For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane w...
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For a ground target tracking system using an unmanned helicopter, an on-board pan-tilt controller is proposed to adjust the attitude of the camera, so that to keep the target staying at the center of the image plane when the target is in sight. When the target is temporarily out of view due to various reasons, the designed controller will make the camera quickly re-capture the target by estimating its state and then regulating the orientation of the camera correspondingly. Specifically, a novel state transformation is firstly introduced to make the error system independent of the target image. Subsequently, a nonlinear pan-tilt controller is designed for the transformed error system. Lyapunov techniques are then employed to prove that the target tracking error in the image plane is driven to zero exponentially fast. To facilitate the implementation of the constructed controller, a visual estimator is also utilized to obtain the state information of the target even if it is occasionally out of the view of the camera by introducing an effective nonlinear filter. Simulation results are provided to validate the performance of the presented control system.
Networked controlled systems have recently received attention from the industry since they allow for flexibility and cost reduction. However, due to the fact that communication media can be subject to random delays, p...
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Networked controlled systems have recently received attention from the industry since they allow for flexibility and cost reduction. However, due to the fact that communication media can be subject to random delays, packet dropouts, jitters and other uncertainties, destabilization of the closed loop system can occur. Model predictive control has demonstrated to be a valid solution to cope with these issues. On the other hand, it typically relies on TCP-like (or connection oriented) protocols, i.e. either the received or the lost information is acknowledged. In this work, we propose an event-based model predictive control algorithm for nonlinear continuous time systems subject to state and input constraints which is based on UDP-like communication. We show that without the use of any acknowledgment or error message we can derive a compensation algorithm, which used in combination with the controller, under mild conditions, guarantees closed loop stability. The solution is applied to a continuous stirred tank reactor where an exothermic irreversible reaction takes place. The simulations show the effectiveness of the presented algorithm.
Component concentration of sodium aluminate solution is an important quality index for alumina production. In this article, we propose a new on-line soft sensing strategy for measuring component concentration of sodiu...
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Because the structure and function of a high-rise building is complex and the density of occupants in it is high, fire safety is still a worldwide difficult problem. Safety and timely evacuation is an important issue ...
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Networked controlled systems have recently received attention from the industry since they allow for flexibility and cost reduction. However, due to the fact that communication media can be subject to random delays, p...
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Based on deep investigation to the static and dynamic characteristics of Hammerstein and Wiener model structures, this paper proposes an included angle based nonlinearity measure for SISO Hammerstein-like systems. The...
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Based on deep investigation to the static and dynamic characteristics of Hammerstein and Wiener model structures, this paper proposes an included angle based nonlinearity measure for SISO Hammerstein-like systems. The proposed measure is instrumental for both analysis and synthesis of nonlinear systems, especially when a multilinear model controller is designed. A CSTR process is studied to illustrate the effectiveness of the proposed nonlinearity measure.
This note is concerned with the H ∞ decentralized control for a class of uncertain neutral interconnected systems via dynamic output feedback. In the frame of Lyapunov stability theory, in view of the nonlinearity o...
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This note is concerned with the H ∞ decentralized control for a class of uncertain neutral interconnected systems via dynamic output feedback. In the frame of Lyapunov stability theory, in view of the nonlinearity on certain matrix variables, a mathematical technique is developed to obtain a criterion in terms of linear matrix inequalities for the existence of the anticipated controller. The parameterized characterization of the controller is achieved by solving some algebraic equations and LMIs. Besides, the norm of the transfer function from the disturbance input to the controlled output is less than the given index. A numerical example is included to illustrate effectiveness of the proposed method.
Abstract This paper studies the output tracking problem of continuous-time Markovian jumping systems (MJSs) via error feedback scheme. With the extension of output regulation to MJSs, sufficient conditions are obtaine...
Abstract This paper studies the output tracking problem of continuous-time Markovian jumping systems (MJSs) via error feedback scheme. With the extension of output regulation to MJSs, sufficient conditions are obtained based on stochastic Lyapunov-Krasovskii functional. The resulting closed-loop system is guaranteed to be stochastically stable and the output tracking is achieved almost asymptotically. Moreover, the output regulation error almost asymptotically converges to zero. In order to ensure the relaxed solutions of the regulation equations, we described the problem as a semi-definite optimization approach via disciplined convex programming. Simulation result is also given to illustrate the performance and effectiveness of the proposed approach.
Abstract Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experime...
Abstract Experiment design for quantum channel parameter estimation includes the design of the quantum input to the channel and the observables to be applied on the resulting quantum output system, called the experiment configuration. An experiment design procedure based on maximizing the Fisher information of the qubit Pauli channel parameters is presented in this paper. It can be shown that the Fisher information is a convex function in both the input and the experiment configuration parameters. This leads to an optimal setting that includes pure input states and projective measurements directed towards the channel directions. An iterative method of estimating the channel directions is also proposed.
This paper investigates the chaotification problem of a stable continuous-time T S fuzzy system. A simple nonlinear state time-delay feedback controller is designed by parallel distributed compensation technique. Then...
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This paper investigates the chaotification problem of a stable continuous-time T S fuzzy system. A simple nonlinear state time-delay feedback controller is designed by parallel distributed compensation technique. Then, the asymptotically approximate relationship between the controlled continuous-time T-S fuzzy system with time-delay and a discrete-time T-S fuzzy system is established. Based on the discrete-time T-S fuzzy system, it proves that the chaos in the discrete- time T-S fuzzy system satisfies the Li-Yorke definition by choosing appropriate controller parameters via the revised Marotto theorem. Finally, the effectiveness of the proposed chaotic anticontrol method is verified by a practical example.
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