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An adaptive nonlinear observer based friction compensation for a special time delayed system is presented in this paper. Considering existing delay, an available Coulomb observer is modified and closed loop system is formed by using a Smith predictor based controller as if the process is delay free. Implemented hierarchical feedback system structure provides two-degree of freedom and controls both...
We propose the Reuse algorithm, that exploit data produced during the exploration of an first environment to efficiently bootstrap the exploration of second, different but related environment. The effect of the Reuse algorithm is to produce a high diversity of effects early during exploration. The algorithm only constrains the environments to share the same motor space, and makes no assumptions about...
Switched Ethernet has been used widely in industrial applications because of its high speed and deterministic characteristics. This paper proposes an enhanced network recovery (ENR) scheme based on switched Ethernet to handle network failures in the naval combat system. In this study, network failure recovery is explained through message scheduling on switched Ethernet, which is based on previous...
In this paper, hardware-in-the loop-simulation(HILS) simulator for steering control is developed. The simulator describes lateral movement of the strip in hot strip finishing mill. The simulator include strip dynamics, mill model, mill motor and AGC controllers. The factors considered for strip dynamics are initial off-center and wedge difference. The wedge is realized using the expansion of deformation...
The paper describes the modified backstopping robust algorithm for time-invariant linear single input single output (SISO) plants with delay. It is shown that the proposed algorithm is realized by one filter on input signal with dimension n, where n is a plant order. The derivatives of stabilizing control signals are not calculated but estimated by using the first order observer. This fact simplifies...
This paper presents a power control study of a Wind Energy Conversion System (WECS) based on a Doubly Fed Induction Generator (DFIG) connected to the electric power grid. Proportional-Integral (PI) and Sliding Mode (SM) controls are used to compare the system's performances in terms of reference tracking and robustness to disturbance rejection and with respect to the machine parameters variation....
In this paper, the authors propose a digital watermarking scheme for gray-scale images, in which, coefficients of a host image are quantized in the wavelet domain. In particular, the binary watermark image is embedded into the wavelet-blocks that can be obtained by grouping four coefficients at different sub-bands at corresponding coordinates. The modification of only two coefficients at the LH4 and...
In this paper, the stability analysis of an hexarotor micro-aerial vehicle for outdoor applications using IMU sensors is presented. The dynamic model of the hexarotor was expressed using the Newton-Euler laws jointly with a full state robust back stepping controller, not only when it is hovering, but also when it is taking-off, or landing, or flying to perform a task. The experimental hexarotor is...
This paper concerns with a problem of robust residuals generation on a system with structured uncertainty such that the designed signatures can be used to isolate sensor faults simultaneously. The proposed solution of this problem is executed by using a filter and a transformation matrix. The filter is used to generate the dynamic of system errors. Moreover the scheme consists of two stages. The first...
The Spring-Loaded Inverted Pendulum (SLIP) is a widely used model for the description of humans and animals running motion. The SLIP model is, however, sensitive to impact angle for various terrain heights. One known method for increasing the model's robustness to terrain changes is the Swing Leg Retraction (SLR) method. Despite its popularity, an analytic formulation of this method has yet been provided...
Sidewinding is an efficient gait adopted by biological and robotic snakes for locomoting on various terrains. The mechanics of this motion on flat ground and steady state terrains have been thoroughly investigated, while its capability to adapt to changing environments is not as well studied. We demonstrate the capability of a snake robot to automatically adjust gait parameters to optimally move up...
A robust numerical solution of the prioritized inverse kinematics is proposed. It is based on the augmented Lagrangian function and Hestenes-Powell's multiplier method. It originates the weighted inverse kinematics and only requires a small modification including an accumulation of the error of the high-priority constraint at each step of iteration and an estimation of Lagrange's multiplier. Hence,...
This paper addresses state estimation problems for nonlinear systems with parameter uncertainties. A new robust unscented Kalman filter is devised by analyzing the influence which parameter uncertainties give to covariance matrix. Proposed method is one form of the DKF, but proposed method have a merit that designing weight matrix is easier than DKF in a certain situation. The validity of the proposed...
This paper introduces sliding mode control with ellipsoidal sliding surface which have the characteristic of finite convergence time to the equilibrium point from any initial condition. The proposed method is more robust than conventional method because it has no reaching phase. It converge to the equilibrium point faster than conventional method. The conventional linear sliding surface can not guarantee...
This paper focuses on a robustness controller and the performance of a permanent magnet synchronous machine (PMSM) with parameter uncertainty. The proposed controller is composed by a model reference adaptive current controller and a torque compensator. An internal model of the PMSM is introduced to define the transient reference behavior of the current and torque. A simple adaptation rule of the...
Robust regulation of signals generated by infinite-dimensional exosystems have received some attention lately. Robustness have been understood in the sense that strong stability and solvability of a Sylvester equation should imply asymptotic tracking. It is not known what perturbations preserve strong stability or solvability of the Sylvester equation, so it is not entirely clear how robust a robustly...
This paper describes the robust suboptimal algorithm for a time-varying plant with unknown parameters and an uncontrollable disturbance. The algorithm provides minimization of a performance index with a given accuracy and transfers the plant from the known initial point to the known final point. Efficiency of the proposed scheme is illustrated by modeling.
Focus on the initial alignment problem of vehicular platform inertial navigation system(INS) on disturbance base, the main disturbance sources include the Strong Flurry Interference, the engine working, the stuff's movement and the doors' opening and closing were analyzed and the vibration disturbance made from these sources influenced the initial alignment for vehicular platform INS seriously. This...
For a lightly damped flexible arm, an extra-insensitive (EI) shaper is an efficient logic to suppress the residual vibration of a flexible arm. Presently, the EI shaper is obtained approximately by a numerical solution on the assumption that damping ratio ζ and vibration tolerance Vtol are within some intervals. In this paper, we introduce a partially analytical EI shaper which is a closed form using...
Bio-inspired network controls are driven by the competition between their ordering force and disordering force. Both forces simultaneously affect their performance and robustness. Therefore, we must carefully determine their balance. In this paper, we focus on thermodynamic phenomena where a substance achieves the balance between both forces depending on its temperature. We translate bio-inspired...
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