The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper proposes a novel estimation method using finite impulse response (FIR) filter for the vehicle roll and bank angles. A vehicle model was constructed using the bicycle model and roll motion model and has parameter uncertainties. The proposed method ensures robust to vehicle parameter uncertainties and has no risk of divergence. Furthermore, the proposed method does not need to use expensive...
This paper addresses a difficulty in large-scale long term laser localisation — how to deal with scene change. We pose this as a distraction suppression problem. Urban driving environments are frequently subject to large dynamic outliers, such as buses, trucks etc. These objects can mask the static elements of the prior map that we rely on for localisation. At the same time some objects change shape...
Compressed sensing refers to the recovery of high-dimensional but sparse vectors from a small number of measurements. The original and popular approach to compressed sensing is based on li-norm, popularly referred to as the LASSO formulation. A recent paper gives the "best possible" bounds on when the LASSO formulation is able to achieve compressed sensing. Over the years, the traditional...
In this paper, we investigate the problem of robust congestion control in infrastructure-based cognitive radio networks (CRN). We develop an active queue management (AQM) algorithm, termed MAQ, based on multiple model predictive control (MMPC). The goal is to stabilize the TCP queue at the base station (BS) under disturbances from the varying service capacity for secondary users (SU). The proposed...
Active control of pantograph could be performed to decrease the fluctuation in pantograph-catenary contact force (PCCF) in high-speed railway. However, it is difficult to obtain the states of the pantograph when state feedback control is implemented. And the measurements may randomly miss due to the severe operation condition of the pantograph-catenary system (PCS). To address this issue, a robust...
Many sensors, such as range, sonar, radar, GPS and visual devices, produce measurements which are contaminated by outliers. This problem can be addressed by using fat-tailed sensor models, which account for the possibility of outliers. Unfortunately, all estimation algorithms belonging to the family of Gaussian filters (such as the widely-used extended Kalman filter and unscented Kalman filter) are...
This article presents an accurate study about the validity of the tuning rule for symmetric-send-on-delta (SSOD) based PID controllers which was presented by the authors in a previous work. First we obtain the conditions under which the rule is valid and then we study its fulfillment for an extensive batch of 134 models. The results demonstrated that most of the models used in practical applications...
Spectrum Sensing is elementary function in Cognitive Radio Networks (CRN) to identify the white spaces in spectrum for opportunistic communication. In this paper, we proposed a novel two stage spectrum sensing under the environment as noise uncertainty. The robustness of uncertainty of noise power is one of the main challenges in spectrum sensing method. Since detection of primary users (PU) in the...
The paper deals with the approach to design of the two-axis robust system for stabilization of information-measuring devices (cameras, laser locators) operated at small unmanned aerial vehicles. The mathematical description of the system taking into consideration interconnection between channels is suggested. Approach to the system structural robust optimization is given.
A control algorithm for finite-time tracking of quadrotor is introduced. The algorithm is based on use of feedback linearization method and finite-time output control presented in [17]. In comparison with commonly used in practice control methods like PD-controller the proposed method allows to estimate the first derivatives of the generalized coordinates, that enable to reduce the number of necessary...
Cognitive wireless sensor networks (CWSNs) become promising infrastructures, which can improve spectrum utilization of traditional wireless sensor networks (WSNs). For cognition in WSNs, spectrum sensing is one of the most crucial function to prevent hazardous interferences with the licensed users and to identify available spectrum for improving the spectrum utilization. In this paper, we propose...
This paper presents a novel robust method of self-corrective Initial Alignment of a stationary SINS1 with respect to local-level frame (NED-frame) depending only on the output of a strap-down IMU2. The proposed method provides a superior performance compared to traditionally-known self-corrective initial alignment methods. The main contribution of this paper is the development of a new algorithm which...
The paper proposes a robust soft sensor for on-line monitoring of the mixing water quality in dynamic water networks. A complete hydraulic information is assumed to be available on-line. Robustness of the water quality parameter estimates is achieved by non-probabilistic set-bounded modelling of uncertainty in the measurement and modelling errors. The stable and tight bounds on the estimated quantities...
This paper presents an experimental study of a state feedback controller for stabilizing a two wheeled self balancing robot which is constructed from Lego Mindstorms NXT 2.0 kit. A gyro sensor and two wheel encoders help in measuring the robot state. This state information is used by a linear quadratic regulator (LQR) to stabilize the robot. The initial design and validation of LQR controller is carried...
Recently in many countries the efforts of researchers are directed to the design of low cost, accurate and robust controllers for small Unmanned Aerial Vehicle (UAV) using the minimum number of on-board sensors. The basic problem of such kind of design is to restore the unknown (unmeasured) states. The approach proposed in the paper consists of two procedures: state restoration by the reduced-order...
This paper presents a robust and practical attitude estimation algorithm based on low-cost MEMS inertial and magnetic sensors. Since accelerometers measure motion other than gravity and the geomagnetic field is sensitive to the surrounding environment, a robust measurement update method is proposed to attenuate the influences of motion disturbances and geomagnetic disturbances. The advantage of the...
This paper investigates the differences between disturbance observer techniques and residual generation method in fault diagnosis. We firstly point out the possible limitations of residual based approach compared with fault estimation based approach through sensors fault diagnosis of a linear motor driving system. On the one hand, it may produce a residual insensitive to the fault due to the self-correction...
This paper presents a robust method to map the position of a set of radio range sensors while at the same time an aerial vehicle is being localized with respect that map employing only range measurements even in the presence of noisy measurements. The method makes use of a pre-filtering algorithm to detect and remove measurements outliers and extends the original approach presented in [1] to model...
Cooperation among multiple secondary users improves the cognitive radio sensing system performance, but the presence of malicious secondary users may severely degrade the same. In this paper, we study the detection and elimination of such malicious users in a cooperative sensing system using Dixon's outlier test and compare its performance with Grubb's test and boxplot test. We have shown using receiver...
This paper represents a robust scheme for designing fault tolerant controller (FTC) based on Generalized Internal Model Control structure, and extends it to non-minimum phase LTI systems. In this scheme, first the nominal controller is designed to have a closed-loop stability and acceptable performance, and then by correcting the nominal controller based on the idea of GIMC, a robustification signal...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.