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This paper proposes a linear stochastic state space model for electrocardiogram signal processing and analysis. The model is obtained as a discretized version of Wiener process acceleration model. The model is combined with a fixed-lag Rauch-Tung-Striebel smoother to perform on-line signal denoising, feature extraction, and beat classification. The results indicate that the proposed approach outperforms...
In the paper a modification enabling acceleration of the rate of convergence for LMS-like on-line identification and adaptation algorithms is proposed. This is based on an artificial decaying of initial conditions in recursive identification as well as adaptation algorithms. The decaying is done using a set of the most recent measurements. Properties of the algorithms with the proposed modification...
This paper proposes a model predictive control (MPC) for autonomous vehicle path following control. To solve the control problem, a nonlinear path following model is used, which includes 2 degree-of-freedom single track vehicle dynamics model and path following error model. The control problem is to control vehicle to run on the reference path with the heading angle along the road orientation angle...
On-axis tracking is the difficult point and hot point in the tracking field. It is the expression of computer tracking. The target state is unknown and dynamic. The filter algorithm can affect tracking precision. The tracking effect can be enhanced by synthesized the target model and filter algorithm. On-axis tracking study is the point, for the tracking precision demand of current statistical model...
Since its introduction into the field of micro-acoustic devices in early 90s the hybridized FEM/BEM (Finite Element Method/Boundary Element Method) has served well in simulating device characteristics. FEM/BEM has become the method of choice, in particular when periodic structures are considered. At the same time steady progress in the miniaturization of devices along with simultaneous involvement...
In this paper we present PD-AFC (proportional, derivative-active force control) on unmanned hexacopter that has a robust nature to remain the disorder on one propeller and fluctuated disturbance. Hexacopter uses PD controller to achieve stability and AFC to generate a robust disturbance rejection. Gain scheduling method are used in adaptive control to tune PD controller. Based on the results obtained...
Since an instantaneous impact point and impact dispersion area of the space launch vehicle (SLV) are determined from estimated state information (i.e., position and velocity) of the SLV, a precise tracking of the SLV plays an important role in the flight safety operation. To contribute this problem, in this paper, we present comparison of two distinct interacting multiple model (IMM) algorithms which...
In this paper, the modeling and vibration control problem of an axially moving belt with high acceleration/deceleration under unknown disturbances are addressed. The dynamic model of the belt system is represented by a nonhomogeneous hyperbolic partial differential equation and two ordinary differential equations. Boundary control with disturbance adaption is developed to stabilize the transverse...
This paper combines results of several papers published by the author. In particular, results of analysis and creation of a new common representation of the traffic flow models based on the cellular automata theory are used. The necessity of transition to the four-stepped unified representation of the considered models group is justified. The refactoring approach that is applicable for the most models...
This paper presents cooperative adaptive cruising control of multiple cars in automated/un-automated mixed traffic. In order to take account of un-automated cars, the vehicle maneuver is expressed as a PrARX model that is a continuous approximation of hybrid dynamical system. The PrARX model describes the driver's logical decision making as well as continuous maneuver in a uniform manner. The acceleration...
In this paper, an alternative design technique for vehicle's active suspension system using model reference adaptive control method is presented. To verify the performance of the design controller, a skyhook damping system was adopted as the reference model. An adaptive controller for a quarter-size vehicle's active suspension system is designed. The controller parameters are determined using Lyapunov...
Competition to be at the helm of automotive market with regards to fuel economy has led to development of new optimization techniques. Vehicle parameters although is the primary influencing factor, driving behavior is an equally important factor that influences fuel consumption considerably. In the current scenario it has become a paramount challenge for automobile OEMs to offer unparalleled fuel...
This paper proposes a nonlinear observer design method for nonlinear adaptive guidance. Several states of the previously proposed nonlinear adaptive guidance law are estimated by a nonlinear observer, which is designed based on the integrated guidance and control model. Using the estimated states and uncertainties, desired engagement performance of the nonlinear adaptive guidance law can be obtained...
This paper introduces the attitude estimation method of humanoid robot using an extended Kalman filter with a fuzzy logic based tuning algorithm. A humanoid robot which uses inertial sensors such as gyros and accelerometers to calculate its attitude is considered. It is known that the attitude update using gyros are prone to diverge and hence the attitude error needs to be compensated using accelerometers...
In particular, service robotics is strongly tided to highly accurate navigational tasks where pathway tracking is a practice commonly carried out through control algorithms. This study proposes theoretical non-linear pathways presented as kth-degree polynomials as model references. Our proposal establishes a proportional control with a variable model reference at the level of second order derivatives...
Unmanned Aerial Vehicles have a lot of potentials in outdoor applications. However, uncertainties such as wind disturbances and mass change when performing some particular tasks, greatly affect their tracking performance. This paper presents a methodology using L1 adaptive control to address some of the robustness issues of the quadcopter in outdoor flight which significantly improves the performance...
In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate...
First, motion characteristics of near space hypersonic targets are given and the moving model for aircrafts is built. Then, according to the disadvantage which time sample is a constant when tracking hypersonic targets, an adaptive tracking algorithm of time samples is proposed. This algorithm used the recursion formula method in real time and mixed Singer model with algorithm of IMM. Simulation shows...
A straight forward application of feedback linearization to the missile autopilot design for acceleration control may be limited due to the nonminimum characteristics and the model uncertainties. As a remedy, this paper presents a cascade structure of an acceleration controller based on approximate feedback linearization methodology with a time-delay adaptation scheme. The inner loop controller is...
The recording of neural activities has turned out to be a promising approach to understand the basic function of specific brain parts like the visual or motor cortex. However, the development and design of advanced neural recording systems is very challenging since the number of parallel measurement channels increases continuously. Beside the analog recording channels digital preprocessing becomes...
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