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To achieve stable tracking of a flight trajectory, a controller with simple structure and strong robustness is designed control a quadrotor in this paper. The controller possesses inner and outer loops structure. The inner loop adopts a ZN-PD controller which Proportional Derivative (PD) controller parameters are tuned by Ziegler-Nichols method; the outer loop adopts Internal Model Control (IMC) method...
This paper presents a design method of robust nonlinear controller with inner-outer loop structure (robust chattering free backstepping/backstepping sliding mode controller). Because backstepping control and sliding mode control are in nature two different robust controllers, the combination of them brings up a controller which has stronger robustness for synthesizing their advantages. In this paper,...
In this paper, we consider a job scheduling problem with random local generation, in which some jobs must be scheduled ahead of time while the others can be scheduled in a real-time fashion. To capture the randomness of the locally distributed generation, we develop a two-stage robust optimization model by considering an uncertainty set without probability information. Given that the problem is challenging,...
In this paper, we propose an object tracking algorithm Based on particle filter using integral channel features. Integral channel features are the extension of features which can be computed using the integral image of multiple image channels. They combine diversity of information and high computational efficiency. In this algorithm, two kinds of integral channel features (the gray and the gradient...
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