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This paper investigates the problem of cooperative formation control of unmanned surface vehicles (USVs). According to the second-order consensus protocol with a virtual-leader, a distributed control law is derived, in which the consensus formation motion information can only be obtained by a part of USVs. Taking advantages of the shared information between adjacent multi-USVs, the USVs can control...
In this paper, a second-order sliding mode control based on super-twisting algorithm is applied for bidirectional DCDC converter. Two sliding mode controllers are given for buck mode and boost mode of the DCDC converter, and they can be switched to achieve the voltage/current output regulation according to the different working conditions of DCDC converter. Different working conditions of DCDC converter...
This paper develops a hierarchical sliding-mode controller (HSMC) to simultaneously accomplish velocity control and balancing control for a two-wheeled self-balancing vehicle (TWSBV). Based on the derived TWSBV model, two first-level sliding surfaces, relevant to velocity and position of TWSBV and tilt angle and tilt angular velocity of TWSBV respectively, and a second-level sliding surface, are defined...
Traditional sliding-mode control has two main problems, the singularity and chattering, which hinder its applications. This paper proposes a full-order terminal sliding mode control for a class of uncertain nonlinear systems to address these problems. During the ideal sliding motion, the nonlinear systems are forced to behave as a desirable full-order dynamics rather than a reduced-order dynamics...
We propose bias-compensated algorithms based on the RZA-LMS algorithm and diffusion RZA-LMS algorithm. Our proposed algorithms improve the accuracy of estimation under the situation that input of the adaptive filter contains noise. Estimation methods of the input noise' variance are given for implementing our single-node and diffusion bias-compensated algorithms. Simulation results show that the proposed...
Electric Power Assisted Bicycle (EPAC) is becoming the transport and fitness tools that people pursue because of its green, healthy and economical characteristics. Compared to the conventional electric bike, EPAC not only reduces the burden on the rider, but also maintains the original bicycle characteristics. Nowadays, there is few study of the control approach adaptive to road slope and load for...
Civil aircraft landing gear brake system development and evaluation using model based system engineering is proposed in this paper. This paper describes the process of civil aircraft landing gear brake system development by model based system engineering (MBSE), and implementation using IBM Rational Rhapsody, a SysML Language Software Environment. Use case, function flow, and state-machine of system...
In this paper, a novel self-calibration algorithm is proposed for two-dimensional (2-D) direction-of-arrival (DOA) estimation based on L-shaped array (LSA) with mutual coupling. In this method, we construct a transformation matrix to eliminate the mutual coupling between subarrays, and then the DOA estimation problem of LSA is transformed into that of uniform linear arrays (ULAs). Then we only need...
Shell structure can help us understand the transport properties of the network clearly, and also identify the influential spreaders in complex networks. The robustness of networks suffering shell attacks is a topic of great interest since it is an important issue affecting many real-world networks. We study the robustness of two coupled network systems under shell attack, where multiple support-dependence...
This paper studies the modeling and control of a quadrotor with a suspended load. It is shown that the excessive load swing is the part of the system dynamics, which may degrade the quadrotor control performance. A detailed analysis about the system modeling with the load swing effect is carried out based on Newton-Euler and Euler-Lagrange method. A framework for sliding mode control of the quadrotor...
This paper investigates the finite-time output feedback control problem for DC-DC buck converter systems. By using the techniques of finite-time controller and finite-time convergent observer, a new fast voltage regulation control algorithm is designed which can guarantee that the output voltage converges to the reference voltage in the finite time. An inductive current convergent observers has been...
This paper investigates the missile attitude control problem. The model used in this paper is with respect to the Euler attitude angles and their derivatives which can be measured and computed easily. A robust practical finite-time control algorithm is proposed based on the terminal sliding mode approach. It is proved that all of the signals in the closed-loop system are bounded and the tracking error...
A new fuzzy control approach of STATCOM has been designed according to micro-genetic algorithm in this paper. Initial membership functions and control rules of FLC were fast obtained by fuzzy toolbox of MATLAB and selecting input and output observed signals, membership functions and control rules are optimized simultaneously by micro-GA. Simulation experiments for four machines power system with STATCOM...
This paper investigates the collision avoidance problem in formation control. First, a collision avoidance algorithm is proposed by using the gradient-based method. Then, a collision-free consensus based formation protocol is developed for a group of second-order systems with the aid of graph theory. In particular, the formation protocol is designed only based on the relative information obtained...
The control of multiple homonuclear spin systems is a long-standing problem in nuclear magnetic resonance (NMR). In this paper, we introduce the brachistchrone algorithm to local unitary control of such systems, which usually take a long operation time to discriminate because of their small resonant frequency differences. We show that for this particular problem the model can be reduced from 2N-dimensional...
Hybrid electric vehicle use internal combustion engine (ICE) and electrical power, so it has the advantages of strong power, low fuel consumption, low emissions and so on. The research object of this paper is the single-axle parallel hybrid electric bus. In this paper, a hybrid electric vehicle model including vehicle dynamics system, motor system, engine system, battery system, clutch and energy...
In this paper, we propose a novel distributed Kalman filter (KF) over sensor networks using partial diffusion strategy, where each sensor only communicates with its neighbours and individual estimation vectors are partially transmitted to obtain local ones through convex combinations under communication bandwidth constraints. Proposed solution can obtain a trade-off between communications burden and...
In this paper, the fault detection problem for networked control systems is investigated by adopting the mixed H∞ and passive performance. Moreover, the randomly occurring missing data over the network is considered to be more practical. By applying the filtering-based residual generator, sufficient conditions can be established such that the augmented error system can achieve the given performance...
Echo state network (ESN) is a powerful tool for nonlinear system modeling. However, the random setting of structure (mainly the reservoir) may degrade its estimation accuracy. To create the optimal reservoir for a given task, a novel ESN design method based on differential evolution algorithm is proposed. Firstly, the weight matrix of reservoir is constructed via the singular value decomposition (SVD)...
This paper is concerned with power and rate control for wireless communication networks with nonlinear channel fading. A new mathematical model of power and rate control system is derived, and a robust power and rate controller is designed based on sliding mode control. A sufficient condition for the existence of stable sliding surfaces is established via linear matrix inequality, and the controller...
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