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Nonlinear dynamic inversion (NDI) has been applied to the control law design of UAVs for many years mainly due to its good robustness. However, it has a weakness of relying on accurate model of the plant greatly, which restrains its application since UAVs are easy to be influenced by persistent disturbances such as model uncertainties, winds and gusts; thus, development of accurate model for attitude...
To avoid the problems caused by complex sea conditions, like high costs, ships passive movement could not be controlled that brought by the ship experiment, in this paper, a simulated ship motion model system is developed to resolve this problem, which improved the reusability and reduced the actual cost. Six degrees of freedom movement mathematical model and sea state interference model are established...
In this paper, based on the theory of sliding mode control (SMC) and fuzzy logic control (FLC), a new fuzzy sliding mode control (FSMC) method is presented for controlling the vibration of building structures with an active tuned mass damper (ATMD) installed at the top floor. The undue chattering effect, the major disadvantage of conventional sliding mode controllers, has been avoided by introducing...
The unscented kalman filter is widely used in many application fields. In some occasions, the state variable is bounded to some feasible region and this makes the standard unscented kalman filter impossible to be utilized directly. Seldom researches have been made to solve this problem before. Two methods, the projection based method and the sigma points boundary shrinkage based method, are proposed...
Accurate estimation of the State of Charge (SOC) of the battery is one of the key problems to the battery management system. The SOC should be obtained indirectly according to some algorithms under a mathematical model, along with some measurable quantities. A Sigma Point Kalman Filter based battery model parameters estimation method is proposed. The parameters can be estimated accurately while efficiently...
For a long time, China's coal-based energy structure, as well as thermal-power-led power structure, has caused serious environmental pollution problems. To achieve the emissions constraints of major pollutants till the end of Eleventh Five-Year Plan, and optimize China's power structure, the research builds the electricity production and environmental constraints coupling optimization model and proposes...
In an embedded system, the hardware resources are limited. In order to obtain such traffic information as traffic volume and vehicle speed in an embedded system, a series of efficient video processing algorithms and optimization techniques are proposed. The key algorithm to detect vehicles is the background subtraction method, in which the approximated median filter is applied to obtain the simulated...
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