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Dynamic programming is an effective technique for the evaluation of the potential of optimal fuel consumption of drive trains, as it guarantees a globally optimal solution. This paper investigates two major problems associated with the application of dynamic programming. The first problem is the high computational complexity. Iterative dynamic programming is proposed as an alternative to dynamic programming...
This paper presents a self-memory prediction model to mitigate the effects of image based visual servoing (IBVS) system under uncertainty. The performance of IBVS system is easily influenced by different tasks, diverse environments and uncertain disturbances. Through building a self-memory prediction model to keep previous movement tendency in the every current movement, the framework of a self-memory...
Accurate prediction of the future locations of the host vehicle as well as that of the surrounding objects is one of the key challenges in improving road traffic safety. The traditional approach for this task has been using physics-based motion models such as kinematic and dynamic models, the result of which is not reliable for long-term prediction. In this paper, we present simulation results demonstrating...
The landing accuracy of a Mars entry vehicle will be degraded duo to uncertain factors in the atmospheric entry process and a novel composite guidance law, having a composite hierarchical framework, is presented to improve the landing accuracy in this paper. It could eliminate the constraint that maximum boundary value of uncertain factors must be known in advance in the multiple sliding surface guidance...
Flatness approach is a straightforward method to solve the control problems of flat systems which are a class of systems whose states and control inputs can be expressed by the so-called flat outputs. Some results about flatness of systems and the advantages of studying flatness approach are presented in this paper. By using flatness approach, the controllability and other control problems for some...
A time synchronization algorithm for hidden mobile node (HMB), which can only receive signals, joining an existing synchronized underwater Acoustic (UWA) sensor network (UASN) is proposed. In order to obtain the location of the HMB or communicate with it, the local time of the HMB should synchronize with the UASN. However, the propagation delay in UWA channels could not be ignored compared to electromagnetic...
As the quadcopters industry grows exponentially each year. A reliable controller is needed to stabilize the quadcopter attitude and to follow a desired trajectory while considering the surrounding environment. The main challenge in controlling a quadcopter is the fact that it is a nonlinear system. Moreover, it's prone to disturbances. Thus, A mathematical model of the quadcopter was derived. Next,...
In this paper, the output tracking of time-varying linear system is investigated with pseudo division-by-zero phenomenon illustrated. We only use Zhang dynamics (ZD) to design a ZD tracking controller, which is easier than using Zhang-gradient (ZG) method. The purpose of output tracking control for the considered time-varying linear system is to make the actual output track the desired output with...
This paper presents the biological control for a radially free distributed hexapod robot. The CPG(central pattern generators) network consists of six CPG units based on Hopf neural oscillator that used to generate rhythmic oscillatory signals for the end trajectories of legs. The ring-type network topology of CPG network that consists of six CPG units is established. By computing the inverse kinematics,...
In this paper a numerical approach for the position, velocity and acceleration analysis for a 5R parallel manipulator is presented. 5R parallel manipulator is a two degrees of freedom planar mechanism which has been extensively studied by analytical methods. In this work, the use of computational tools such as Matlab and ADAMS is proposed in order to solve the inverse and forward kinematic problem...
A cruise and headway control strategy using distributed model predictive control, developed for a vehicle platooning application is proposed in this paper. The cruise control (i.e. driving the vehicle with a constant velocity demanded by the driver) is designed for the platoon's leading vehicle, whereas for the rest of the platoon, a headway control strategy is developed. Thus, the control objective...
The paper treats a class of human walking robots, the athlete robot (AR). The dynamic equations of this model are generated by Euler Lagrange method as a multi-input-multi-output under-actuated model. The balancing control on one leg in the stance phase is studied. The hierarchical sliding mode control algorithm is proposed. Numerical simulations show the method efficiency.
Present paper demonstrates the effectiveness of the predictive deadbeat current control for Permanent Magnet (PM) Brushless (BL) DC motor drive in injection of square-wave phase current even at higher speed as compared to conventional PI controller employed for phase current control. Effectiveness has been demonstrated in terms of capability of minimizing current ripples and torque ripples ensuring...
The electric solar wind sail (E-sail for short) is an innovative concept for spacecraft propulsion, which can generate continuous thrust without propellant by reflecting solar wind ions. In previous literatures, the thrust of E-sail is described by a classical model, which neglected the effects of E-sail attitude on the propulsive thrust modulus and direction. The aim of this paper is to reappraise...
Communications survivability of mobile wireless segments in tactical military networks is and will be an enormous challenge in the present and future defence forces, which is vital to fulfill military missions in a timely manner. We have previously presented an autonomous system named OPAL, which uses distributed cooperative management solutions for enhancing communications survivability in volatile...
Elderly people have some problems about their decrease in lower limb function. So, there is a possibility of falling and causing serious injury when standing or sitting. The purpose of this research is to construct a system that enables elderly people to receive safe and high quality rehabilitation. At the first, analysis of trajectory of standing and sitting motion is performed. Thanks to the analysis,...
This paper illustrates the importance of control on energy saving opportunity for electrical drives systems. The paper's objective is to present the results for a real time implementation of optimal control law for an electrical drive system with induction machine at variable flux. The optimal control is based on numerical integration of the Matrix Riccati Differential Equation and the optimal control...
This article shows the effects of various parameters like modulation or the radio channel conditions on sea turtles trajectory estimated by terrestrial localization algorithms. This work is part of wireless sensors networks domain in the marine and terrestrial environment in the world of living beings. It allows to identify and understand the parameters that lead to inaccuracies over the sea turtles...
The second-order sliding-mode controller based on improved sub-optimal algorithm for synchronous Buck converte r is designed, and the converter can be controlled only by detecti ng the output voltage without measuring the capacitance current of the converter. By introducing hysteresis to sub-optimal algorit hm, the switching frequency of the converter is limited when the output voltage is stable....
Localization is a very important issue to wireless sensor networks. The sensor node requires accurate location information in order to achieve the purpose of real-time monitoring and transmission of information. The more the sensor nodes and GPS modules are used in localization, the higher the localization accuracy can achieve, but employing more sensor nodes also leads to high costs. Thus, how to...
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