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This paper addresses the problem of reconstructing the height of the sea-surface proximal to marine vessels, based upon a finite set of point-wise in space height samples from onboard light detection and ranging (LiDAR) sensors. This is a necessary precursor to developing the autopilot systems for next generation unmanned surface vehicles (USVs) that can efficiently navigate through rough seas, based...
In order to simulate a micro-gravity environment for a three-axis air-bearing spacecraft simulator, an automatic mass balancing subsystem is developed. A non-orthogonal slider distribution scheme is proposed to avoid the intrinsic center-of-gravity shift involved in the mass balancing process. The simulator kinematics and dynamics are analyzed, and the relationship between the attitude change and...
This paper considers the identification problems of Hammerstein Box-Jenkins systems based on the hierarchical identification and maximum likelihood principle. After decomposing the Hammersetin Box-Jenkins systems into two subsystems, a maximum likelihood least squares based iterative algorithm is derived to interactively estimate the parameters of the two subsystems. The simulation results show that...
The simulation and experiment platforms are very important to the research of NCS(Networked Control System). A novel Simulink-based platform for simulations and experiments of Networked Control System is presented in this paper. Using cloud-side cross-compilation techniques, the installation becomes portable meanwhile the details of developed S-function are invisible to users. To support the NCS experiments,...
With a large number of wind farms integrated into power systems, the load characteristics of the power systems will vary, resulting in the inapplicability of the traditional load model. Thus, it is of great importance to describe the load characteristics of power systems by taking the impact of the integration of the wind power into consideration. This paper first discusses the influence of wind power...
Presents the introductory welcome message from the conference proceedings. May include the conference officers' congratulations to all involved with the conference event and publication of the proceedings record.
The Furuta pendulum (rotary pendulum) is an example of a complex nonlinear oscillator. In this paper, we demonstrate how MATLAB and Simulink can be used for rapid prototyping of control strategies. A mathematical model of the system is derived using Euler-Lagrange equations. The benefits and drawbacks of using physical modeling and traditional mathematical analysis techniques are discussed. A model...
The task of epilepsy diagnosing in medicine by classification of electroencephao-graph (EEG) signals is considered. Since an EEG signal has a large number of dimensions as an input sample vector, many previous classification methods have been proposed as hybrid frameworks, which are structurally complex and computationally expensive. In this paper, convolutional neural network (CNN) is used to realize...
To cope with data collision problem in consensus synchronization algorithm caused by utilizing pseudo-periodic broadcast method, this paper presents a novel gossip averaging based clock synchronization protocol, which combines the a synchronism of rumor communication and the robustness of neighbor averaging. We design a randomized link-activated based relative skew estimation strategy, which realizes...
In modern manufacturing systems, the failure of machine tools may cause unexpected system breakdown and bring about tremendous financial losses. With an effective tool condition monitoring (TCM), unnecessary downtime for maintenance can be reduced. Unfortunately, machine tool dynamics are complex, and the accurate relationship between monitoring signals and the tool health states is difficult to describe...
A sliding mode controller is proposed for the robust control of both the position and attitude of a quadrotor. The design is tested in simulation. The performance is compared with a proportional plus derivative controller. The robustness of the design is also tested for parametric uncertainty. The effect of disturbances is also investigated. It is found that the sliding mode controller provides good...
This paper researches on modeling and design of quasi-Z-source inverter (q-ZSI) applied for PMSM drive system. Using state-space average method, the small-signal model and steady model are builded. Based on the mathematical model of PMSM and q-ZSI, the control systems of dc-link voltage and stator current are designed. The bandwidth of dc-link system is limited to reduce the interference between them...
To enhance the performance of the tracking property, this paper presents a novel control algorithm for a class of linear dynamic stochastic systems with unmeasurable states, where the performance enhancement loop is established based on Kalman filter. Without changing the existing closed loop with the PI controller, the compensative controller is designed to minimize the variances of the tracking...
The paper considers a distributed Linear Quadratic Regulator (LQR) design framework for a network of identical dynamically decoupled multi-agent systems. It is known that in this case a stabilizing distributed controller for the network can be obtained by solving a centralized LQR problem whose size depends on the maximum vertex degree of the graph. A systematic method is presented for computing the...
An optimal adaptive compensation control scheme is proposed for a class of multi-input multi-output (MIMO) affine nonlinear systems with actuator failures. Considering stuck actuators and partial effectiveness failures, an adaptive dynamic programming method is adopted by using neural network to approximate the cost function. It adjust the weights of the neural network by using an online adaptive...
The effectiveness of two discrete control strategies, Latching and Declutching, has been examined for an Oscillating Wave Surge Converter using numerical simulations. A simplified hydrodynamic model of a submerged oscillating plate and a simple damper PTO were used to model the forces acting on the device. As expected from looking at the available literature, both Latching and Declutching control...
This paper presents an energy management system to minimize the total combined operational and emission costs of a hybrid microgrid by optimal scheduling of the operating time of distributed generators and power exchange between the battery storage system and the utility grid. The impacts of unit commitment on the optimal operation of the hybrid microgrid are evaluated by formulating and solving the...
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