This paper is concerned with minimum error entropy filter design for non-linear Networked control Systems (NCSs) with multiple-packet transmission mechanism. Since the error of the filter in NCSs is generally non-Gaus...
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Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various ...
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Agent-based evacuation modeling approach is gained more and more attention for investigating human cognitive capabilities and social behaviors in building fires. This paper mainly overviews the research about various agent-based evacuation models. For the decision-making reflects the intelligence of agent individual, we define three types of behavior decision-making models for agent individual based on the collected literatures and sum up the characteristics of each type. Aiming at crowd' important influence on evacuation processes, we also sum up two types of agent-based crowd modeling approaches to simulate crowd evacuation processes and give corresponding cases. Finally, after summing up the existing problems, the outlooks of the research from computational experiments point of view is proposed.
The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight per...
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The quadrotor unmanned aerial vehicle (UAV) has been a focus for unmanned aerial vehicles. Ground control system (GCS) is an important part of the quadrotor UAV flight control system, and it can promote the flight performance and safety of quadrotor UAVs. In this paper, a quadrotor UAV GCS is designed and implemented, and the GCS realizes the following functions, including receiving and storing of the flight data, the real-time localization utilizing the customization of electronic maps like MapX and Google Earth, the visual display of flight states via virtual instruments and the waypoint planning. Outdoor experiments have been done to verify the GCS's performance. It can be concluded that the proposed GCS in this paper can work stably, and it can guarantee the integrity of the flight data, the accuracy of the instruments display and map localization.
作者：
P. VaruttiB. KernR. FindeisenP.Varutti
B.Kern and R.Findeisen are with the Laboratory for Systems Theory and Automatic Control Institute of Automation Engineering Otto-von-Guericke University Magdeburg 39016 Magdeburg Germany
Developing centralized controllers for large-scale systems, e.g. complex chemical processes, electrical power networks, is an important, yet challenging problem. Typically, it would be of advantage if one could divide...
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Developing centralized controllers for large-scale systems, e.g. complex chemical processes, electrical power networks, is an important, yet challenging problem. Typically, it would be of advantage if one could divide the problem into smaller parts (or subproblems), and to opt for a decentralized or distributed alternative. On the other hand, due to physical interconnections between subsystems, it is often complicated to find such a solution. Additionally, performance loss or even instability of the overall system can arise if the decentralization is not done properly. It is, therefore, fundamental to develop suitable distributed/decentralized techniques in order to avoid these issues. In this paper, we propose a decentralized dissipativity-based nonlinear model predictive control strategy for cascades of physically interconnected systems, e.g cascades of hydroelectric power plants, multi-cell batteries. Under mild assumptions, we prove that the control method guarantees overall stability by independently enforcing stability of the local subsystems. This allows for efficient decentralized solutions. Furthermore, the local controllers only exchange limited information and no model of the neighbor systems is required, facilitating decoupled local controller design. Two interconnected water tanks are used to demonstrate the effectiveness of our approach.
In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve au...
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In recent years, quadrotor helicopter has become a hotspot of the research about unmanned aerial vehicles (UAVs). The data acquisition of the vehicle's attitude and position in real time is important to achieve autonomous flight control for quadrotor UAVs. In this paper, an ARM embedded system is employed as the main controller, and an attitude heading reference system (AHRS) is utilized as the main onboard sensor. By using C++ programming under Linux operation system, the data acquisition and processing of the AHRS is implemented, and then the attitude and position data of the quadrotor UAV are obtained in real time to provide reliable flight state information for the autonomous flight control. The on-board flight data is sent to ground control system and stored via a communication module based on the UDP network protocol.
In this study, nonlinear neural network controller will be developed to control plasma radial motion in Damavand Tokamak. It is essential to have a good model in order to design a proper controller for plasma radial m...
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In this study, nonlinear neural network controller will be developed to control plasma radial motion in Damavand Tokamak. It is essential to have a good model in order to design a proper controller for plasma radial motion. To achieve this goal, actuator circuits are simulated and in consequence based on simulator model and simulated actuator circuits nonlinear neural network controller will be designed in Damavand Tokamak. Comparison between neural network controller output and PD controller output shows the efficiency of proposed approach.
The number of model-based approaches in modern engine control units (ECUs) increases permanently with the increase of engine complexity. Therefore the efficient storage and the fast computation of these models is a ch...
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Due to more and more stringent emission regulations the optimisation of transient engine operation becomes necessary for future Diesel engine developments. Exemplary for the transient operation a step in acceleration ...
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The cable-driven mechanism is usually used in robotic systems for the efficient transmission of forces or torques from actuators to the end-effector. However, the control design is challenging for these systems due to...
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This paper presents fault detection, fault diagnosis, the fault-tolerant control of an electro-hydraulic servo axes with a duplex-valve-system. The fault detection is based on parity equations and is load independent....
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