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This paper presents a novel tightly INS/GPS integration algorithm for altitude estimation. The altitude estimation is independent to provide accurate Euler angles for INS system, and magnetic sensors reduce the growth-rate of navigation-errors. In this paper, a tightly INS/GPS model is built with 23 state variables; bias and scale factor of IMU are estimated to correct INS system; and PVT information...
Electromechanical oscillations are the major stability limits which constrain the power transfer in the interconnected system and influence the transmission line capacity. Power System Stabilizer (PSS) and Flexible AC Transmission Systems (FACTS) devices can be deploy to overcome these oscillations. In this paper the focus has been made on the damping of the inter-area oscillations and Unified Power...
Distribution of goods using Automated Guided Vehicle has been widely used by some of industry. The stability of vehicle movement directly affected to the safety of delivery. Load is one of major factors that caused instability movement of the vehicle. This research discusses the movement control algorithm of weighted vehicle by trolley using Fuzzy Inference System. The trolley as a load carrier of...
In case of a digital communication between instruments and controller from A/D converter or of variation a model of plant. Performance of controller is degraded because of the fixed controller parameters. To solve this problem, a self-tuning fuzzy PID controller is proposed. The first order plus dead time (FOPDT) is a high dynamic system. Therefore, the controller must be intelligent. This paper presents...
SEIR model has been utilized to represent the behavior of various epidemic systems. Several kinds of diseases have been proposed and studied based on this model. The design of the vaccine law or policies to regulate the infection system is one of the important areas of studies. The vaccine policies can be determined based on the knowledge of the nonlinear control theory as seen in literature. The...
This article delves into time scaling for a high-order and very fast dynamic system. A very fast system responds to a test input (e.g. a unit step input) with a very small settling time or rise time in the transient time evolution and its settling time or rise time could be in the scale of milliseconds or microseconds, and the positioning or tracking of a very fast system could be challenging. In...
Achieving the optimal output-transition control for nonlinear systems remains challenging and requires complex calculation. This paper investigates the use of a polynomial-based output-transition trajectory together with three different types of inversion-based feedforward for nonminimum-phase vertical take-off and landing (VTOL) aircraft. The necessity of pre-actuation and post-actuation is examined...
This paper presents the design and development of the LinkBoard, an advanced flight control system for micro Unmanned Aerial Vehicles (UAVs). Both hardware and software architectures are presented. The LinkBoard includes four processing units and a full inertial measurement unit. In the basic configuration, the software architecture includes a fully configurable set of control modes and sensor fusion...
This paper presents the design and implementation of the ALICE O2 Control System prototype. The design of our system is based on the ALICE O2 requirements. The system allows the crew operating the experiment to send simple commands in order to control the ongoing processes running in the computing farm. The sent command is capable of reacting to changing conditions and operational the requirements...
Machine vision has become popular in new manufacturing industries, where image classification and recognition algorithms are useful for many production processes. However, they have limitations. If the image of the product is unclear, for example because of the shape of the product, it is very difficult to correctly classify or recognize the product. This paper proposes a new technique to improve...
The target tracking performance of radar system is dependent on the accurate modeling of target motion and the suitable filter for treating the noise problems when the radar detects the target. In this paper, the line-of-sight (LOS) dynamic equations of the interceptor-target are modified to be the motion model of maneuvering target and that is combined with the extended Kalman filter to treat the...
The growth of hydroponic vegetables cultivated in a greenhouse is influenced by the photosynthesis process. Sunlight, an important factor to grow crops with high productivity, is blocked by the plastic sheetings of the greenhouse roof and their cleanliness. A layer of dust can build up and needs to be removed. In the traditional method, cleaners have to climb onto the high-level roof and use brushes...
This paper put forward a optimal scheduling method of the wood flexible manufacturing system based on OOTCPN and GASA. The algorithm can adjust the manufacturing units rapidly according to the change of the production order, and reconstruct the production line aiming at optimizing the multi-objective function (the shortest manufacturing cycle and the reconfigurable fee). The triggered sequence set...
Acquiring the dynamic model of a helicopter is one of the most important requirement before the design of an autonomous model-based flight control. The objective of the study is to identify the pitch, roll, heave, and yaw dynamic models of the used virtual helicopter, Raptor, in X-Plane flight simulator. A software-in-the-loop (SIL) was then developed by using all estimated models. In this study,...
A simplified non-minimum phase linear model is studied for a class of saucer-shaped aircraft in this paper. Then on the basis of sliding mode control, a fuzzy control law is designed to achieve fuzzy sliding mode control of saucer-shaped aircraft by means of fuzzy adjusting of error changing with sliding surface parameters and control soft coefficient. Finally, detailed analysis results of the simulation...
Wheelchairs are devices used for mobility by people whose walking is difficult or impossible, due to illness or disability. There are many types of wheelchairs, including basic, light-weight, folding, multi-function, special types, and so on. Each of them has its advantages and disadvantages. Development of brain-computer interface applications has become quite popular in recent year. It allows direct...
Disturbance rejection is an important technique in bilateral teleoperation that can ensure the stability of the system from unwanted inputs. One of the major disturbance for the system is the external vibration from both sides. This paper aims to apply the concept of one degree-of-freedom inertia-spring-damper system for vibration suppression in the bilateral control system. For vibration control,...
This paper presents a new technology for designing, simulation, implementation and validation of a driverless vehicle system with the use of the Arduino microcontroller, ultrasonic sensors and stepper motors are integrated to Lyapunov based control scheme. The goal is specifically to develop a driverless vehicle system which is able to move from an initial to target location in an obstacle free environment...
Robots based on vision guidance are very important to the future of vehicle navigation. They have the ability to navigate through a predetermined track and avoid obstacles. They operate remotely with a central computer tracking and guiding them. This allows for communication between robots. This can be used to implement traffic based navigation. Where routes can be recalculated depending on traffic...
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