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Formation control is an important part of any system that utilizes multiple mobile agents to achieve its parti‐ cular goals. One of those applications is the mobile wi‐ reless network sensor. This field has become increasingly more popular in recent times due to the advancement of technology, especially in the fields of miniaturization and telecommunications. The main problem of this research is the...
Navigation is an important thing in so many intelligent systems. Nowadays, without any hesitation Global Positioning System (GPS) is the most common method for navigation. Nevertheless, in certain environments, GPS will become inaccurate due to the multi-path problem. In this paper, we propose a dead-reckoning system for quadrotor using feature-based monocular visual odometry to overcome that problem...
The challenge design of servo state feedback controller is how to determine the parameter value of integral gain and state feedback gains. This paper proposes CDM (Coefficient Diagram Method) to determine gains of servo state feedback controller. We apply this controller in the nonlinear plant, magnetic levitation system, and firstly transform the system to be linear using feedback linearization....
Considering its agility and capability to vertical take-off and landing, quadrotor is beneficial for transporting missions. In this paper we present a model of a transporting quadrotor with payload uncertainties, as well as its corresponding proportional-derivative (PD) control on Special Orthogonal-3. Practically, it is a challenging problem to compensate the inertia perturbation due to the uncertainties...
in this research, the estimation method using IT2FLS (Interval Type 2 Fuzzy Logic System) and ANFIS (Adaptive Neuro-Fuzzy Inference System) as a base to build the membership functions and the rule base is constructed. The differences area of uncertainty is used to determine a model of type 2 fuzzy systems based on the smallest RMSE value. This study uses two methods of type-reducer, namely Enhanced...
To avoid battery failure and keep the battery lifetime, a system needs control its use by considering two of several parameters of Battery Management System (BMS) such as State of Charge (SOH) and State of Health (SOH). The State of Charge in Battery Management System provides the percentage of battery capacity, while the State Of Health measures the battery health. The Thevenin battery model is used...
This paper proposes a method for path planning of Unmanned Surface Vehicle (USV) with the effective period of time to achieve the target using sharp cornering algorithm. This method is used to create the curve between two points of the target. USV uses 9 DOF IMU with Kalman Filter and also the Inertial Navigation System (INS) as a method to combine 9 axis of IMU become pitch, roll and yaw. The generated...
A quadrotor is needed by geologists to do surveillance and monitoring in several disaster-prone areas. Therefore, quadrotors which are able to perform autonomous hovering in order to move from one location to another are required. Based on the problem, This paper presents the trajectory and altitude control for autonomous hovering of quadrotor by using fuzzy logic controller. This algorithm is applied...
This paper addresses the issue of local information on the Artificial Potential Field (APF). The APF is designed as the path planning with global information usually. For the real time platform in the vast area, it is hard for the sensor to acquire data environment in the global view method. Generally, the sensor is attached on the robot itself that only could be obtained the local information. This...
The problem of maximizing the coverage of a Mobile Sensor Network under an unknown interest function through distributed means is discussed in this paper. The distributed version of the Voronoi locational optimization method is used to maximize the coverage. The stability results of the method is discussed. Numerical experiment is conducted to study the effect of network topology and interest function...
Worldwide, the use of mobile robot has been growing rapidly. In aerospace, for instance, mobile robot have become ubiquitous in both military and civilian applications. Today, for example, unmanned air vehicles must execute military reconnaissance and strike operations, border patrol missions, forest fire detection, police surveillance, and recovery operations. In this research, an arrival time field...
The accurate battery model and parameters identification are used to produce a reliable Battery Management System (BMS). In this research, the battery model using the equivalent circuit Thevenin model is proposed after considering its complexity, model accuracy, and robustness. Parameters identification is done by using pulse test data that contains current and Vd (the difference between Open Circuit...
Several previous researchers have conducted research on altitude control of a quadrotor, but the results showed that there were some problems namely long raise time and steady time, oscillation and overshoot when hovering. Hence, this paper presents modification of fuzzy algorithm mamdani method with error and altitude change inputs. The modification of the algorithm includes rule-base, set members...
In this work, data fusion and switching function based approach for MAV (Micro Aerial Vehicle) navigation system is proposed. Our approach applies monocular simultaneous localization and mapping (SLAM) system. Extended Kaiman Filter (EKF) algorithm is then used to fuse SLAM data with velocity and acceleration data, yielding metric-scaled position data. Moreover, GPS sensor is employed to retrieve...
This paper proposes fuzzy logic controller algorithm for quadrotor hovering mode. The input of this fuzzy logic controller is height and height changes. Triangular membership function are used to process these inputs. The membership function output is then applied to maintain the quadrotor hover position. Simulation results show that quadrotor has zero steady state error with setting time of 15 seconds.
This paper proposes multi-battery design of battery management control using bus communication method based on loop shaping. The experiment of proposed method shows that the capacity dynamics of battery has been improved. The multiple of battery control system is implemented in electric vehicle's model, and we modify the origin control system using bus communication method auto tuning based on loop...
Potential-function-based control strategy for path planning and formation control of Quadrotors is proposed in this work. The potential function is used to attract the Quadrotor to the goal location as well as avoiding the obstacle. The algorithm to solve the so called local minima problem by utilizing the wall-following behavior is also explained. The resulted path planning via potential function...
Dynamics of a magnetic levitation system are usually unstable and complicated. Therefore, a good controller is needed to achieve high-precision positioning of a ferromagnetic ball. This paper presents control of a magnetic levitation using exact feedback linearization controller. The dynamics of the system is analyzed by Euler-Lagrange. The mathematical model of the system shows that nonlinear. The...
This paper discuss about battery modeling as consideration for battery management system to protect the battery and improve the lifetime to maximum. BMS is a critical system of electric vehicle to keep the EV on the best quality. This system prevent the battery from over-charging, over-discharge, and over-heat so the battery will not be damaged.
The battery management system (BMS) is an important component of electric and hybrid-electric vehicles. The purpose of the BMS is to keep the battery operation safe and reliable. Fuzzy logic system (FLS) is one of the methods used to maintain the safety and reliability of the battery by state monitoring and evaluation, charge control, and cell balancing in BMS. Fuzzy logic data analysis were used...
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