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2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)最新文献

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A survey on tactical control algorithms for path tracking unmanned surface vehicles 无人水面车辆路径跟踪战术控制算法研究
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838568
Murat Kumru, M. Leblebicioğlu, I. K. Erunsal, Kenan Ahiska
{"title":"A survey on tactical control algorithms for path tracking unmanned surface vehicles","authors":"Murat Kumru, M. Leblebicioğlu, I. K. Erunsal, Kenan Ahiska","doi":"10.1109/ICARCV.2016.7838568","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838568","url":null,"abstract":"In this study, a survey on control allocation algorithms in tactical level control for path tracking unmanned surface vehicles (USV) is conducted. The strategic goal in the path tracking problem is to assist navigation solution of an unmanned underwater vehicle (UUV). USV with the help of its onboard acoustic sensors, tracks UUV according to constant bearing guidance rule. The survey on tactical controllers comprises comparisons of tracking performances of USVs under proportional-integral-derivative, pole placement, feedback linearization and sliding mode controllers according to the strategic goal. The parameters of the controllers are tuned with a common elitist genetic algorithm optimization infrastructure. The disturbance rejection capabilities of the controllers are discussed through Monte Carlo simulations of USVs within various wave disturbances as well.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126409749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
Iterative learning control for a class of singular impulsive system 一类奇异脉冲系统的迭代学习控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838619
Li-Yu Daisy Liu, Senping Tian
{"title":"Iterative learning control for a class of singular impulsive system","authors":"Li-Yu Daisy Liu, Senping Tian","doi":"10.1109/ICARCV.2016.7838619","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838619","url":null,"abstract":"Based on the decomposition of singular system, we propose a P-type iterative learning control law with initial state to track the desired output trajectory of the singular impulsive system. Then the convergence conditions of the open-loop iterative learning schemes is presented.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124900018","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Investigation and performance analysis of OpenVX optimizations on computer vision applications OpenVX在计算机视觉应用上的优化研究与性能分析
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838782
Djamila Dekkiche, B. Vincke, A. Mérigot
{"title":"Investigation and performance analysis of OpenVX optimizations on computer vision applications","authors":"Djamila Dekkiche, B. Vincke, A. Mérigot","doi":"10.1109/ICARCV.2016.7838782","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838782","url":null,"abstract":"The development of Advanced Driver Assistance Systems (ADAS), such as pedestrian detection, requires real-time update rates at high image resolution. Hopefully, heterogeneous architectures with high computing performance have been developed for this purpose. To benefit from this hardware performance, different programming languages and acceleration frameworks have been developed. OpenVX framework provides a graph-based execution model to program image processing algorithms on heterogeneous platforms. In this work, we investigate OpenVX optimizations for computer vision applications. We examine how this framework responds to different data access patterns. We test three important optimizations of OpenVX: kernels merge, data tiling and parallelization via OpenMP. The contribution and the impact of each optimization on different data access pattern are explained.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125237451","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 10
Observer-based discrete-time sliding-mode control for higher-order dynamic delay-time system 基于观测器的高阶动态时滞系统离散滑模控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838798
Y. P. Patil, Hirenkumar G. Patel
{"title":"Observer-based discrete-time sliding-mode control for higher-order dynamic delay-time system","authors":"Y. P. Patil, Hirenkumar G. Patel","doi":"10.1109/ICARCV.2016.7838798","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838798","url":null,"abstract":"The linear time invariant (LTI) observer-based discrete-time sliding-mode control problem is considered for a robust tracking of higher-order dynamic delay-time systems. Here, Luenberger observer is used for estimation of system states as all states are not available for measurement. Sliding surface is selected based on output feedback and observer states to realize the sliding-mode control. Observer and controller parameters are tabulated by pole placement strategy. The performance of proposed control is improved with dual tuning parameter in terms of settling time and control effort. Finally, non-oscillatory, oscillatory, integrating, and non-minimum phase systems with delay-time examples are implemented with numerical simulations to demonstrate the validity of the proposed control method.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"405 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124373454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Distributed adaptive control of multi-agent systems under directed graph for asymptotically consensus tracking 有向图下多智能体系统渐近一致跟踪的分布式自适应控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838696
Wen Wang, Jiangshuai Huang, C. Wen
{"title":"Distributed adaptive control of multi-agent systems under directed graph for asymptotically consensus tracking","authors":"Wen Wang, Jiangshuai Huang, C. Wen","doi":"10.1109/ICARCV.2016.7838696","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838696","url":null,"abstract":"In this paper, a distributed adaptive control scheme is proposed for nth order multi-agent systems with pure integrator type of subsystem dynamics. It is assumed that the information transmission condition among different subsystems is represented by a fixed, balanced and weakly connected directed graph. The full knowledge of desired trajectory is allowed totally unknown by part of the subsystems, except that its first nth derivatives are bounded. It is shown that the globally uniform boundedness of all closed-loop signals and asymptotically consensus tracking for all the subsystem outputs can be guaranteed.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"12 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121962811","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 3
Adaptive backstepping controller design for quadrotor aircraft with unknown disturbance 未知扰动四旋翼飞行器自适应反步控制器设计
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838694
Zhixiang Dong, Huijin Fan, Yongji Wang, Lingyi Xu, Wei Wang
{"title":"Adaptive backstepping controller design for quadrotor aircraft with unknown disturbance","authors":"Zhixiang Dong, Huijin Fan, Yongji Wang, Lingyi Xu, Wei Wang","doi":"10.1109/ICARCV.2016.7838694","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838694","url":null,"abstract":"For quadrotor aircraft, atmospheric turbulence, wind shear, and model uncertainty are important factors which affect the quality of flight, or even lead to a failure of flight. In this paper, we consider the control problem of quadrotor aircraft with linear or nonlinear disturbances including model uncertainty. By employing backstepping technique, adaptive backstepping controllers are proposed which ensure the stability and reliability of the closed-loop system. Simulation results illustrate the effectiveness of proposed scheme.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"72 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123164721","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Nonlinear modeling and control of a two-link hybrid manipulator 双连杆混合机械臂的非线性建模与控制
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838809
M. Reyhanoglu, Derek Hoffman, J. D. Wit
{"title":"Nonlinear modeling and control of a two-link hybrid manipulator","authors":"M. Reyhanoglu, Derek Hoffman, J. D. Wit","doi":"10.1109/ICARCV.2016.7838809","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838809","url":null,"abstract":"The slew maneuver problem is studied for a robot manipulator consisting of a flexible first link and rigid second link. A nonlinear dynamical model is first derived using a Lagrangian formulation. A notch-filtered finite-time control law is then introduced to achieve fast and precise slewing maneuvers without residual vibrations. The results are applied to a benchmark two-link system and a simulation example is included to illustrate the effectiveness of the proposed control technique.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123485602","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 4
A performance evaluation of detectors and descriptors for UAV visual tracking 无人机视觉跟踪中检测器和描述符的性能评价
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838649
Bruce Cowan, Nursultan Imanberdiyev, Changhong Fu, Yiqun Dong, E. Kayacan
{"title":"A performance evaluation of detectors and descriptors for UAV visual tracking","authors":"Bruce Cowan, Nursultan Imanberdiyev, Changhong Fu, Yiqun Dong, E. Kayacan","doi":"10.1109/ICARCV.2016.7838649","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838649","url":null,"abstract":"This paper is made up of a series of performance evaluations of computer vision algorithms, namely detectors and descriptors. The OpenCV 3.1 implementations of these algorithms were used for these evaluations. The main purpose behind these evaluations was to determine the best algorithms to use for a UAV guidance system.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126254117","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 12
Some contributions to the design of dead-time compensators 对死区补偿器设计的一些贡献
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838677
P. Albertos, P. Garcia, R. Sanz
{"title":"Some contributions to the design of dead-time compensators","authors":"P. Albertos, P. Garcia, R. Sanz","doi":"10.1109/ICARCV.2016.7838677","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838677","url":null,"abstract":"The main inconvenience of time-delay systems is that the plant output is delayed with respect to the plant input. So, in order to monitor, control or evaluate its behavior current information is not available. Dead-time compensators, mainly designed to control delayed plants, are aimed to provide undelayed data from the plant. Obviously, there is always an error between the estimated data and the undelayed process variables. The estimator behavior depends on the plant characteristics: stable/unstable, minimum/non-minimum phase, single-input-single-output/multiple-input-multiple-output or uncertain. In this paper, several structures to predict and estimate undelayed variables from the linear plant are reviewed and its advantages and drawbacks are discussed. The estimation error is evaluated and some solutions are proposed.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"38 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128329592","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 2
Stability analysis of islanded microgrids with dynamic loads 带动负荷的孤岛微电网稳定性分析
2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV) Pub Date : 2016-11-01 DOI: 10.1109/ICARCV.2016.7838765
Xiuqin Zhang, Jiawei Chen, Chengjun Wang
{"title":"Stability analysis of islanded microgrids with dynamic loads","authors":"Xiuqin Zhang, Jiawei Chen, Chengjun Wang","doi":"10.1109/ICARCV.2016.7838765","DOIUrl":"https://doi.org/10.1109/ICARCV.2016.7838765","url":null,"abstract":"In this paper, a framework for stability analyses of a typical inverter-based islanded microgrid with a non-linear load is presented, namely ideal constant power load (CPL) which is supplied by tightly regulated power electronics converter. The whole dynamic model of the considered microgrid is firstly developed, based on which the small signal model of system is deduced at stable operating point. Afterwards, eigenvalue-based stability analysis and parametric sensitivity analysis are accomplished based on the obtained small signal model to predict the system's unstable regions and identify the effects of parameters on the stability boundaries. Simulation studies based on Matlab/Simulink are finally done to verify the theoretical analyses.","PeriodicalId":128828,"journal":{"name":"2016 14th International Conference on Control, Automation, Robotics and Vision (ICARCV)","volume":"71 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123343336","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 5
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