Volume 11, Number 4, 2014
This paper implements and evaluates experimentally a procedure for automatically georeferencing images acquired by unmanned aerial vehicles (UAV's) in the sense that ground control points (GCP) are not necessary. Since the camera model is necessary for georeferencing, this paper also proposes a completely automatic procedure for collecting corner pixels in the model plane image to solve the camera calibration problem, i.e., to estimate the camera and the lens distortion parameters. The performance of the complete georeferencing system is evaluated with real flight data obtained by a typical UAV.
Considering gravity change from ground alignment to space applications, a fuzzy proportional-integral-differential (PID) control strategy is proposed to make the space manipulator track the desired trajectories in different gravity environments. The fuzzy PID controller is developed by combining the fuzzy approach with the PID control method, and the parameters of the PID controller can be adjusted on line based on the ability of the fuzzy controller. Simulations using the dynamic model of the space manipulator have shown the effectiveness of the algorithm in the trajectory tracking problem. Compared with the results of conventional PID control, the control performance of the fuzzy PID is more effective for manipulator trajectory control.
This paper presents a new method combining sliding mode control (SMC) and fuzzy logic control (FLC) to enhance the robustness and performance for a class of non-linear control systems. This fuzzy sliding mode control (FSMC) is developed for application in the area for controlling the speed and flux loops of asynchronous motors. The proposed control law can solve those problems associated with the conventional control by sliding mode control, such as high current, flux and torque chattering, variable switching frequency and variation of parameters, in which a robust fuzzy logic controller replaces the discontinuous part of the classical sliding mode control law. Simulation results of the proposed FSMC technique on the speed and flux rotor controllers present good dynamic and steady-state performances compared to the classical SMC in terms of reduction of the torque chattering, quick dynamic torque response and robustness to disturbance and variation of parameters.
This paper addresses the adaptive H∞ control problem for a class of nonlinear Hamiltonian systems with time delay and parametric uncertainties. The uncertainties under consideration are some small parameter perturbations involved in the structure of the Hamiltonian system. Both delay-independent and delay-dependent criteria are established based on the dissipative structural properties of the Hamiltonian systems and the Lyapunov-Krasovskii functional approach. In order to construct the adaptive H∞ controller, the situation that the parameter perturbation is inexistent in the system is also studied and the controller is designed. The adaptive H∞ control problem is solved under some sufficient conditions which ensure the asymptotic stability and the L2 gain performance of the resulted closed-loop system. Numerical example is given to illustrate the applicability of the theoretical results.
Model reference adaptive control is a viable control method to impose the demanded dynamics on plants whose parameters are affected by large uncertainty. In this paper, we show by means of experiments that robust adaptive methods can effectively face nonlinearities that are common to many automotive electromechanical devices. We consider here, as a representative case study, the control of a strongly nonlinear automotive actuator. The experimental results confirm the effectiveness of the method to cope with unmodeled nonlinear terms and unknown parameters. In addition, the engineering performance indexes computed on experimental data clearly show that the robust adaptive strategy provides better performance compared with those given by a classical model-based control solution with fixed gains.
In this paper, the control of chemical chaotic dynamical system is investigated by time-delayed feedback control technique. The controllability and the stability of the equilibriums and local Hopf bifurcation of the system are verified. Some numerical simulations which show the effectiveness of the time-delayed feedback control method are provided.
This paper considers the problem of simulating the humidity distributions of a grain storage system. The distributions are described by partial differential equations (PDE). It is quite difficult to obtain the humidity profiles from the PDE model. Hence, a discretization method is applied to obtain an equivalent ordinary differential equation model. However, after applying the discretization technique, the cost of solving the system increases as the size increases to a few thousands. It may be noted that after discretization, the degree of freedom of the system remain the same while the order increases. The large dynamic model is reduced using a proper orthogonal decomposition based technique and an equivalent model but of much reduced size is obtained. A controller based on optimal control theory is designed to obtain an input such that the output humidity reaches a desired profile and also its stability is analyzed. Numerical results are presented to show the validity of the reduced model and possible further extensions are identified.
For the single phase inductance-capacitance-inductance (LCL) grid-connected inverter in micro-grid, a kind of robust iterative learning controller is designed. Based on the output power droop characteristics of inverter, the current sharing among the inverters is achieved. Iterative learning strategy is suitable for repeated tracking control and inhibiting periodic disturbance, and is designed using robust performance index, so that it has the ability to overcome the uncertainty of system parameters. Compared with the repetitive control, the robust iterative learning control can get high precision output waveform, and enhance the tracking ability for waveform, and the distortion problem of the output signal can be solved effectively.
In this paper, a relay selection strategy and distributed power control algorithm are proposed for the underlay spectrum sharing mode based cooperative cognitive ad hoc network with energy-limited users. The study aims to minimize the total power consumption of cooperative cognitive ad hoc network while ensuring the quality of service (QoS) requirement of cognitive user and keeping the interference to primary user below interference tolerance. The power control problem is transformed into a convex optimization problem. Based on Lagrange dual decomposition theory, a gradient iterative algorithm is constructed to search for the optimal solution and complete distributed power optimization. Simulation results show that the algorithm converges fast and reduces transmit power of cognitive users effectively while guaranteeing the QoS requirement.
A high-precision fuzzy controller, based on a state observer, is developed for a class of nonlinear single-input-single-output (SISO) systems with system uncertainties and external disturbances. The state observer is introduced to resolve the problem of the unavailability of state variables. Assisted by the observer, a variable universe fuzzy system is designed to approximate the ideal control law. Being auxiliary components, a robust control term and a state feedback control term are designed to suppress the influence of the lumped uncertainties and remove the observation error, respectively. Different from the existing results, no additional dynamic order is required for the control design. All the adaptive laws and the control law are built based on the Lyapunov synthesis approach, and the signals involved in the closed-loop system are guaranteed to be uniformly ultimately bounded. Simulation results performed on Duffing forced oscillation demonstrate the advantages of the proposed control scheme.
The problem of robust global stabilization of a spacecraft circular orbit rendezvous system with input saturation and inputadditive uncertainties is studied in this paper. The relative models with saturation nonlinearity are established based on Clohessey-Wiltshire equation. Considering the advantages of the recently developed parametric Lyapunov equation-based low gain feedback design method and an existing high gain scheduling technique, a new robust gain scheduling controller is proposed to solve the robust global stabilization problem. To apply the proposed gain scheduling approaches, only a scalar nonlinear equation is required to be solved. Different from the controller design, simulations have been carried out directly on the nonlinear model of the spacecraft rendezvous operation instead of a linearized one. The effectiveness of the proposed approach is shown.
Gravitational search algorithm (GSA) is a newly developed and promising algorithm based on the law of gravity and interaction between masses. This paper proposes an improved gravitational search algorithm (IGSA) to improve the performance of the GSA, and first applies it to the field of dynamic neural network identification. The IGSA uses trial-and-error method to update the optimal agent during the whole search process. And in the late period of the search, it changes the orbit of the poor agent and searches the optimal agent's position further using the coordinate descent method. For the experimental verification of the proposed algorithm, both GSA and IGSA are testified on a suite of four well-known benchmark functions and their complexities are compared. It is shown that IGSA has much better efficiency, optimization precision, convergence rate and robustness than GSA. Thereafter, the IGSA is applied to the nonlinear autoregressive exogenous (NARX) recurrent neural network identification for a magnetic levitation system. Compared with the system identification based on gravitational search algorithm neural network (GSANN) and other conventional methods like BPNN and GANN, the proposed algorithm shows the best performance.
In compressive sensing (CS) based inverse synthetic aperture radar (ISAR) imaging approaches, the quality of final image significantly depends on the number of measurements and the noise level. In this paper, we propose an improved version of CSbased method for inverse synthetic aperture radar (ISAR) imaging. Different from the traditional l1 norm based CS ISAR imaging method, our method explores the use of Gini index to measure the sparsity of ISAR images to improve the imaging quality. Instead of simultaneous perturbation stochastic approximation (SPSA), we use weighted l1 norm as the surrogate functional and successfully develop an iteratively re-weighted algorithm to reconstruct ISAR images from compressed echo samples. Experimental results show that our approach significantly reduces the number of measurements needed for exact reconstruction and effectively suppresses the noise. Both the peak sidelobe ratio (PSLR) and the reconstruction relative error (RE) indicate that the proposed method outperforms the l1 norm based method.
The proliferation of streaming service system in various application areas gains increasing importance and also poses more challenges in the research of streaming service system. In this paper, we propose a novel dynamic model composed of a set of differential equations to describe the evolution of streaming service systems. And in the model, we focus on how the policies for admission control and peer selection influence on the system. We first introduce a flexible abstraction of streaming service systems. The abstraction is generally enough to capture the essences of streaming service systems with different structures, physical characteristics, software protocols and client behaviors. Then, by analyzing the state which is defined as the number of requests, a novel dynamic model is developed in microscopic scale to characterize the behaviors of streaming service systems. The model proposed in this paper demonstrates the interactions between clients and servers and also between different servers. The interactions are primarily influenced by the admission control policy and peer selection policy. Finally, some experiments are designed to verify the validation and reasonability of the model.