The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper presents detailed modeling of a novel electro-hydraulic variable valve actuator for internal combustion engines that is capable of continuously varying valve timing and dual-lift. First, nonlinear mathematical system model is developed component-by-component, considering electromagnetic, mechanical, and fluid dynamics, time delay and time-varying parameters. Second, in order to develop...
In this paper, a nonlinear estimator is developed to estimate the effect of friction on the performance of an ultrasonic motor (USM). Based on the friction model of USM, a friction estimator based compensator is developed for eliminating the effect of friction existing in between the surfaces of stator and rotor of the USM. Then, a proportional plus integral (PI) control strategy with friction estimator...
We design a kind of object manipulation system, which is based on Robot Operating System (ROS) distributed processing framework. This system can communicate with human beings; can percept the 3D environment by RGB-D sensor; has the ability of reasoning; can transfer the natural language intention to machine instruction to control the movement of manipulator. In particular, an improved Case-Based Reasoning-Belief-Desire-Intention...
A model of Wiener structure is presented in this work to represent the characteristics of an electronic throttle body. The proposed model consists of a linear submodel, which is used to capture the electric motor dynamics of the throttle body, and a nonlinear submodel, which is used to represent the nonlinearities in friction and spring torques. The relationship between the proposed model and the...
Target tracking is a hot topic for unmanned aerial vehicle surveillance. Recently, the novel random sample consensus (RANSAC) algorithm shows a good tracking performance in dense clutter environment. However, the heavy computational burden limits the usage for unmanned aerial vehicle (UAV). In this paper, a density-based recursive random sample consensus (DBR-RANSAC) algorithm is proposed, which utilizes...
In this work, we present the development of a target tracking and following system using a self-customized hybrid UAV, KH-Lion. KH-Lion is a small and autonomous tail-sitter UAV stabilized and controlled by two vectored propulsion systems. A target tracking system was developed on this platform for autonomous target following on a predetermined moving object on the ground. A customized AprilTag marker...
This paper presents a novel sliding mode control method for a class of second-order systems subject to unmatched disturbances to ensure finite-time exact tracking and disturbance rejection. Firstly, a feedback domination approach with a dynamic disturbance compensation is developed based on a finite-time disturbance observer. Secondly, a new nonlinear sliding manifold is proposed by virtue of a virtual...
Aiming at the speed regulation system of permanent magnet synchronous motor (PMSM), the research and analysis of PMSM speed regulating system are made. Based on the finite time control technique, a finite time controller is designed in this paper. This design utilizes the error between the output of the speed and the reference speed, to be controlled by a finite time controller to obtain the q-axis...
A novel adaptive fault tolerant control (AFTC) method based on backstepping technique is proposed for the attitude tracking of a quadrotor subject to input saturation and full-state constraints. Both additive and multiplicative actuator faults, model uncertainty and the time-varying constraints are considered. An auxiliary system combined with a command filter is designed to deal with the input saturation...
This paper deals with the fixed-time consensus for multi-agent systems with input delay. First, finite-time stability for single system with input delay is given with the aid of Artstein model reduction method. Then, two finite-time nonlinear consensus protocols are constructed for multi-agent systems with input delay using the Lyapunov functionals. In particular, the settling-time of the second consensus...
In this paper, we investigate a distributed Nash equilibrium seeking problem for a class of aggregative games that the strategic interaction is characterized by a sum of nonlinear mapping of heterogeneous local decisions. We consider non-quadratic local cost functions and constrained strategy sets. We propose a novel continuous-time distributed algorithm for equilibrium seeking based on dynamic average...
The background, simulation and experimental evaluation of an anomaly detector for Brushless DC motor winding faults is described in this paper in the context of an aircraft Electro-Mechanical Actuator (EMA) application. Results acquired from an internal Failure Modes and Effects Analysis (FMEA) study identified turn-to-turn winding faults as the primary mechanism, or mode, of failure. Physics-of-failure...
Improving the efficiency of the production plants has always been focus of manufacturing industry. Recently the utilization of data analytics tool is dramatically increased since these methods bring new insights into already existing data. Nevertheless, manufacturing industry in general is still reluctant to make the data available to researcher due to privacy issues. One such example is the challenge...
The rapid improvement of computational power and performances of embedded systems, combined with development of new optimization algorithms with reduced complexity extends the application area of model predictive control. In this paper we describe a method of developing a model predictive controller which can be deployed on general purpose microcontroller without a floating-point unit and used to...
Control over network is a concept that is widely accepted and used in industrial automation. Therefore, the stability, safety, and robustness of the distributed and control systems are of key importance for their correct performance. The search for solutions of remote control problems like variable time-delay, data-loss, equipment malfunctions, and susceptibility to noise is thus essential and ever...
An innovated evolving network representation model to characterize weighted, complex, scale-free networks is proposed. A new node or a community is added to network in the process of evolution while emergences of new links occur according to the ‘Triad Formation’ possessing symmetry and the random selection mechanism. A weighted scale-free network with high-value clustering coefficient can be obtained...
This paper presents the modeling of a dynamic system through the System Identification Process, respectively of a wheeled mobile robot running on a flat factory terrain. The system control relies on the same control algorithms applied in industrial controllers, Decoupled PID control and Model Predictive Control (MPC). The simulation results, and the comparison between these control algorithms, subjected...
Aircraft loss-of-control (LOC) is the major contributing factor to fatal accidents and is characterised by the manoeuvring of aircraft beyond the allowable flight envelopes. This paper proposes an online learning and inference based method for aircraft flight envelope estimation in order to prevent aircraft LOC. The lift and drag coefficients of the aircraft are identified online using an extended...
In this paper, we proposed a novel approach called Hybrid Orientation Filter which deploys a combination of the information filter and the complementary filter to achieve accurate heading estimation. Base on this approach, a Hybrid Orientation Filter aided pedestrian dead reckoning system with utilization of the visual gyroscope is proposed and implemented on a smartphone, offering real-time indoor...
This paper describes a novel algorithm to improve the performance of sparsity based single-channel speech separation(SCSS) problem based on compressed sensing which is an emerging technique for efficient data reconstruction. The conventional approach assumes the mixing conditions and source signals are stationary. For practical applications of audio source separation, however, we face the challenges...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.