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We demonstrate the application of predictive functional control to a real-life position-control problem of a mechatronic system using a state observer-based internal model (PFC-OBIM). In the literature, the control method has been shown to be effective in simulation. However, no experimental validation has been conducted so far. Hence, we conduct a few experimental tests using a single-axis table...
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...
We show that walls, and other obstructions with edges, can be exploited as naturally-occurring “cameras” that reveal the hidden scenes beyond them. In particular, we demonstrate methods for using the subtle spatio-temporal radiance variations that arise on the ground at the base of a wall's edge to construct a one-dimensional video of the hidden scene behind the wall. The resulting technique can be...
This paper investigates the coupled disturbance reconstruction, state estimation and trajectory tracking problems for a class of nonlinear systems. The sliding mode observer and the state feedback approaches are utilized to solve these problems. Considering only a partial of the system states are measured but the disturbances couple with time-varying parameters that the observer is designed by transforming...
In this paper, the problem associated with accurate control of a four-wheel steering mobile robot following a path, while keeping different desired absolute orientations and ensuring different desired lateral deviations, is addressed thanks to a backstepping control strategy. In particular, the control of each steering angle is investigated through a new parallel steering approach based on an extended...
This paper presents a design methodology for the rejection of wind gusts during flight. The proposed application is based on the Simple Adaptive Controller (SAC) methodology, but differs from other SAC applications in the sense that the reference model utilised is an Unknown Input Observer (UIO). As a consequence, the adaptive controller is fed by an estimate of the wind gust and will only act in...
The fast command tracking provided by the dual-loop fast finite-settling-step (FSS) control for a DC-to-DC converter has been shown to have more energy saving capability than using the conventional PID controller. FSS control is developed based on the accurate nonlinear converter modeling. Thus, circuit parameter mismatch can affect the performance of FSS control so that the loss minimization capability...
People form beliefs about intentions and preferences of robots as they observe robot movement. However, robots rarely optimize their movement to allow people to easily determine state preferences. In this work, we define critical points along robot trajectories that convey information about state preferences: inflection points are changes in direction and compromise points are the relative proportion...
No restrictions are imposed on the motion states of missile and target and the line of sight rotation coordinate system is introduced into the derivation of differential geometric guidance law. Then, the extended differential geometric guidance law is achieved whose scope of application is largely extended. In order to realize the derived law, instead of the complex computation of torsion command,...
In view of the mars reentry problem under external disturbance, this paper presents a guidance algorithm based on drag tracking. First of all, the reference drag is calculated based on the reentry model and the reference trajectory. Secondly, estimated disturbance via the sliding mode observer, this paper improve the accuracy of the controller parameters and increase the anti-disturbance capability...
This paper addresses the problem of trajectory tracking control for an unmanned surface vehicle(USV) with unknown disturbances and input saturation. Let the saturation function is divided into a smooth function and a bounded function, the saturation function can be approximated by smooth function and the bounded function which can be treated as a system uncertainty. An auxiliary design system is employed...
Eye movement reflects the shift of overt visual attention. Eye movement trajectories from a group of observers can be expressed by a representative scanpath. The representative scan-path can work as a baseline for studies on scanpath prediction as well as provide useful knowledge about group behavior in psychological studies. In this paper, we propose a new framework to summarize a representative...
This paper is the companion-paper of another paper presented in FUSION'17 concerning bearings-only target motion analysis (BOTMA). In this one, bearing data are replaced by range data: we study observability in range-only target motion analysis (ROTMA). When the observer is in constant turn motion, the target's trajectory is observable, as in BOTMA. If the observer is in constant acceleration motion,...
This paper introduces a cable-driven robot for upper-limb rehabilitation. Kinematic and dynamic of this rehabilitation robot is analyzed. A sliding mode controller combined with a nonlinear disturbance observer is proposed to control this robot in the presence of disturbances. Simulation is carried out to prove the effectiveness of the proposed control scheme, and the results of the proposed controller...
We investigate the problem of determining the trajectory that an observer should follow to be able to accurately track a target in a bearings-only measurements context. We assume that the target's motion is uniform and that the measurements are corrupted by an additive Gaussian white noise. Though, in theory, this process is observable if the observer maneuvers with turns or accelerations, the quality...
In this paper, the verification issue for the predictability of decentralized discrete event systems (DESs) is investigated, in which the detection information may be decentralized among physically separated sites. After the predictability for decentralized DESs is formalized by the notion of copredictability, which describes the ability of the involved system that the failure events can be predicted...
In this paper, we are concerned with the performance output reference signal tracking for a heat equation with matched boundary disturbance. Firstly, we construct a state reference trajectory system based on the reference signal, and prove this observer system is bounded. Secondly, we design a performance output tracking controller, which can make the performance output is tracking the reference signal...
This paper studies the trajectory following control algorithm for UAVs with the wind disturbance. Firstly, the lateral motion equations of fixed-wing UAVs are established. A disturbance observer is designed to estimate the unknown wind disturbance. Then, the backstepping control strategy combined with the output of disturbance observer is designed to realize the trajectory following, and the stability...
Observability in bearings-only target analysis (BOTMA) is studied when the target is in constant-velocity motion and the observer maneuvers gently (a constant turn motion or a constant acceleration motion). During our study, we proved that the rendezvous routes of the observer and the target play a key role in this analysis. We establish necessary and sufficient conditions of observability and we...
This paper deals with a performance analysis and optimal tuning of an intelligent proportional (iP) controller for the first order time delayed plants. iP control represents the simplest solution used within the so called “model free control”. Although it has been primarily developed for more complex nonlinear plants, its basic performance analysis may preferably be carried out in a simple linear...
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