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One of the existing problems of General UKF is the stability problem due to the strong nonlinearity and the complexity of the system. When the algorithm can't ensure the state covariance to be positive semidefinite, the precision will be decreased or even general UKF will be halted. Based on the singular value decomposition of state covariance, this paper proposes a modified UKF algorithm which can...
Nonlinear Model predictive control (NMPC) suffers from the problems of closed loop instability and computational complexity, which greatly limit the applications of NMPC in real plants involving fast time-varying dynamics. During previous work, the authors have supposed a new real-time NMPC algorithm based on the concept of generalized pointwise min-norm (GPMN) scheme. And in this paper, the new real-time...
This paper focuses on the process of hardware selection in the design of an Unmanned Trimaran Surface Vehicle (UTSV) and a control scheme design of model-scaled UTSV. The controller development is based on Unscented Kalman Filter (UKF) and backstepping techniques. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift due to disturbances induced...
Nonlinear Model predictive control (NMPC) suffers from the problems of closed loop instability and computation complexity, which greatly limits its application in mechatronic systems involving fast time-varying dynamics. In this paper, a new NMPC enhanced by generalized pointwise min-norm (GPMN) scheme is presented. First, a generalized min-norm control algorithm is developed by introducing a guide...
This paper proposes an unscented Kalman filter (UKF) based tracking controller to force underactuated nonlinear autonomous ships to follow a reference path under constant disturbances induced by wave, wind and ocean-current. The controller development is based on UKF and backstepping techniques. The UKF is used to update the estimation of the uncertain parameters online to avoid the parameters' drift...
This paper discusses the yaw control of small-size unmanned helicopter. The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. With respect to such a complicated dynamics, the normal PID control is difficult to realize good tracking performance while maintaining stability and robustness simultaneously. In this paper, a valid...
A new formulation of nonlinear controller design method based on control Lyapunov function, called generalized pointwise min-norm (GPMN) controller, is introduced in this paper by generalizing the pointwise min-norm (PMN) controller presented by Freeman etc. And combining the GPMN controller with design-via-linearization approach of nonlinear system, we can obtain a new nonlinear controller design...
In this paper, we deal with the yaw control problem of a small-scale helicopter mounted on an experimental platform. The yaw dynamics of helicopter involve input nonlinearity, time-varying parameters and the couplings between main and tail rotor. An attractive control strategy that combines neural networks with traditional adaptive controls has been successfully used for yaw control with input nonlinearities...
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