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Wireless Sensor Networks have become a key breakthrough in providing a stable platform in allowing large amount of data to be send to and from a cluster of sensors to sink node. A number of sensors are now being used to collect useful data such as the Sensirion® SHT11. Temperature and humidity data can be collect and directly send to and from other nodes. This paper will provide a concise demonstration...
This paper presents the instability problem of a broadcast control framework for multi-agent systems in executing certain motion coordination tasks. First, response of unstable solution using a standard broadcast control framework is demonstrated by choosing one motion coordination task as an example of the unstable case. In order to solve the problem, the standard broadcast control framework has...
This paper investigates new alternative approaches to detect the kidnapped robot problem event in Monte Carlo Localization. The underlying idea is based on the local similarity measures of the environment seen by the robot at two consecutive time instances. Six different similarity measures are investigated and tested against particles weight-based detectors to see how good each detector's ability...
This paper proposes a new method to detect the kidnapped robot problem event in Monte Carlo Localization. The method is designed such that it can provide accurate detection in wide range of particles' convergence level and does not depend too much on the re-localization/recovery process. The proposed method combines the difference in particle's weight, maximum current weight, and difference in particles'...
An investigation on the performance of enhanced Nonlinear Proportional Integral Derivative (ENPID) controller is presented in this paper. The study is focused on the potential of the controller to perform well in tracking set point of pneumatic actuator system. Two control strategies of the ENPID are considered in this paper, namely Multi-rate NPID (MN-PID) and Self-regulation NPID (SN-PID). These...
This paper aims to investigate whether simple proportional and derivative (PD) controller works for slow time-varying tracking control an under- actuated vehicle. The control scheme that consists of PD controller and also region formulation has been proposed for a quadrotor aerial vehicle due to the advantages of simplicity and ease of implementation. A Lyapunov-like function is presented for stability...
In this paper, a mathematical modeling of pneumatic actuator system is developed by using RLS algorithm. An ARX model is chosen for the model structure. In order to cater the time-varying parameter of pneumatic system, a self-tuning controller is implemented based on the pole-assignment controller. An online RLS algorithm update the parameter estimation at every sample interval. The pole-assignment...
This paper presents a new technique to control a hovering Autonomous Underwater Vehicle (AUV) mounted with four horizontal and four vertical thrusters. In this control scheme, fault tolerant decomposition and region based control schemes for tracking purposes are used. A Lyapunov-like function is presented for convergence analysis of the proposed control law. Based on numerical simulations, the performance...
This paper investigates several control strategies that potential to perform well in regulating and tracking set point of pneumatic actuator system and able to reject disturbance. The system consists of 5-port proportional valve with the dead-band flow and double rod cylinders that exhibit significant friction. Two control strategies of PID and NPID controllers with four different configurations with...
In this paper, two optimization techniques of Particle Swarm Optimization (PSO) and Firefly Algorithm (FA) is used to obtain the optimal PID control parameters. To represent the model of the system, system identification with ARX model structure is developed. The results are determined by analysis the step response characteristic of the system. It was observed that the performances of PID controller...
This paper presents a new geometric formation tracking control for Multiple Autonomous Underwater Vehicles (MAUVs). The concept of dynamic region boundary technique and edge-based segmentation approach are utilized in the control formulation. Using this control method, the AUVs are required to move in a specific geometric formulation while the shape of this formation can be scale up or scale down...
This paper presents a new adaptive region boundary-based tracking control for an Autonomous Underwater Vehicle (AUV). The proposed controller enables an AUV to track a moving target formed by the union of two or more boundaries. In this case, multiplicative potential energy function is used to unite the entire boundaries. The AUV also navigates into a specific position on the boundary lines or surfaces...
In this paper, a novel point-to-point motion controller is proposed for an underwater vehicle. Within this control concept, an edge-based segmentation approach is utilized to facilitate the problem that is associated with the region boundary-based control technique. The stability of the presented control law is proven in the sense of Lyapunov. Simulations on a 6-DOF underwater vehicle are carried...
In this paper, a simple control approach based on a region boundary technique for geometric formation of multiple Autonomous Underwater Vehicles (AUVs) is presented. The control objective is to keep each underwater vehicle at each corner of a desired geometric shape, i.e. an equilateral triangle or a square. An edge-based segmentation approach is utilized rather than specifying the minimum distance...
This study presents a novel tracking control scheme for an underwater vehicle-manipulator system (UVMS) where the proposed controller is not only used to track the prescribed sub-region but also allows the use of the self-motion to perform various sub-tasks (i.e. drag minimisation, obstacle avoidance and manipulability) because of the kinematically redundant system. In the proposed control scheme,...
A new control concept is proposed for an autonomous underwater vehicle (AUV) where the desired target is defined as a boundary rather than a point or a region. The inverse Jacobian is utilized in the adaptive control law for compensation of the persistent effects i.e.: the restoring forces. The unit quaternion representation is used for the AUVs attitude representation. The stability analysis is carried...
A new control concept is proposed for an underwater vehicle-manipulator system (UVMS) where the desired target is defined as a region boundary rather than a point or a region. For a mapping of the uncertain persistent effects i.e.: the restoring forces, a least-squares estimation algorithm along with the inverse Jacobian matrix is utilized in the adaptive control law. The unit quaternion representation...
In this paper, a sub-region tracking control scheme is proposed for an Underwater Vehicle-Manipulator System (UVMS). In the proposed controller, the desired primary task of the UVMS is specified as two sub-regions that are assigned for the vehicle and end-effector. The unit quaternion representation is utilized to achieve singularity-free attitude tracking control. In addition, due to the kinematically...
This paper presents an adaptive sub-region priority reaching controller with a fuzzy logic algorithm for an underwater vehicle. In this method, the sub-region priority reaching control law is merged with a fuzzy technique to manage the generalization of the underwater vehicle set-point control problem. The fuzzy technique is used to handle multiple sub-region criteria. These criteria are: depth constraint,...
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