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This paper studies a formation control problem for multiple mobile robot systems with model uncertainty. The formation is achieved by a distributed robust predictive control algorithm. Firstly, a distributed model of the formation system is derived by using the path tracking error dynamic of single mobile robot. Considering the error of linearization and measurement error caused by the accelerometer...
This paper develops a multiple-model switching control based adaptive failure compensation scheme for hypersonic vehicles with some stuck actuators. The system uncertainties, caused by failures and unknown inertia parameters, are first parameterized. Then multiple adaptive dynamic estimators are designed, based on which, multiple adaptive control signals are designed using an error transformation...
This paper considers the global adaptive stabilization via output-feedback for a class of uncertain planar nonlinear systems. Different from the existing related literature, the systems under investigation are subjected to unknown control directions, and simultaneously allow linear unmeasured states dependent growth. To solve the problem, an adaptive output-feedback scheme is proposed, not only to...
This paper is devoted to the consensus problem of fractional order multi-agent networks. A LMI condition for H∞ control of the fractional order uncertain systems is obtained. Based on this LMI condition, the H∞ consensus condition for fractional order multi-agent network is deduced by using graph theory and robust H∞ control theory. Finally, by simulations, the effectiveness of the LMI condition and...
Optical flow estimation remains challenging due to untextured areas, motion boundaries, occlusions, and more. Thus, the estimated flow is not equally reliable across the image. To that end, post-hoc confidence measures have been introduced to assess the per-pixel reliability of the flow. We overcome the artificial separation of optical flow and confidence estimation by introducing a method that jointly...
Underwater wireless sensor networks (UWSNs) provide a promising approach for ocean monitoring. Locating the sensor nodes (SNs) in UWSNs is critical for annotating data samples. However, the global positioning system (GPS) is not available underwater. The locations of SNs are usually interpreted from anchor nodes which are deployed at known locations on the seafloor or sea surface. Due to the characteristics...
Soil moisture plays an important role in agriculture, hydrology, and land-atmosphere processes. Over the years, there has been a scale gap between traditional point-scale sensors and large-scale soil moisture products from satellite remote sensing. Recent advances suggest the use of cosmic-ray sensors (CRS) that provide integrated soil moisture at subkilometer scale (∼300m radius and 10 to 70cm depths)...
This work proposes an analytical method for calculating sensitivity index. The proposed method is based on one-at-a-time measurements and calculates the difference between output values and the base solution to define the impact caused by each parameter in the system. The results indicated that the analytical method provides adequate values for the sensitivity index even when the parameters have minor...
To deal with randomness and uncertainty problems, an adaptive discontinuous Galerkin time domain (A-DGTD) method is proposed to quantify the influence of defect factors. In order to prove the efficiency of the method, the standard statistical analysis is performed to calculate the mean of reflection coefficients caused by random/uncertain physical parameters on a dielectric slab.
A major limitation of mobile Crowd Sourcing (CS) applications is the generation of false (or spam) contributions due to selfish and malicious behaviors of users, or wrong perception of an event. Such false contributions induce loss of revenue through disbursement of undue incentives and also negatively affects the application's operational reliability. In this work, we propose a reputation model,...
In this paper, we propose a straightforward method to select the parameters of the PI controllers in Field Oriented Control (FOC) scheme for Permanent Magnet Synchronous Motor (PMSM) based on geometric model reduction and structured H∞-synthesis. The main contribution of this paper is that, by recognizing the essential linear system structure of PMSM model and using mature robust control method, the...
Due to the inverter used, DG can not only integrate the active power into power grid but also support the grid with reactive power. This paper proposes an optimal configuration methodology of renewable DG so as to maximize the penetration level of DG considering the temporal characteristics of active-reactive power (P-Q). Further, the uncertainty output of the wind generator, photovoltaic and small...
In this paper, an optimal retail market pricing design for demand response in day-ahead scheduling of smart distribution networks is investigated. Through the well-designed retail market electricity price, the profit of each user is maximized; while the profit of the Distribution Network Operator (DNO) is guaranteed and the risk management model based on the Information Gap Decision Theory (IGDT)...
This paper presents a two-stage optimization approach to mitigate the rapid voltage fluctuations and minimize the power losses of distribution systems due to the high penetration of photovoltaic (PV) generation. The first stage is a day-ahead optimal strategy which aims to minimize the total voltage deviations and power losses within the constraints of the daily maximum allowable number of operations...
This paper proposes a stochastic programming approach based on Conditional Value at Risk (CVaR) to measure the impact of prediction errors brought about by the renewable energy and load on DC-linked multi-microgrids coalition in the distribution network so that the system scheduling operator can achieve the lowest day-ahead scheduling cost at a certain risk. Due to the prediction errors of the renewable...
In this paper, we consider the design problem of a decentralized variable gain robust controller that provides practical tracking for a class of large-scale interconnected systems with mismatched uncertainties. Furthermore, we show that sufficient conditions for the existence of the proposed decentralized variable gain robust controller are reduced to the feasibility of linear matrix inequalities...
In this paper, the non-fragile finite-time tracking control problem is addressed for a class of uncertain linear systems with controller multiplicative coefficient variations. An adaptive control strategy is constructed to ensure that the system tracks a time-varying target orbit. The relationship of the bound of tracking errors and the size of uncertainties and controller multiplicative coefficient...
This paper proposes a novel adaptive sliding mode observer to improve the performance of sensorless control of permanent magnet synchronous motor (PMSM) in the More Electric Aircraft (MEA) system. An adaptive sliding mode observer base on adaptively tuning the observer gain is investigated to relax the requirement for the bound of load uncertainties and strengthen the anti-interference ability. System...
Inventory regulation and control to a desired time-varying inventory level is accomplished via an accurate on line observer-based demand rate estimation, followed by a demand rate satisfaction effort incorporated on the production rate decision rule. An extended demand rate observer is shown to efficiently allow for production rate to accurately match highly fluctuating uncertain demand rates, with...
In this paper an adaptive sliding mode control (SMC) law with self-regulated boundary layer is proposed. The design of the adaptive SMC considers practical issues as actuator limitation/saturation and error tolerance, which is given in terms of the boundary layer presented in real sliding mode. The existence of sliding motion is proved via Lyapunov analysis. Self-regulation to the best value of boundary...
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