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This paper is devoted to investigate the behavior of Newton's method for approximating the epicenter of earthquake. Here, the earthquake in center of Italy 24 August 2016 is considered. The seismic data of Pg waves only is used as preparation data. Here, three scenarios which are depend on the minimum, average and maximum velocity of seismic Pg waves for the numerical simulations are elaborated. The...
Foot-mounted inertial positioning (FMIP) can face problems of inertial drifts and unknown initial states in real applications, which renders the estimated trajectories inaccurate and not obtained in a well defined coordinate system for matching trajectories of different users. In this paper, an approach adopting received signal strength (RSS) measurements for Wifi access points (APs) are proposed...
This paper deals with dynamic collision avoidance of multiple mobile robots by model predictive control (MPC). Each robot has the same control law based on an MPC problem which has constraints on avoidance of other robots. A numerical example shows that a robot can reach to a goal point from a start point while avoiding collision with another robot that follows its start and goal points.
Pedestrian inertial navigation systems are nowadays integrated in all kind of location-based services. The orientation, particularly the heading estimation, is one of the most critical parts of the navigation system. The heading angle suffers from drift error. The algorithms proposed in the literature apply position corrections, which do not prevent the drift error to grow. We propose a novel landmark-based...
Aircraft need to be separated from other aircraft by either a minimum vertical distance of 1000ft or by a minimum horizontal distance of 5NM to avoid mid-air collisions. Traffic Alert and Collision Avoidance System (TCAS) work well as a tactical safety backups to avoid collision, but cannot perform separation assurance. This paper presents the design aspects of system that would predict separation...
This work provides a comparative review of three different numerical methods generally used to discretize continuous-time non-linear equations appearing in model predictive control problems: direct multiple shooting, direct collocation and successive linearizations. An overview of the characteristics of each method is given and the performance of each method is evaluated through the simulation of...
A two-link manipulator can act as a simple robot for various purposes. Present work describes a two-link manipulator for generating a straight line. The problem, although quite straight forward, has many practical implementation issues. This paper describes a numerical model and experiment with two servo motors controlled by a Raspberry Pi and a 12-bit counter motor driver (PCA9685). Various parameters...
In this paper, we propose a revisited form of the so-called Model-Free Control (MFC). Herein, the MFC principle is employed to deal with the unknown part of the plant only (i.e. unmodeled dynamics, disturbances, etc.) and occurs beside an Interconnection and Damping Assignment-Passivity Based Control (IDA-PBC) strategy that is used instead of the PID structure as done in the classical MFC form. Using...
In this paper a path tracking control for an autonomous vehicle is developed using the H∞ technique. The lateral control problem is reformulated as the control of two variables: the lateral error and the derivative of the look-ahead error, defined as the distance between a virtual point on the vehicle longitudinal axis in front of the CoG and the reference trajectory. This approach is based on the...
This paper concerns performance of a direct torque and flux controlled 14-pole/18-slot fractional-slot concentrated-winding interior permanent magnet synchronous machine (FSCW-IPMSM) in deep flux-weakening region. For the optimum operation of the machine, voltage limit, current limit, MTPA and MTPV trajectories defined on the torque-flux plane are incorporated in the control algorithm. In the experiment,...
To obtain a clear digital implementation structure for boundary control of dual-active-bridge converter (DAB), this paper proposes a finite-state-machine (FSM) model with excellent dynamic performance. It is based on a generalized way to analyze the natural switching surface (NSS) of DAB with explanation of its physical meaning. NSS illustrates the effect of charging and discharging of main energy...
The paper presents a concept of factitious force method used for controlling a 3R space manipulator. It was shown that the method works for a rigid manipulator where one of the joints is damaged and can not be controlled. It is important for space applications to have some means of control while the system is compromised. Control law has been proposed for the task of trajectory tracking and practical...
This paper presents a tracking controller for a long pneumatic transmission line modeled by a bidirectionally coupled system of partial differential equations (PDEs) and ordinary differential equations (ODEs). The feedforward part of the controller is designed by applying a flatness-based approach for hyperbolic PDEs to a second-order quasilinear model of the pneumatic system. The stabilizing feedback...
Collision Avoidance is considered as the final layer of safety to prevent mid-air collisions when all other avoidance measures have failed. These methods are gaining importance, in particular in recent years. The ultimate goal is to replace the already obsolete TCAS system, which is not included in the NextGen programme. Additionally, the dynamic UAS market in civil, commercial and military sectors...
In this paper, the concept of differential flatness is applied to a controller with the aim of producing constant voltage and frequency from a hydrokinetic with permanent synchronous generator submitted to variable water flow. The idea of this concept being to generate an imaginary trajectory that will take the system from an initial condition to a desired output generating power. The results show...
This paper presents a computational framework to identify the effects of wind on the dynamics of a quadrotor unmanned aerial vehicle. Then, using the identified model, the strength and the direction of the wind are estimated with the inertial measurements. The proposed approach is based on a geometric numerical integrator on the special Euclidean group, referred to as a Lie group variational integrator...
Replicator equations are regularly used to predict how strategies evolve in social dilemmas. These predictions are based on comparisons between the fitness of a strategy and the average population fitness. Unfortunately, fitness comparisons alone don't provide much insight into how or why individuals choose to cooperate. To overcome this limitation in replicator equations we developed a zero order...
The paper presents the outline of the didactical project of a complex computer controlled system realized by the first degree students of the Automatics and Robotics on the Faculty of Electrical and Control Engineering (FoEaCE) in Gdansk University of Technology (GUT). The synthesis, implementation and analysis of a multilayer hierarchical control system for drinking water supply system (DWSS) are...
In this paper we address a problem of a non-slip castor wheel's impact on the control system of a tri-wheel mobile robot, which moves on a flat surface. We derive relations between the castor wheel's torsion angle and drive velocities and show results of controller's simulation, with and without the impact of the castor wheel.
In this paper an accuracy of local motion planning based on the generalized Campbell-Baker-Hausdorff-Dynkin formula was evaluated for a few nonholonomic robotic systems. For a given set of controls, an exact trajectory is computable via an integration of equations of motion. This reference trajectory is compared with with a trajectory based on shrinked versions of the gCBHD formula. An impact of controls...
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