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For a class of discrete-time nonlinear switched systems which contains stable and unstable subsystems, the issue for stability analysis and L2-gain is studied. The Takagi and Sugeno (T-S) fuzzy model is adopted to represent each subsystem. By this means, the class of discrete-time nonlinear switched systems are modeled into the discrete-time switched T-S fuzzy systems. The mode-dependent average dwell...
Path following is a fundamental problem for unmanned air vehicles (UAVs). In this paper, a Lyapunov stable path guidance law is designed to generate the course control command for a small UAV. The control parameters of the guidance law is optimized by the nonlinear model predictive control (NMPC) techinque. The relative simulations with the three different approaches: Lyapunov stable controller with...
A design method of finite dimensional nonlinear disturbance observer based control (NLDOBC) is proposed for a class of nonlinear dissipative partial differential equation (PDE) systems, where the disturbance is modeled by an exosystem of nonlinear ordinary differential equations (ODEs). Motivated by the fact that the dominant structure of the dissipative PDE is usually characterized by a finite number...
In this paper, we study the problem of moving target detection in video sequences. An improved frame difference target detection algorithm is proposed on the basis of the self updating average background model. By using numerical difference and logical operations between the average background and the current frame, the empty areas which are derived from traditional frame difference method can be...
This article addresses the inverse kinematic problem of the general 6R serial robot via unit dual quaternion and Dixon resultant. Firstly, we show quaternion and dual-quaternion. Secondly, by the quaternion and dual quaternion theory, unit dual quaternion kinematics equations of 6R robots are derived. Thirdly, the solution process was constructed via elimination method and Dixon resultant; According...
Based on the single wheel vehicle model, a sliding mode variable structure control strategy with fractional exponential reaching law is proposed for the ABS control system. In this paper, the integral sliding mode surface is used to design the switching function, and the fractional exponential reaching law is designed by using the definition and properties of fractional exponential differential equations...
In this paper, a novel cooperative guidance law is proposed to make multiple missiles hit simultaneously the same target at a pre-specified impact angle. Firstly, the normal acceleration which changes the velocity direction is designed such that all missiles will fly along the desired line of sight (LOS) after a given time which ensures the hit-to-kill interception; then the consensus variable is...
This paper designs a multifunctional remote-controllable home system based load aggregation management system. On the one hand, this system combines the Load Aggregators with Smart Home and presents an effective and practical method to realize household load management. When the household loads are needed to adjust by load aggregators, the system can automatically control the load on the user side...
In order to solve a series of problems caused by photovoltaic (PV) off-grid, PV must have the low voltage ride through (LVRT) capability ensuring grid-connected operation and outputting reactive power to power grid within a certain time range. At present, the control strategies of PV grid-connected inverter under balance fault have been used effectively. However, the strategy of keeping the inverter...
Building a human-computer interactive parachute simulator is an efficient way to avoid the high risk and high cost of field parachute training. In this paper, a novel dynamic recognition and simulation approach of parachute training is developed. Firstly we process the skeletal data acquired by Kinect and enforce the indication of the trainees' parachute posture, where principle component analysis...
In this paper, the adaptive control design for a class of discrete-time nonlinear systems with non-sector nonlinearities and unknown input gain is investigated. It is observed that in the presence of unknown input gain, the weighted least-squares one-step adaptation in [I. Kanellakopoulos. IEEE Transactions on Automatic Control, 39(11):2362–2365, 1994] is not applicable due to the causality problem...
Rapid development of modern science and technology drives the development of data acquisition technology. Data mining technology in the digital display instrument, site acquisition, and other fields has a broad demand. This paper studies the intelligent meter data acquisition method based on OPC communication. It proposes the calculation method of the operation time for key equipment based on the...
Small scale quad-rotor unmanned aerial vehicle (UAV) has attracted much attention in recent years and has been widely adopted in many civil applications, e.g. inspection of critical infrastructure spanning over a large geographical area. In a typical UAV based inspection system for large-scale photovoltaic farm, it is required to control the mounted gimbal camera taking pictures of all the PV modules...
This paper considers the non-fragile sampled-data (SD) control problem of semilinear parabolic partial differential equation (PDE) systems. By using a Lyapunov functional (LF), a non-fragile SD controller is proposed to stabilize exponentially the PDE system. The stabilization condition is presented by linear matrix inequalities (LMIs). Finally, simulation results are provided to control the the FitzHugh-Nagumo...
The paper proposes a novel voltage event-triggered P-U control strategy for improving related active power sharing accuracy in low-voltage microgrid (MG). Active power sharing inaccuracy is associated with voltages difference of distributed generation units (DGs) that is basically attributed to mismatched lines impedance. So the inaccuracy is inevitable. The proposed voltage control strategy contains...
To meet the higher requirements of human-machine interface technology, the quadruped robot with human recognition capability is discussed in this paper. We present a marker tracking system which uses laser scanner and pan-tilt to allow a particular user to designate himself as the robot's leader. Optimal motion curve of pan-tilt is planned so as 3D point clouds can be returned by a rotating 2D laser...
In view of the shortcomings of the previous genetic algorithm in solving the problem of path planning of robot, this paper has improved it on the basis of the traditional genetic algorithm. The environment model is built by the grids and the fixed length serial number coding is used to encode. The random search method and the ascending order method are combined to generate the initial population....
This paper studies designing resilient asynchronous H∞ state feedback controller for Markov jump systems with transition probabilities partly unknown. By Finsler's Lemma, and with the help of three matrices with special structure, the problem of inter connection between the Lyapunov matrices and the system matrices is solved. In order to make the theory have more practical value, this paper considers...
In order to cover unknown workspace of mobile robots, an area-coverage path planning which is controlled by a novel memristor-based double-stroll chaotic system has been proposed in this paper. The motion path of the mobile robots is unpredictability, randomly, and evenly. The characteristics of unpredictability of motion path and the fast scanning have lots of usage, such as the surveillance of terrains,...
This paper investigates the receding horizon state estimation for the linear discrete-time system with multi-channel observation delays. The receding horizon estimation is designed by the reorganized observation technique and the linear unbiased estimation method. A batch form and an recursive form for receding horizon estimation are developed based on the reorganized measurements. The estimation...
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