear optimal control for a low-power industrial gas turbine based on input-output linearization is proposed in this paper. It uses a nonlinear state space model of the gas turbine in input-affine form ...
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A constrained linear optimal control for a low-power industrial gas turbine based on input-output linearization is proposed in this paper. It uses a nonlinear state space model of the gas turbine in input-affine form based on first engineering principles. According to the control aims the nonlinear model is input-output linearized and an LQ servo controller is developed for the linearized model. We have some additional constraints on the state and input variables of the closed-loop plant fed back by the LQ servo controller. These constraints can be kept in a simple way designing an MPT-controller. The complete control structure is investigated by simulation studies.
This paper proposes a hierarchical formation stabilization method for vehicles having nonlinear dynamics. Supposing that the formation control problem is already solved for the case of linear vehicle dynamics, the met...
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This paper proposes a hierarchical formation stabilization method for vehicles having nonlinear dynamics. Supposing that the formation control problem is already solved for the case of linear vehicle dynamics, the method proposes a dynamic inversion based low-level control, which linearizes, at least approximately, the original vehicle dynamics so that the formation control can be applied. In this way a hierarchical control system is obtained, which is then completed with a passivity based stabilization procedure for the stability of the entire system can be guaranteed.
An Unmanned Aerial Vehicle (UAV) formation in a leader-follower structure, where the UAVs are flying a common trajectory determined by a route planner hosted on the leader is considered. The path description is compre...
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A physically parameterized continuous-time velocity-scheduled LPV state-space model of a heavy-truck is identified from measurement data. The aim is to develop a model for controller which steers the vehicle by brakin...
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A physically parameterized continuous-time velocity-scheduled LPV state-space model of a heavy-truck is identified from measurement data. The aim is to develop a model for controller which steers the vehicle by braking either the one or the other front wheel. It can be applied in many vehicles, where the sole possibility to automate the steering in emergency situations, like e.g. unintended lane departure, is the application of the electronic brake system. Such steering controllers usually require the prediction of the yaw rate and the steering angle on every possible velocity. This problem defines the requirements for the model. Four different order model structures are derived from a certain physical description. Assuming state and output noise, all of them are identified in parameter-varying observer form using prediction error method. The quadratic criterion function is composed from measurement data of several different experiments. Each experiments are carried out on constant velocities but the cost is constituted from different velocity experiments. That structure is selected for controller design which has the best cost on test data out of those the poles of which are in the control bandwidth. The poles are defined on constant velocity. The resulted nominal model consists of the feedback connection of the yaw dynamics with one state-variable and the steering system dynamics with two states and of a first order actuator dynamics with time-delay The predicted outputs show a good fit to the measurements.
The paper suggests the necessity of the estimation of unmeasured variables of traffic systems. The presented method proposes constrained state estimation of unmeasured traffic variable such as turning rates. The weigh...
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The paper suggests the necessity of the estimation of unmeasured variables of traffic systems. The presented method proposes constrained state estimation of unmeasured traffic variable such as turning rates. The weighted constrained state approach uses moving horizon along the state trajectory which permits to handle equality and inequality constraints belonging to the nature of the traffic model. A numerical example illustrates the importance of constrained estimation.
A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation ...
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A multi-level model, that provides a hierarchically structured description of a complex, multi-scale limb system is proposed in this paper for predicting and analyzing movement patters generated by various activation signals. The levels, the sub-models on each level and their interconnections are developed and described following a systematic modelling procedure. The computational properties (degree of freedom and differential index) of the developed model have been analyzed and a sub-model has been transformed to meet the index-one requirement for solving the resulting differential algebraic equation (DAE) model by standard methods implemented in MATLAB. The model is extensively verified against engineering expectations using parameter values found in the literature, and a good agreement was found. Parameter sensitivity analysis has also been performed.
The shortcoming of the standard genetic algorithm is analysed. An improved genetic algorithm with modified mutation operator and adaptive probabilities of crossover and mutation is proposed. Simulation experiments hav...
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The shortcoming of the standard genetic algorithm is analysed. An improved genetic algorithm with modified mutation operator and adaptive probabilities of crossover and mutation is proposed. Simulation experiments have been carried and the results show that the modifications are very effective. In this paper, an optimum charge plan for steelmaking continuous casting production scheduling is also studied. The charge plan model is established. The modified genetic algorithm is used to solve the optimum charge plan problem. The computation with practical data shows that the model and the modified genetic algorithm are very effective.
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