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In the last decade, monocular simultaneous localization and mapping (mono-SLAM) has appeared as another alternative for pose estimation, but this last gives a localization up to scale, and suffers from scale drift due to the difficulty of depth evaluation; however, several approaches had been tackled to recover the scale and take off the ambiguity. Both methods were designed to get the accurate scale...
This paper aims at presenting a solution to the Simultaneous Localization and Mapping (SLAM) problem of Unmanned Ground Vehicles (UGV) by combining information given by an odometer and a laser range finder. The most popular solutions to the SLAM problem are EKF-SLAM and the FAST-SLAM algorithms. The first one solution, have some important limitations which have need of an accurate process and an observation...
The autonomous navigation task of a mobile robot depends on its ability of localization and owning a description about its environment. To deal with these requirements, robots need to be equipped with Simultaneous Localization and Mapping (SLAM) module. This earlier could be solved by many approaches, mostly based on the stochastic approach, using extended Kalman filter (EKF) or the Rao-Blackwellized...
Swarm robotics requires continuous monitoring to detect abnormal events and to sustain normal operations. Indeed, swarm robotics with one or more faulty robots leads to degradation of performances complying with the target requirements. This paper present an innovative data-driven fault detection method for monitoring robots swarm. The method combines the flexibility of principal component analysis...
In this paper, we propose a vector control of a doubly fed induction generator (DFIG) for variable speed wind power generation. The model is developed based on the dual powered generator for the control of the active and reactive powers. Several studies are carried out to test their operation under different wind conditions. The results have shown good performances of the wind energy converter system...
The PID controller is the most used controller in the industry thanks to its simplicity and satisfactory performances, unfortunately there is a class of systems that can't achieve satisfactory performances with a simple PID controller as the nonlinear and the delayed systems. These last years, it appeared a lot of innovative control techniques as the bio-inspired methods, one of the most promising...
in this paper a combination between fractional order sliding mode control (FOSMC) and pole-placement is introduced for non-linear systems with uncertain disturbances. A sliding surface with a fractional order PID form is given, in which the eigenvalues of the reduced state equation of the errors are forced to be negative via the pole-placement method. The control law is designed based on the Lyapunov...
This paper presents the optimization of a variable structure controller based on a decentralized fuzzy logic sliding mode (DFLSM) strategy for the control of the pitch and azimuth angles of a TRMS when coupling vertical and horizontal axes. Particle Swarm Optimization (PSO) algorithm is used to tune the DFLSMC parameters to ensure optimal performance in the closed loop, within a given cost function...
The sun and wind based generation are well-thoroughly considered to be alternate source of green power generation which can mitigate the power demand issues. This paper introduces a standalone hybrid power generation system consisting of solar and permanent magnet synchronous generator (PMSG) wind power sources and a AC load. A supervisory control unit, designed to execute maximum power point tracking...
Wind energy has many advantages, because it does not pollute and is an inexhaustible source of energy. The Double Fed Induction Generator (DFIG) is one of the most important electric generator used for Horizontal Axis Wind Turbine (HAWT). In this paper, a Discrete-time Neural Input-Output Feedback Linearization Control (N-IOFLC) for DFIG is proposed to force the rotor currents to track specified reference...
This work proposes and simulates a finite set model predictive control technique for the photovoltaic inverter. The power topology is a 30 KW PV array with two power conversion stages: DC/DC boost converter controlled with maximum power point tracking to extract the maximum available photovoltaic power and two-level voltage source inverter with passive filter to convert direct current to alternative...
This paper presents a photovoltaic (PV) system with an adaptive sliding mode control based maximum power point tracking (MPPT) algorithm. The main aim of this work is to maximize power extraction from the photovoltaic generator. A novel method, which is able to achieve this aim, is presented by using an adaptive sliding mode controller (ASMC) that drives a boost converter connected between the PV...
This paper reports a development of a statistical approach for fault detection and diagnosis in a PV system. Specifically, the overarching goal of this work is to early detect and identify faults on the DC side of a PV system (e.g., short-circuit faults; open-circuit faults; and partial shading faults). Towards this end, we apply exponentially-weighted moving average (EWMA) control chart on the residuals...
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