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This paper presents the use of JANUS in operationally-relevant underwater applications. JANUS is an open, simple and robust digital coding technology currently in process to become a NATO standard. Two underwater scenarios have been considered: 1) Broadcast of underwater AIS and situational awareness messages; 2) First contact and language switching. The JANUS physical coding scheme has been used...
This paper investigates the load frequency control (LFC) for multi-area power systems with modeling uncertainties and communication topology changes. A group of convex polytopes is firstly employed to model the uncertainty of power systems. Since the topology variant events are barely impossible to be explicitly detected in reality, the dynamic topology scenario is described as a finite switching...
With the intelligent development of the power system, load identification becomes an important task. A noninvasive household load identification method is proposed in this paper, which can be used to detect the load switching moments and identify the types of loads. A calculation method of feature value is proposed based on active power. A template method is proposed to detect the jumping of the feature...
In this paper an improved Mamdani fuzzy sliding mode controller for a reduced-order averaged model of active clamp converter, which is more accurate than the other existing reduced-order models, is presented. The procedure of designing a fuzzy sliding mode controller for an active clamp single-ended primary inductance converter (SEPIC) is described. The Simulation results confirm the performance and...
Incremental Adaptive Control is proposed to design the control allocation for a V-Tail UAV. This approach is able to improve performance and reliability when the UAV experiences external disturbance and parametric uncertainties. In this paper, a sliding mode control (SMC) based technique is used as baseline controller to develop this incremental adaptive control. This baseline controller sets the...
The robust consensus problem of leader-following multi-agent system with switching topologies which has been applied in intelligent traffic systems is studied. The main effort is the investigation of uncertain switching system. Assume the information of the leader can not be transferred to all the followers directly, thus the neighbor-based protocols are given to every follower. Under the jointly...
Capital planning of a distribution electric power utility aims to improve the reliability of energy delivery to its customers. It is critical to prioritize capital investments on problematic feeders in a distribution network. SAIDI is one of the most commonly used key performance indicators of a utility. An optimal capital investment strategy should seek to maximize the intrinsic reliability of feeders...
A safe real-time imitation framework for humanoid robots to human beings action is proposed. Postures of an actor are divided into three categories: robust postures, normal postures and dangerous postures. To deal with the robust postures, direct mapping from skeleton data gathered by 3D cameras to each angle of robot joint motors is taken because the postures are robust enough for imitation in high...
To cater the need of expanding telecom network to rural areas with quality power supply poses a challenge as many areas are still unapproachable to the grid. PV based generation is envisaged to alleviate the problem providing maintenance free and robust in working in low operating cost. The proposed telecom power supply uses a high gain DC-DC MPPT converter having high efficiency and very low current...
Neuromuscular electrical stimulation (NMES) to extend as well as flex a limb joint requires stimulation of an antagonistic muscle pair. This is due to the fact that muscles are unidirectional actuators. The control challenge is to allocate control inputs to antagonist muscles based on the system output, usually a limb angle error. Further, NMES input to each muscle is delayed by an electromechanical...
A novel control method for an active transfemoral prosthesis is developed based on the combination of two previously published controllers, robust tracking/impedance control and switched impedance control. This controller is simulated and optimized to provide desired gait features and energy regeneration. Specifically, an evolutionary optimization algorithm termed biogeography-based optimization is...
Adaptive control theory is a promising technology to improve the performance and stability of nominal controllers in the presence of system uncertainties. However, conventional model reference adaptive control schemes are not robust in the presence of unmodeled dynamics, actuator constraints etc. To overcome the above limitations, recently various new adaptive control schemes are proposed in the literature...
This paper studies the cooperative global robust output regulation problem for a class of heterogeneous second-order nonlinear uncertain multi-agent systems with jointly connected switching network. We first generalize the result of the adaptive distributed observer from undirected switching networks to directed switching networks, and then solve the problem by a dynamic distributed state feedback...
In this paper we propose a new robust principal component analysis method to separate the background and foreground scenes in video surveillance. Our approach uses a random projection method called Bilateral Random Projections (BRP) in conjunction with a switching between random projection matrices and a singular value estimation technique to separate the background and moving objects. The proposed...
The paper considers leader-follower consensus of multi-agent networks with unknown control direction. Sliding mode control is used to achieve consensus tracking under fixed topology with the assumption that the position of the leader is known to a subset of the followers. The proposed consensus law assumes unknown sign in the control input matrix of the followers and does not require the knowledge...
We propose the method for a system considering the dynamic characteristics of an actuator through use of new design concept of integral sliding mode with saturation function. Sliding mode controller has been used because of robustness against parametric uncertainty and high-frequency unmodeled dynamics if and only if a system accomplishes infinitely fast switching. On the other hand, integral sliding...
This paper investigates the robust stabilization problem of general switched nonlinear systems subject to actuator saturation under arbitrary switching paths. Firstly, the robust stabilization of nonlinear switched Hamiltonian systems with actuator saturation is studied, the saturation function is expressed by a control input and compensation, then several sufficient conditions are derived and an...
This paper presents some further results on sliding mode control for a class of nonlinear systems with bounded uncertain parameters. A finite-time sliding manifold is proposed by incorporating piecewise defined function of time into the existing terminal sliding manifold, based on which a novel time-varying finite-time sliding mode controller is proposed. The proposed control strategy eliminates the...
This paper introduces event-based control as a means to improve the behaviour of feedback loops with switching controllers. It investigates hybrid event-based control systems where the event-based part of the controller affects a continuous control loop. Its task is to adjust the operating point of this control loop to changing operation modes of the overall system. The paper introduces a control...
In this paper, a new design method of robust optimal proportional-integral (PI) controller with saturation characteristic is presented for different processes. Closed-loop feedback system is the nonlinear robust control system which can be equivalently transformed into robust linear switch system (RLSS) or robust autonomous switch system (RASS). The nonlinear robust optimal control problem can be...
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