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Most smart material based actuators (smart actuators) are known for their prominent characteristics of high resolution of positioning, high bandwidth, and the ease of integration in miniaturized systems. However, their applications are restricted by the inherent hysteresis nonlinearity. This paper presents a new modified Bouc-Wen (MBW) model which has a rate-dependent property. Then the proposed model...
This paper presents an adaptive sliding mode controller for quadrotor trajectory tracking in presence of uncertainties and disturbances. An exponential reaching law is implemented using the gain adaptation control, which has the advantage of not requiring the knowledge of the upper bound of the lumped uncertainties and external disturbances. Numerical simulation results are provided to illustrate...
This work presents the modeling and control of a tilt-rotor UAV, with tail controlled surfaces, for path tracking with improved forward flight. The dynamic model is obtained using the Euler-Lagrange formulation considering the aerodynamic forces and torques exerted on the horizontal and vertical stabilizers, and fuselage. For control design purposes, the equations of motion are linearized around different...
In this paper, various techniques or methods are considered to develop an optimal unit commitment schedule that significantly minimizes cost at a reduced computation time, while meeting power gaining time cannot be overemphasized, as an increased time could translate demand. Several robust methods have obtained good solutions but with a penalty of high computational time. The importance of to a rise...
Autonomous robots enjoy a wide popularity nowadays and have been applied in many applications, such as home security, entertainment, delivery, navigation and guidance. It is vital for robots to track objects accurately in real time in these applications, so it is necessary to focus on tracking algorithms to improve the robustness, speed and accuracy. In this paper, we propose a real-time robust object...
This paper explores control of a four rotor aerial vehicle, or quadrotor. The quadrotor exhibits under-damped and under-actuated dynamics, so designing a feedback control that can provide robustness to disturbances such as wind and adapt to payloads provides a research challenge. The Cerebellar Model Articulation Controller (CMAC) is a type of neural network that can provide the basis for a stable...
Quadcopters have generated considerable interest in both the control community due to their complex dynamics and a lot of potentials in outdoor applications because of their advantages over regular aerial vehicles. This paper presents the design and new control method of a quadcopter using L1 adaptive control design process in which control parameters are systematically determined based on intuitively...
Aiming at improving the detecting probability of weak target and adaptability in multi-clutter background, a new CFAR processing method based on DB4 wavelet (WT-FS-CFAR) is proposed. The proposed method can deal with the wavelet coefficients of the echo signal adaptively and reconstruct a new echo signal. Compared with typical CFAR processor, experimental results show that the proposed method could...
A fast adaptive fault estimation algorithm is proposed to enhance the performance of fault estimation in linear time invariant system with unmatched unknown input. An algebraic method based on the unknown input observer for perfect decoupling of unknown input and estimation, is implementable if matching condition is satisfied. Matching condition limits the practical application of these methods. In...
Object localization is a powerful technique to analyze certain features on particular objects for either general or specific purpose(s). To localize object within image frames, the background subtraction scheme is generally implemented as an unequivocal technique that pre-processes die corresponding input frame. Nevertheless, despite the prior developments and applications of various techniques for...
This study extends the application of Unbiased Criterion (UC) method to investigate the robustness of an identified fuzzy model for nonlinear dynamical systems in their different operating conditions. Heat Recovery Steam Generator (HRSG) as specific boilers in combined power plants exhibit challenging behaviors in startup, shut down and parallel conditions such as Swell and Shrink. In order to analyze...
Tracking the object with stable features is an important and challenging task in real scenes where the object appearance constantly changes or is disturbed by the background etc. In this paper, a novel frame work of object representation and tracking based on stable feature mining is presented. Firstly, the object region is adaptively detected and then the peak contour of V color component histogram...
Object tracking is one of the important tasks for mobile robot, and developing a robust and real-time visual tracking algorithm which can adaptively capture the varying appearance of target under challenging conditions for mobile robot is still an open problem. The main challenges of visual tracking for mobile robot come from variation of target's appearance and disturbance of environment. To cope...
This paper presents a robust and adaptive nonlinear controller to asymptotically regulate thermoacoustic oscillations in a Rijke-type system in the presence of dynamic model uncertainty and unknown disturbances. A mathematical model that includes unmodelled nonlinearities and parametric uncertainty is first introduced. A robust and adaptive non-linear control law is then developed to compensate for...
We analyze the correctness of an O(n log n) time divide-and-conquer algorithm for the convex hull problem when each input point is a location determined by a normal distribution. We show that the algorithm finds the convex hull of such probabilistic points to precision within some expected correctness determined by a user-given confidence value phi. In order to precisely explain how correct the resulting...
In this paper, the design of an Incremental Backstepping controller for fault tolerant control of a hexacopter system is presented. The proposed controller compensates for the modeling mismatches including faults by relying on sensor measurements. Outdoor flight test results show the better performance of the Incremental Backstepping controller compared to the Backstepping controller. Furthermore,...
As a l1/l2 norms-based estimation method, Huber's M- estimation has provided an efficient method to deal with measurement outliers for robust filtering, which has been applied to the cubature Kalman filter (CKF), namely Huber's M-estimation based robust CKF (HCKF) and its square-root version (HSCKF). To further handle abnormal measurement noise, an adaptive method is proposed in this paper to adjust...
The tracking/rejection of periodic disturbances in linear systems is achievable via internal model principle-based techniques, such as repetitive control. However, when the frequency of the signal to track/reject is uncertain or time-varying, the performance of these controllers decays dramatically. This article discusses the basics of Model Reference Adaptive Control with Minimal Controller Synthesis,...
In this paper a practical approach to design an optimal robust Power System Stabilizer (PSS) is presented which improves the PSS dynamic performance facing uncertainty in its model parameters. Generally, the PSS system is a critical element in increasing the damping of the system in an emergency condition and it is necessary to strengthen its dynamic characteristics against any uncertainty in its...
We propose robust density estimation in a low dimensional space for anomaly detection. The outline of the method is as follows: first a low dimensional representation of the original data is learnt. Then, a robust density mixture model is estimated in the learnt space. Finally, the likelihood of a data point given the model parameters is used to apply anomaly detection. An efficient way for adapting...
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