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In order to achieve accurate attitude measurement and smooth navigation controlling of unmanned surface vehicle (USV), a visual horizon tracking method based on Kalman filter has been proposed. Firstly, the approximate parameters of the visual horizon are estimated according to the predictive camera attitude, and the candidate image pixels are obtained in a small region of interest around the predicted...
In this paper, we develop a robust controller for parallel DC-DC converter system by combining the adaptive backstepping technique and decentralized control. The voltages and currents of all converters are coupled with each other. The parallel DC-DC converter system is modeled as a large scaled state-space system with interconnection between subsystems. Each local controller, designed simply based...
Chattering is inevitable when adopting the sliding mode control to control nonlinear system and inhibiting the chattering becomes the research emphasis. This paper introduces a backstepping adaptive sliding mode control scheme which can solve the uncertain problems in nonlinear system and meanwhile can ensure the robustness of system. The backstepping design principle is firstly introduced. Chattering...
Inverter control is to enable the inverter output sinusoidal voltage stability, dynamic response, robustness. Uses the current SPWM to control the inverter and design the closed-loop transfer function of system based on ITAE optimal model, get the controller parameters. To control the inverter with the optimized parameters, simulation results show the current inverter SPWM control system can adapt...
A new LMI (linear matrix inequality)-based filter design methodology which can solve the multi-objective optimation problem for fault detection in LTI(linear time invariant) plants is presented. The main contributions consist of the formulation of the FD problem as a multi-objective optimization problem and the successful application in the aerocraft's closed-loop control system. The fault detection...
Image preprocessing and corner detection are of importance in 3-dimension measurement based on computer technology. A novel image preprocessing method by combining the deconvolution based on Fourier transform with the white Gaussian denosing method based on finite Ridgelet transform is proposed, and a corner detector is given according to the cornerness of the preprocessed image. The simulation and...
This paper presents a robust fault detection (FD) scheme for detecting and approximating state faults occurring in a class of nonlinear dynamical systems. In the presence of a failure, the values exported by the on-line approximator (OLA), are used as an estimate of the real nonlinear fault function. The general inspiration for constructing OLA model in FD is based on the radial basis function (RBF)...
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