2014 UKACC International Conference on Control (CONTROL)最新文献_第10页

Neural network based reinforcement learning control of autonomous underwater vehicles with control input saturation 控制输入饱和的自主水下航行器神经网络强化学习控制

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915114

Rongxin Cui, Chenguang Yang, Y. Li, Sanjay K. Sharma

引用次数: 18

Low order H∞ controllers for a quadrotor UAV 四旋翼无人机的低阶H∞控制器

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915127

Hasan Basak, E. Prempain

引用次数: 3

Design and implementation of networked real-time control system with image processing capability 具有图像处理能力的网络化实时控制系统的设计与实现

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915112

Zhao Jun, Guoping Liu

引用次数: 2

Skid steering mobile robot modeling and control 滑移转向移动机器人建模与控制

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915116

O. Elshazly, A. Abo-Ismail, H. S. Abbas, Z. Zyada

引用次数: 18

Sliding mode based longitudinal guidance of UAVs 基于滑模的无人机纵向制导

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915126

M. Z. Shah, M. Ozgoren, R. Samar

引用次数: 2

Fuzzy logic-based gain scheduling of Exact Feedforward Linearization controller for magnetic ball levitation system 磁球悬浮系统精确前馈线性化控制器的模糊增益调度

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915196

Abdullah T. Elgammal, A. A. Abouelsouda, Samy F. M. Assal

引用次数: 2

Development of a generic network enabled autonomous vehicle system 开发通用网络自动驾驶汽车系统

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915211

M. Coombes, William Eaton, O. McAree, Wen‐Hua Chen

{"title":"Development of a generic network enabled autonomous vehicle system","authors":"M. Coombes, William Eaton, O. McAree, Wen‐Hua Chen","doi":"10.1109/CONTROL.2014.6915211","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915211","url":null,"abstract":"This paper describes the development of a system for autonomous vehicle testing, utilising conventional network infrastructure for communication and control; allowing simultaneous control of multiple vehicles of differing vehicle types. A basic level of autonomy is achieved through the use of an Arduino based commercial autopilot (ArduPilot), which also allows for remote vehicle control via MAVLink protocol commands given through serial communication. Traditionally messages are sent using point-to-point wireless serial modems. As these are restricted in terms of bandwidth and flexibility, an improved set-up is suggested, where an embedded computer system is attached to each vehicle. A custom written Node.js program (MAVNode) is then used to encode and decode MAVLink messages onboard allowing communication over a Local Area Network via Wi-Fi, A selection of hardware configurations are discussed, including the use of conventional Wi-Fi and long range Ubiquiti airMAX wireless routers. Both software and hardware in the loop testing is discussed, in addition to the ability to to perform control from Matlab/Simulink. With all the infrastructure in place, algorithms can be rapidly prototyped. As an example use of the system, a quad-rotor visually tracks a robot while using a remote Matlab installation for image processing and control.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"58 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122473597","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: 11

Kinetic modelling of an industrial semi-batch alkoxylation reactor for control studies 用于控制研究的工业半间歇烷氧基化反应器动力学建模

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915210

M. Nohr, T. Utz, K. Graichen

引用次数: 0

Fault detection and isolation in an inertial navigation system using a bank of unscented H∞ filters 基于一组无嗅H∞滤波器的惯性导航系统故障检测与隔离

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915148

I. Vitanov, N. Aouf

{"title":"Fault detection and isolation in an inertial navigation system using a bank of unscented H∞ filters","authors":"I. Vitanov, N. Aouf","doi":"10.1109/CONTROL.2014.6915148","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915148","url":null,"abstract":"In order to ensure safe operation and meet reliability standards at a safety-critical level, instrument failures have to be robustly handled through effective fault diagnosis. A popular approach to fault detection for non-linear systems is the extended Kalman filter (EKF). It has, however, been shown to lack robustness in the face of non-Gaussian noise disturbances and modelling errors. An alternative to the EKF, the extended H∞ (EHF) filter is capable of robust estimation even in the presence of coloured noise; though, modelled on the EKF, it does inherit certain of its shortcomings. A recent addition to the H∞ family of filters, the unscented H∞ filter (UHF) promises both robustness and excellent estimation performance in non-linear, non-Gaussian settings. This paper presents arguably the first application of the UHF to an FDI task: sensor fault detection and isolation (FDI) in a strap-down inertial navigation system (INS) of the type commonly mounted on smaller unmanned aircraft. We apply the UHF in a bank of dedicated observers within an analytical redundancy framework. Results are comparable to the EKF under a Gaussianity assumption.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124228960","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

Estimation of time to point of closest approach for collision avoidance and separation systems 避碰和分离系统到达最接近点的时间估计

2014 UKACC International Conference on Control (CONTROL) Pub Date : 2014-07-09 DOI: 10.1109/CONTROL.2014.6915215

J. Dunthorne, Wen‐Hua Chen, S. Dunnett

{"title":"Estimation of time to point of closest approach for collision avoidance and separation systems","authors":"J. Dunthorne, Wen‐Hua Chen, S. Dunnett","doi":"10.1109/CONTROL.2014.6915215","DOIUrl":"https://doi.org/10.1109/CONTROL.2014.6915215","url":null,"abstract":"This paper proposes a method for estimating the amount of time until the point of closest approach (TPCA) between two aircraft. A range of simple methods which use derivatives to estimate the time to collision are analysed. These methods are only accurate when the angle subtended between the direction of the relative velocity vector, and the bearing of the intruder aircraft is small. An extended method is developed which calculates the exact TPCA from relative distance and bearing measurements. Representative levels of Gaussian white noise are introduced to the core equation variables for both the derivative and extended methods. It is found that as we increase the value of θ, the extended method's accuracy increases beyond that of the derivative method. A fusion algorithm is developed to switch between methods and is shown to perform well for a range of conflicts. When the relative velocity between the two aircraft is small, the signal to noise ratio on the relative velocity variable reduces causing large errors to the TPCA estimation. It is therefore concluded that at a certain relative velocity threshold, Vk (dependant on sensor and filter performance) both the derivative and extended TPCA estimation methods would become undesirable as risk estimators. It is suggested that in these situations distance could be better to use since it can be measured directly.","PeriodicalId":269044,"journal":{"name":"2014 UKACC International Conference on Control (CONTROL)","volume":"17 6","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-07-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"120981914","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