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Registration in Multi-Sensor Data Fusion and Tracking 多传感器数据融合与跟踪中的配准
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4792988
D. Cowley, B. Shafai
{"title":"Registration in Multi-Sensor Data Fusion and Tracking","authors":"D. Cowley, B. Shafai","doi":"10.23919/ACC.1993.4792988","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792988","url":null,"abstract":"This report presents a simple and direct method of solving the registration problem associated with multiple radar tracking. The registration proceedure is split into two distinct parts that are independent from one another. The first part is a deterministic tranformation from the measurement domain to the measurement error or bias variable domain, and the second part is a filtering to track the actual value of the bias variables. Only the transformation part will be covered.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128278032","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: 22
Adaptive Processing for Vision-Based Ranging 基于视觉的测距自适应处理
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793087
D. Leblanc, N. McClamroch
{"title":"Adaptive Processing for Vision-Based Ranging","authors":"D. Leblanc, N. McClamroch","doi":"10.23919/ACC.1993.4793087","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793087","url":null,"abstract":"Consider a camera that moves through a stationary environment. The time-varying range to features in the camera's field of view may be estimated recursively using a sequence of images. We study processing these images adaptively; our goal is accurate range estimation and increased range map density in the presence of constrained computational resources. The problem of autonomous nap-of-the-earth rotorcraft flight motivates our work. An onboard camera and inertial measurement unit provide sensing for the construction of local range maps for an obstacle avoidance function. To provide more features yielding accurate range estimates, we assume a high resolution, high data rate camera. The resulting explosion in the image measurement data rate can be handled by selecting which measurements to process, and by making the best use of onboard computation in processing these measurements. Computer vision research provides many ideas on selecting which measurements to process. We study how to process the measurements. Specifically, for a single feature, we explore the idea of adaptively trading spatial resolution and image rate to obtain accurate range estimation while simultaneously satisfying an upper limit on computation rate. Simulations are presented to explore the effectiveness of this idea. Our work is applicable to other vision-based ranging problems.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"39 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128364650","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
Nonlinear Tuning Regulator for the Control of Lightly Damped Structures 用于轻阻尼结构控制的非线性调谐调节器
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793122
T. Chang
{"title":"Nonlinear Tuning Regulator for the Control of Lightly Damped Structures","authors":"T. Chang","doi":"10.23919/ACC.1993.4793122","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793122","url":null,"abstract":"This paper deals with the control of lightly damped flexible structures under plant uncertainty. The control objectives are 1) closed loop stability and 2) asymptotic regulation of the amplitude of each resonant mode of the flexible structure. Furthermore, it desired to conserve control bandwidth so as to minimize implementation costs. Since the dynamics of a flexible structure can be decomposed into N resonant subsystems whose energy is mainly distributed in the passband, frequency translation technique based on the Hilbert transform is first applied to the nominal plant to obtain a low frequency equivalent model that also includes various filter dynamics. Analysis and design are then carried out in the baseband to obtain the necessary bandwidth-conservative controller. The resultant control system is modular, consisting of N structurally identical modules. The controller parameters are derived by the on-line tuning method [3] together with an estimate of the resonant frequencies of the flexible structure. No other plant information is required. The proposed controller does not suffer from spillover effects that sometimes occur in conventional designs. A synthesis procedure is outlined in this paper to summarize the design steps in a systematic manner. Finally, a numerical example based on the control of a stainless steel flexible beam is also provided to illustrate the design steps.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128364973","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
A General Failure Detection, Isolation and Accommodation System with Model Uncertainty and Measurement Noise 具有模型不确定度和测量噪声的通用故障检测、隔离和调节系统
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793480
Chia-Chi Tsui
{"title":"A General Failure Detection, Isolation and Accommodation System with Model Uncertainty and Measurement Noise","authors":"Chia-Chi Tsui","doi":"10.23919/ACC.1993.4793480","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793480","url":null,"abstract":"The problem of failure detection, isolation and accommodation has received high interest recently. This task is achieved using the information of plant's model and input/output measurements. It is therefore important to study the effects of model uncertainty and measurement noise. Among the two effects, the former is much more severe and its analysis is very difficult. So far, only a threshold of nonzero occurrence (caused by these effects) of a normally zero-valued error signal is established in [3], but only after a very elaborate derivation and only for a single Kalman filter based failure detection system. Recently, such a failure detection and isolation system (achieved by the observance of the nonzero occurrence of some error signals) is derived in (6], which requires a multiple of robust failure detection observers. This paper establishes the nonzero threshold for model uncertainty and output measurement noise, for this system. This paper also proposes an adjustable state feedback control for failure accommodation, which is uniquely enabled by the failure isolation capability of this system.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"62 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128382948","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: 23
Multiple Sensor Tracking with Retrospective Probabilistic Data Association 基于回溯概率数据关联的多传感器跟踪
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4792990
O. E. Drummond
{"title":"Multiple Sensor Tracking with Retrospective Probabilistic Data Association","authors":"O. E. Drummond","doi":"10.23919/ACC.1993.4792990","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792990","url":null,"abstract":"A probabilistic data association approach is described for tracking multiple targets with multiple sensor. This approach employs multiple frames of data in the data association processing. The approach offers improved performance over Joint Probabilistic Data Association tracking. This improved performance is obtained, however, at the expense of increased processing load. In the algorithm is a design parameter that can be selected to adjust performance to suit a specific application. The algorithm is retrospective in that as each new frame of sensor data becomes available earlier tracks are modified and the changes have an impact on subsequent tracks.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129259449","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
Robustness and Perturbation Analysis of a Class of Nonlinear Systems with Applications to Neural Networks 一类非线性系统的鲁棒性和摄动分析及其在神经网络中的应用
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793432
Kaining Wang, A. Michel
{"title":"Robustness and Perturbation Analysis of a Class of Nonlinear Systems with Applications to Neural Networks","authors":"Kaining Wang, A. Michel","doi":"10.23919/ACC.1993.4793432","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793432","url":null,"abstract":"We study robustness properties of a large class of nonlinear systems, by addressing the following question: given a nonlinear system with specified asymptotically stable equilibria, under what conditions will a perturbed model of the system possess asymptotically stable equilibria which are close (in distance) to the asymptotically stable equilibria of the unperturbed system? In arriving at our results, we establish robustness stability results for the perturbed systems considered and we determine conditions which ensure the existence of asymptotically stable equilibria of the perturbed system which are near the asymptotically stable equilibria of the original unperturbed system. These results involve quantitative estimates of the distance between the corresponding equilibrium points of the unperturbed and perturbed systems. We apply the above results in the qualitative analysis of a large class of artificial neural networks.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124770375","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: 51
Application of Repetitive Control to a Peristaltic Pump 重复控制在蠕动泵中的应用
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4792823
G. Hillerstrom, J. Sternby
{"title":"Application of Repetitive Control to a Peristaltic Pump","authors":"G. Hillerstrom, J. Sternby","doi":"10.23919/ACC.1993.4792823","DOIUrl":"https://doi.org/10.23919/ACC.1993.4792823","url":null,"abstract":"In many machinery there are rotating axis, which sometimes give problems with mechanically coupled disturbances from e.g. imperfect roundness or loads. These disturbance can be modeled as a nonlinear feedback, and treated under the framework of repetitive control.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"22 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125122120","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: 57
Shape Control of Flexible Structures using Piezo-Electric Actuator/Sensors 基于压电致动器/传感器的柔性结构形状控制
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793253
F. Pourki
{"title":"Shape Control of Flexible Structures using Piezo-Electric Actuator/Sensors","authors":"F. Pourki","doi":"10.23919/ACC.1993.4793253","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793253","url":null,"abstract":"In this paper active damping of a beam as an example of shape control of flexible structures is studied. The purpose is to stabilize significant modes of motion with piezoelectric actuator-sensor. Using a one dimensional partial differential equation model, a variational method is used to find a dissipative energy function. A criteria for the design of the shape of the piezoelectric material or electrode, which can accomplish damping of significant modes, is derived. Unlike previous efforts, which could find electrode shape for dissipativity of one mode, it is proved that the suggested shape guarantees the dissipativity of energy function for all modes of the system.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"9 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129680992","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
A Describing Function Approach for the Evaluation of Fuzzy Logic Control 模糊逻辑控制评价的描述函数方法
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.1109/ACC.1993.4175954
D. Atherton
{"title":"A Describing Function Approach for the Evaluation of Fuzzy Logic Control","authors":"D. Atherton","doi":"10.1109/ACC.1993.4175954","DOIUrl":"https://doi.org/10.1109/ACC.1993.4175954","url":null,"abstract":"The paper presents a describing function for modelling a two dimnensional fuzzy logic controller. An example is given to show how the approach can be used for controller design.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"6 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123826229","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
Design, Simulation and Analysis of a Large Scale Hydraulic Stabilization Control System 大型液压稳定控制系统的设计、仿真与分析
1993 American Control Conference Pub Date : 1993-06-02 DOI: 10.23919/ACC.1993.4793277
H. El-Sherief, Khiem Thai, Gary A. Whitmer
{"title":"Design, Simulation and Analysis of a Large Scale Hydraulic Stabilization Control System","authors":"H. El-Sherief, Khiem Thai, Gary A. Whitmer","doi":"10.23919/ACC.1993.4793277","DOIUrl":"https://doi.org/10.23919/ACC.1993.4793277","url":null,"abstract":"The purpose of this paper is to discuss the use of modeling and simulation in the design and analysis of a hydraulic rail car stabilization control system. The simulated models have been verified by comparing the simulation results with engineering test data. The simulation was used as a tool to understand the causes of different anomalies observed during system hardware testing, defining solutions to test anomalies, and improving overall system performance.","PeriodicalId":162700,"journal":{"name":"1993 American Control Conference","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1993-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123817021","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
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