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This paper considers the problem of block-oriented Wiener systems control. Designing controllers for Wiener systems face many challenges, for instance, parameter uncertainty and lack of state measurement. To address these issues, the input-output response of a class of Wiener systems is represented with a simple fractional-order model, then a closed-loop model reference fractional adaptive controller...
We propose an improved strategy for control of underactuated two-link manipulator named acrobots. Initial conditions of nonlinear systems determine its trajectory even under same control law, so we introduce a firing control law to change initial conditions, which leads a better performance. The motion space is divided into three areas: firing, swing-up and attractive; control laws for each are designed...
A stochastic control problem is formulated and we get the explicit form of the optimal control for initial-data-parameterized linear quadratic stochastic optimal control problems with random jumps. The optimal control can be proved to be unique. A stochastic Riccati equation is rigorous derived from the stochastic Hamilton system, which provides an optimal feedback control. This completes the the...
This paper develops a non-monotonic Lyapunov function (LF) approach for discrete-time switching linear system with average dwell time (ADT) switching to improve the stability criterion and achieve better H∞ performance. Such an approach allows the LF to increase both at the switching instants and during the running time of subsystems, but guarantees an average decrease on every two sampling steps...
In this paper, the fractional order PID (FOPID) control scheme of a 3-axis motion platform is proposed. Firstly, a mathematical model of the 3-axis motion platform is derived, then a control law is developed to track the angular position. Tuned FOPID controller is compared with classic PID controller (IOPID). The simulation results are provided to verify the efficiency and correctness of the proposed...
In order to measure the fiber parameters accurately and quickly, a kind of optical fiber beam collimation system is studied in this paper. The center of the beam image captured by the CCD camera is fed to the FPGA. Then the FPGA using the fuzzy self-tuning PID to controls multi-dimensional electric platform so that making the fiber vertical to the camera surface and achieving the beam automatic collimation...
This paper investigates some properties of discrete-time antilinear systems. The observability of this kind system is examined by the certain gram matrix. As to the time-varying stability of the discrete- time anti-linear system, a time-varying discrete anti-Lyapunov equation is proposed for actual operation. Meanwhile, the observability, and the controllability of feedback control are expressed by...
In 2013, Mao initiated the study on the stabilization of continuous-time hybrid stochastic differential equations by feedback controls based on discrete-time state observations. In this paper, we will extend the theory to deal with the robust discrete-state-feedback stabilization problem for hybrid stochastic systems with time-varying delay. By employing the Razumikhin technique, delay-dependent criterion...
In this paper partially-perturbed particle swarm optimization (PPSO) is applied for the parameter identification in Reaction - Regeneration System Model. Based on the mechanism model, the experimental data are obtained, and the first order plus dead time (FOPDT) mathematical model is established for different groups of parameters. We use the double input-double output (DIDO) Robustness, Tracking,...
Aiming at quad-rotor UAV's characteristics of under-actuated, strongly coupled, nonlinear, parameter uncertainty and un-modeled disturbance, two types of active disturbance rejection control (ADRC) strategies are presented in order to increase aircraft's attitude control quality. ADRC technology is a kind of control technology which is independent of the precise model of the system, and can estimate...
Active disturbance rejection control (ADRC) technique was applied for attitude and trajectory control of the flying-wing unmanned aerial vehicle (UAV). Considering the characteristic of static instability in longitudinal and directional, a nonlinear ADRC controller was designed for the flying-wing UAV. After tuning the parameters, altitude command with step change, and gust disturbance were given...
In order to validate the control method of UAV formation, a demonstration system of UAV formation control is built outdoors. The system consists of satellite, UAV, ground control station and data link. The demonstration and verification system uses two sets of ground control stations and data links to ensure the system complete functionality and security, which can achieve a variety of network topology,...
Radar network technology is one of important means to deal with the rapid development of electronic countermeasure technology and “four threats”. Before its application, the uniform calibration of the networked radar must be carried out. If not, one target will display multiple batches. It causes the confusion of networked radar information. In the paper, a succinct and efficient calibration method...
During target tracking, in order to obtain a higher tracking accuracy, the region we would like to track should have a good feature expression. Furthermore, we need to extract multilevel and complex features to deal with problems which are usually encountered during UAV tracking, such as the target deformation, scale change and occlusion. However, such features make tracker more complex which would...
A∗ algorithm [1], [2] is a commonly used path planning method and it traditionally does search on the grid map. This results in discontinuous path and it does not consider the starting and final vehicle pose when planning. We propose a modified version, called Dubins-path-based A∗ algorithm, for a fixed-wing unmanned aerial vehicle (UAV) with obstacles avoidance. Assume the vehicle flies on a constant...
Although unmanned aerial vehicle (UAV) shows great advantages and some new potential applications in recent years as an effective tool for investigation, fighting and defense, yet, how to give full play to its role still remains the focus of attention. To improve the fighting efficiency of UAV and expand the range of its applications, the obstacle avoidance problem of UAV during autonomous cruise...
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