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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.
This paper presents an L1 adaptive control system for the attitude stabilization of a spacecraft with flexible appendages. The spacecraft model includes uncertain parameters as well as external disturbance torques. The modified Rodrigues parameters are used here to describe the orientation of the spacecraft. The objective is to control the three attitude angle trajectories to the origin, using control...
This paper presents a software framework which combines reactive collision avoidance control approach with path planning techniques for the purpose of safe navigation of multiple Unmanned Aerial Vehicles (UAVs) operating in unknown environments. The system proposed leverages advantages of using a fast local sense-and-react type control which guarantees real-time execution with computationally demanding...
In this paper we address the issue of connecting abstract task definitions at a mission level with control functionalities for the purpose of performing autonomous robotic missions using multiple heterogenous platforms. The heterogeneity is handled by the use of a common vocabulary which consists of parametrized tasks such as fly-to, take-off, scan-area, or land. Each of the platforms participating...
This paper examines the task-space control of a space robot in a free-floating mode of operation. The controller is developed by transforming the space robot's equations of motion into the task-space. It is then assumed that the space robot's translational thruster forces are zero and that its manipulator has three or more degrees of freedom. This presents an over-determined system of equations relating...
A different way to detect maneuvers in Kalman-filter-based target tracking is discussed. By examining the behavior of the Kalman gains, a target maneuver may be detected prior to the state change being detected. A first look at this approach is presented. The individual Kalman gains of the target tracking algorithm are monitored over time. Variations in the gains' behaviors such as zero crossings...
In this paper, we present a robust pole placement control scheme that can be used to control a wide class of linear and time invariant systems with unknown parameters, including nonminimum phase systems, using only plant input and output signals. We assume that the unknown plant parameters has known bounds, i.e., the control scheme is designed for an interval plant whose coefficients are closed intervals...
This paper investigates the problem of nonlinear state estimation for control moment gyroscope (CMG) inverted pendulum. The dynamics of CMG inverted pendulum result into stiff nonlinearities and are included here. Both Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) algorithms are utilized for state estimation to investigate their effectiveness. The computer simulations are included...
Analog systems are typically modelled by differential equations with several coefficients as design parameters. Manufacturing processes produce systems whose coefficients vary from the desired coefficients of the system designs. In [1], the authors presented a method for combining the measurements from several analog systems, that are nominally the same, using a technique based on the concept of dynamic...
The paper presents control system of a working chamber load of an electromagnetic mill. The mill works in a dry grinding and classification circuit with pneumatic transport. Structure of the circuit is presented in the paper as well as the measurement system. Data acquisition uses direct and indirect measurements. The most challenging are the indirect measurement of the chamber fulfillment and the...
The occurrence of faults and failures in flight control systems of unmanned aerial vehicles (UAVs) can destabilize the system which could cause potential economic and life losses. Therefore, it's necessary to detect faults and attacks in real time and modify the control system based on the occurred fault. In this paper, a neural network-based fault detection (NNFD) approach is introduced to detect...
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