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2014 CACS International Automatic Control Conference (CACS 2014)最新文献

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Cold gas attitude control systems 冷气体姿态控制系统
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097182
Huanqiang Chen, Y. Rizal, Ming-Tzu Ho
{"title":"Cold gas attitude control systems","authors":"Huanqiang Chen, Y. Rizal, Ming-Tzu Ho","doi":"10.1109/CACS.2014.7097182","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097182","url":null,"abstract":"This paper presents the development of a cold gas attitude control system. The system consists of a body frame with sensors, gas tank and solenoid valves with thruster nozzles. The on-off thrust actuators enable the system to rotate in the yaw direction. The objective of this control system is to bring the system to the desired attitude (orientation) starting from its initial angular position. The detailed dynamic model of the system is derived using the Euler-Lagrange method to facilitate controller design. Based on a linearized model, a bang-bang control scheme is used to do attitude control. The designed control law is implemented on a digital signal processor (DSP). Finally, the simulation and experimental results are given to validate the effectiveness of the control scheme.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116998113","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
Balance control of an inverted pendulum system using second-order sliding mode control 二阶滑模控制倒立摆系统的平衡控制
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097186
Y. Rizal, Jhih-Wei Syu, Ming-Tzu Ho
{"title":"Balance control of an inverted pendulum system using second-order sliding mode control","authors":"Y. Rizal, Jhih-Wei Syu, Ming-Tzu Ho","doi":"10.1109/CACS.2014.7097186","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097186","url":null,"abstract":"This paper presents the design of balance control for an inverted pendulum system. The system consists of a cart, linear motor and a pole. The pole is pivoted on the cart where the cart is actuated by a linear motor. The control objective is to stabilize the pole at its upright position. The second-order sliding mode control is used to design the stabilizing control law for the system. For comparison, we consider LQR (Linear Quadratic Regulator) control and first-order sliding mode control to stabilize the system. The dynamic model of the system is given. The linearized model of the system is used to design the LQR control law, while the nonlinear dynamic model is used to design first-order and second-order sliding mode control. The MATLAB/Simulink is used to conduct the simulation studies and the designed control laws are implemented on a digital signal processor. The effectiveness of the designed control laws is demonstrated in the simulations and experiments.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116191775","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
Contour following control of two-axis servomechanism using CMAC and ILC 基于CMAC和ILC的两轴伺服机构轮廓跟随控制
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097176
Wei-Liang Kuo, Wei-Lin Chen, M. Cheng
{"title":"Contour following control of two-axis servomechanism using CMAC and ILC","authors":"Wei-Liang Kuo, Wei-Lin Chen, M. Cheng","doi":"10.1109/CACS.2014.7097176","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097176","url":null,"abstract":"In addition to positioning control, contour following control is also an important application of two-axis servomechanisms such as X-Y tables. Therefore, the reduction of contour following error so as to improve contour following accuracy is one of the important research topics for two-axis servomechanisms. Generally, the assessment of contour following accuracy is based on two error indices - tracking error and contour error. Although the reduction of tracking error can lead to the improvement of contour following accuracy, many previous studies suggest that contour error is a more crucial indicator than tracking error in contour following applications. As a result, this paper aims at developing a control scheme for contour error reduction so as to improve contour following accuracy. The proposed control scheme consists of a PI type feedback controller, a Cerebellar Model Articulation Control (CMAC) algorithm and an Iterative learning Control (ILC) scheme. In particular, the CMAC is combined with the ILC to compensate for the adverse effects due to external disturbance and nonlinear phenomenon. Experimental results verify the effectiveness of the proposed contour following control scheme.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126598616","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
Face recognition based on sparse representation applied to mobile device 基于稀疏表示的人脸识别在移动设备上的应用
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097166
Kuan-Yu Chou, Guanqun Huang, Hao-Chien Tseng, Yon-Ping Chen
{"title":"Face recognition based on sparse representation applied to mobile device","authors":"Kuan-Yu Chou, Guanqun Huang, Hao-Chien Tseng, Yon-Ping Chen","doi":"10.1109/CACS.2014.7097166","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097166","url":null,"abstract":"This paper develops an Android face recognition application for users on mobile device, and applies it in the face verification system of Samsung Galaxy SII smart phone. The developed face recognition application includes three parts, the face detection using the Viola-Jones face detection program, the feature extraction implemented by the eigenface features, and the face recognition based on the sparse representation of L2 norm minimization. Different to general learning methods, the developed application does not require a tremendous amount of time in data training and can achieve a high recognition rate even higher than 99%, for examples 99.2% for the Sheffield face database, 99.4% for the Cohn-Kanade face database and 96.5% for ORL face database. Finally, the face verification application proposed for the Samsung Galaxy SII smart phone indeed successfully verifies a face just in one second which makes it a real-time application.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133538287","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: 1
Camera gimbal tracking from UAV flight control 来自无人机飞行控制的相机万向节跟踪
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097209
Chin-E. Lin, S. Yang
{"title":"Camera gimbal tracking from UAV flight control","authors":"Chin-E. Lin, S. Yang","doi":"10.1109/CACS.2014.7097209","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097209","url":null,"abstract":"UAV aerial photography is quite useful development for documentation and monitor on ground feature in remote areas. This paper proposes an aerial photography configuration on camera gimbal control in conjunction with UAV autopilot system. In order to properly control remote photography, coordinate conversions for camera from gimbal fixture to UAV frame until the ground coordinate should be fixed to correctly aiming at the target. Supporting from GPS and UAV attitude estimation, the relationship between U AV and tracking target can be used to implement a reliable autopilot flight control for target aiming and photography.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"100 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133935785","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
Cloud computing based localization for mobile robot systems 基于云计算的移动机器人系统定位
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097194
Chung-Ying Li, C. Hsu, Wei-Yen Wang, Yi-Hsing Chien, I. Li
{"title":"Cloud computing based localization for mobile robot systems","authors":"Chung-Ying Li, C. Hsu, Wei-Yen Wang, Yi-Hsing Chien, I. Li","doi":"10.1109/CACS.2014.7097194","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097194","url":null,"abstract":"A robot localization plays an important role in the field of robot navigation. One of the most commonly used localization algorithms is Monte Carlo algorithm. To improve the efficiency of robot localization, many modified algorithms have been proposed, such as Self-Adaptive Monte Carlo algorithm. However, this method requires a lot of storage space and intensive computing, especially in large environments. In recent years, because of the rapid development of cloud computing, the data can be dynamically allocated. Therefore, this paper combines the Self-Adaptive Monte Carlo Localization algorithm with cloud computing. Some experimental results illustrate the proposed architecture, which can quickly establish the map database and provide the shared map information to multiple robots. In addition, the proposed method reduces the computational load and expands the scope of activities.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114026861","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
Hierarchical double integral sliding-mode control for second-order underactuated systems 二阶欠驱动系统的分层二重积分滑模控制
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097183
Syuan-Yi Chen, Sheng-Sian Gong
{"title":"Hierarchical double integral sliding-mode control for second-order underactuated systems","authors":"Syuan-Yi Chen, Sheng-Sian Gong","doi":"10.1109/CACS.2014.7097183","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097183","url":null,"abstract":"This study presents a hierarchical double integral sliding-mode control (HDISMC) system for a class of second-order underactuated systems. First, the second order underactuated system is divided into two subsystems. Then, two levels double integral sliding surfaces are defined in HDISMC to drive the both subsystems toward the desired dynamics with an invariance property to uncertainties. In HDISMC, the control law is derived using Lyapunov theorem to guarantee the closed-loop stability. Moreover, the designed double integral sliding surface reinforces the control law with integral (I) control feature to eliminate the steady-state error more effectively. Finally, control simulation of an inverted pendulum cart system is given to illustrate the validities of the proposed control system using various operating conditions.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132218840","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
Design and verification of the operating procedure of attitude determination and control subsystem of a nanosatellite 某纳米卫星姿态确定与控制分系统操作程序的设计与验证
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097161
Ting-Yang Lin, J. Juang, Louisa Vina
{"title":"Design and verification of the operating procedure of attitude determination and control subsystem of a nanosatellite","authors":"Ting-Yang Lin, J. Juang, Louisa Vina","doi":"10.1109/CACS.2014.7097161","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097161","url":null,"abstract":"This paper discusses the design and verification of the operating procedure of the Attitude Determination and Control Subsystem (ADCS) of PHOENIX nanosatellite. As one of the satellites which joins the QB50 project, the main objective of PHOENIX is to perform in-situ measurements in the lower thermosphere. In order to meet the mission requirements, the attitude control system is required to stabilize the nanosatellite and maintain it to the desired orientation down to 200 km. The design is challenging since three-axis stabilization control is necessary to reorient PHOENIX into the desired attitude. A simulation environment in MATLAB and Simulink including physical models, estimators, and controllers are built to investigate and confirm the designed control procedure. Typically, the ADCS is divided into two parts including attitude determination to estimate the current satellite's attitude, and attitude control to properly adjust the attitude. Attitude sensing using sun sensor, nadir sensor, magnetometer, and MEMS rate sensor together with attitude estimators using Kalman filter are utilized to determine the satellite's attitude and angular velocity. For attitude control, magnetic control and single axis wheel control are applied within the control procedure to achieve the three-axis stabilization. The control procedure employs these filters and control laws to stabilize the satellite, and they are verified by the simulation built in this paper.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"35 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133139118","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: 6
Improved SLAM algorithm using fuzzy filter and curvature data association 基于模糊滤波和曲率数据关联的SLAM改进算法
2014 CACS International Automatic Control Conference (CACS 2014) Pub Date : 2014-04-28 DOI: 10.1109/CACS.2014.7097172
Yan-Jhang Shih, C. Hsu, Wei-Yen Wang, Yin-Tien Wang
{"title":"Improved SLAM algorithm using fuzzy filter and curvature data association","authors":"Yan-Jhang Shih, C. Hsu, Wei-Yen Wang, Yin-Tien Wang","doi":"10.1109/CACS.2014.7097172","DOIUrl":"https://doi.org/10.1109/CACS.2014.7097172","url":null,"abstract":"The issue of simultaneous localization and mapping (SLAM) is an excellent technology. Normally, the current measurements need to be compared with all existing landmarks. However, the accuracy of the estimated location of the robot will decrease because of incorrect data association. To solve these problems, this paper presents a novel architecture for SLAM. The fuzzy filter and curvature data are used to filter current measurement to retain special measurements and avoid wrong landmarks. In addition, triangulation is used to improve the accuracy of the robot's location. The effectiveness of the proposed algorithm is showed by means of simulation results.","PeriodicalId":322035,"journal":{"name":"2014 CACS International Automatic Control Conference (CACS 2014)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-04-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133193151","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: 1
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