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2017 13th IEEE International Conference on Control & Automation (ICCA)最新文献

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Distributed fusion filtering for stochastic uncertain systems subject to correlated noises, random delays and data losses 具有相关噪声、随机延迟和数据丢失的随机不确定系统的分布式融合滤波
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003070
Shaoying Wang, Xuegang Tian, Bo Chen
{"title":"Distributed fusion filtering for stochastic uncertain systems subject to correlated noises, random delays and data losses","authors":"Shaoying Wang, Xuegang Tian, Bo Chen","doi":"10.1109/ICCA.2017.8003070","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003070","url":null,"abstract":"The distributed fusion filtering problem is addressed for stochastic uncertain systems with correlated noises, multi-step transmission delays and packet dropouts. Stochastic uncertainties in the state equation and measurement equation, one-step auto-correlated and cross-correlated noises as well as multi-step delays described by some Bernoulli distributed random variables are simultaneously considered. Utilizing state augmentation approach, the original system is changed into a parameterized one. The optimal local filters are then proposed by means of the innovation analysis method for each subsystem. Meanwhile, the filtering error cross-covariance matrices between any two local filters are derived. On this basis, the distributed fusion filter is designed via matrix-weighted fusion estimation criterion. Finally, the effectiveness of the designed filter is illustrated by a numerical example.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115827188","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
Revisited model-free controller for 3D autonomous navigation of quadrotor: Features analysis in harsh flight conditions 四旋翼飞行器三维自主导航的重访无模型控制器:恶劣飞行条件下的特征分析
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003183
Y. Bouzid, H. Siguerdidjane, Y. Bestaoui
{"title":"Revisited model-free controller for 3D autonomous navigation of quadrotor: Features analysis in harsh flight conditions","authors":"Y. Bouzid, H. Siguerdidjane, Y. Bestaoui","doi":"10.1109/ICCA.2017.8003183","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003183","url":null,"abstract":"The performance in any flight system depends on the feedback control scheme. Therefore, in a first stage, we apply as a basis the so-called Model Free Control (MFC) for the development of nonlinear flight control law that could be implemented without much difficulty. As second step, an in-depth discussion with respect to the control performance is highlighted. Due to the novel form that we propose, we can raise the performance and the robustness level with regards to structured or unstructured uncertainties. Thus, this nonlinear control that we call Revisited-MFC (R-MFC) is compared with other strategies and in particular with the use of the basic MFC. A detailed evaluation in terms of consumed energy, accuracy and robustness by considering several scenarios and using several metrics is presented. The numerical simulations have shown satisfactory results through an application to a small Vertical Take-Off and Landing (VTOL) quadrotor.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"95 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115321964","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
On the emergence of virtual roundabouts from distributed force/torque-based UAV collision avoidance scheme 基于分布式力/力矩的无人机避碰方案中虚拟交叉路口的出现
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003186
Victor Casas, A. Mitschele-Thiel, Mehdi Harounabadi
{"title":"On the emergence of virtual roundabouts from distributed force/torque-based UAV collision avoidance scheme","authors":"Victor Casas, A. Mitschele-Thiel, Mehdi Harounabadi","doi":"10.1109/ICCA.2017.8003186","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003186","url":null,"abstract":"This paper presents a distributed force/torque-based UAV(Unmanned Aerial Vehicle) collision avoidance scheme. This scheme is designed to deal in a distributed way with the problem of collisions among rotor craft UAVs, that are sharing the space and flying to different destinations. The proposed scheme has a modular architecture, so that it can be easily included into UAVs with a waypoint controller, GPS and communication module. The scheme is though to be simple, in order to make it scalable. It uses a combination of force and torque models for avoiding collisions, while keeping a minimum safety distance. The force model helps to keep a minimum distance among UAVs. The torque model is intended for creating virtual roundabouts, when two or more UAVs simultaneously want to fly over an intersection point. The functionality of the proposed scheme is tested by simulation. The evaluation parameters are overall mission time and the minimum distance keeping to others UAVs while avoiding collision. Scalability, the impact of different maximum speeds and the impact of different values of the parameter “avoidance coefficient” are analyzed. We show that the proposed scheme avoids collisions by the emergence of virtual roundabouts. The roundabout size is self-adaptable according to the number of UAVs. Regarding to the minimum distance among UAVs, we show that the scheme behaves similarly when the number of UAVs increases. However, the mission time increases when more UAVs are involved.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"51 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115617569","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: 8
Flight transition control of a multipurpose UAV 多用途无人机的飞行过渡控制
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003112
David Vorsin, S. Arogeti
{"title":"Flight transition control of a multipurpose UAV","authors":"David Vorsin, S. Arogeti","doi":"10.1109/ICCA.2017.8003112","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003112","url":null,"abstract":"This paper describes the design and control approach of a new vertical takeoff and landing (VTOL) unmanned aerial vehicles (UAV), capable of a plane-like horizontal flight. The UAV design includes dynamical modeling, control design and implementation. The main control challenge with this UAV stems from the complicated and unpredicted behavior of the vehicle during flight state transitions. This paper suggests a safe and efficient transition approach, between horizontal and vertical flights, which is demonstrated trough simulations and experiments. Additionally, real flight tests show that the UAV is capable of both stable hovering and efficient horizontal flight.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115724352","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
Research on the automatic calibration of antenna for vehicle telemetry receivers based on solar radiation 基于太阳辐射的车载遥测接收机天线自动标定研究
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003212
Keren Dai, Shuyang Zhao, Qingyu Li, Z. You
{"title":"Research on the automatic calibration of antenna for vehicle telemetry receivers based on solar radiation","authors":"Keren Dai, Shuyang Zhao, Qingyu Li, Z. You","doi":"10.1109/ICCA.2017.8003212","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003212","url":null,"abstract":"The technology of satellite telemetry is widely used nowadays and a robust data-transmission link is needed between the satellites and telemetry stations. Compared to traditional ground telemetry stations, vehicle telemetry receivers are smaller with higher mobility. As a result, it is more suitable for commercial applications, while at the same time, it is difficult to calibrate the pointing errors of antennas with the traditional algorithms. In this paper, an automatic calibration algorithm of antenna pointing error suitable for vehicle telemetry receivers is proposed based on the solar radiation. A fast and accurate calibration of constant pointing errors and antenna axis error parameters needless of external reference devices is carried out. Simulation results show that, after calibration, the constant pointing errors can be limited within 0.01 degrees and the antenna axis pointing error parameters can be limited within 0.1 degrees.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"25 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114697797","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
Model based robust forward transition control for tail-sitter hybrid unmanned aerial vehicles 基于模型的尾坐式混合动力无人机鲁棒前转控制
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003167
Yijie Ke, Kangli Wang, Kehong Gong, Shupeng Lai, Ben M. Chen
{"title":"Model based robust forward transition control for tail-sitter hybrid unmanned aerial vehicles","authors":"Yijie Ke, Kangli Wang, Kehong Gong, Shupeng Lai, Ben M. Chen","doi":"10.1109/ICCA.2017.8003167","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003167","url":null,"abstract":"This paper presents a model based robust control scheme for tail-sitter hybrid Unmanned Aerial Vehicles (UAVs) in forward transition phase. To tackle the problem from high nonlinearity and uncertainties in transition dynamics, a comprehensive model form is constructed, and a so-called Robust Perfect Tracking (RPT) control method is utilized in attitude tracking. Experiment results are given to demonstrate the robustness of proposed technique for our platforms.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"56 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126349248","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
Observability of Boolean control networks with input constraints 具有输入约束的布尔控制网络的可观察性
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003148
Yuqian Guo, Yong Ding
{"title":"Observability of Boolean control networks with input constraints","authors":"Yuqian Guo, Yong Ding","doi":"10.1109/ICCA.2017.8003148","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003148","url":null,"abstract":"This paper investigates observability of Boolean control networks (BCNs) with state-dependent input constraints. The observability is defined as distinguishability of initial states by using input sequences satisfying the constraints. A BCN with constraints is interconnected with its duplication in parallel and the observability problem is transfer the problem of set reachability. In addition, the technique of input transformation is applied to transfer the parallel interconnected BCN with constraints into a BCN with free control input. With these techniques, a necessary and sufficient condition for observability of BCNs with constraints is proposed. Example are given to illustrate the proposed method and result.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"30 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125091730","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
Positioning method for robot soccer based on Kalman filter 基于卡尔曼滤波的机器人足球定位方法
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003179
Jiaqi Li, Jin Xiao, Shaochen Xu
{"title":"Positioning method for robot soccer based on Kalman filter","authors":"Jiaqi Li, Jin Xiao, Shaochen Xu","doi":"10.1109/ICCA.2017.8003179","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003179","url":null,"abstract":"This paper mainly discusses the method of positioning the ball in soccer robot competition. By analyzing the movement of the ball in relation to the robot goalkeeper, which could be divided into two major types, a positioning method for robot soccer based on Kalman filter is proposed. In the paper, the feasibility of this method is analyzed and its effectiveness is proved by experiments. The positioning method based on Kalman filter could make it more accurate to determine the location of the ball and it is beneficial for the robots to make correct decisions.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121776475","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
Wavelet based filtering of mobile object fractional trajectory parameters 基于小波变换的移动目标分数阶轨迹参数滤波
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003045
O. S. Amosov, S. G. Baena
{"title":"Wavelet based filtering of mobile object fractional trajectory parameters","authors":"O. S. Amosov, S. G. Baena","doi":"10.1109/ICCA.2017.8003045","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003045","url":null,"abstract":"Modeling and filtering of a mobile object stochastic trajectory on the basis of fractal Wiener process taking into account the Hurst indicator are offered. For numerical realization of this processes the wavelet based decomposition is used. The peculiarities of trajectory parameters estimation by using Kalman filter and the wavelet algorithm are investigated. The illustrating examples are given.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"154 11 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131362368","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: 8
Machine learning for large scale manufacturing data with limited information 有限信息下大规模制造数据的机器学习
2017 13th IEEE International Conference on Control & Automation (ICCA) Pub Date : 2017-07-01 DOI: 10.1109/ICCA.2017.8003037
S. Nedelkoski, G. Stojanovski
{"title":"Machine learning for large scale manufacturing data with limited information","authors":"S. Nedelkoski, G. Stojanovski","doi":"10.1109/ICCA.2017.8003037","DOIUrl":"https://doi.org/10.1109/ICCA.2017.8003037","url":null,"abstract":"Improving the efficiency of the production plants has always been focus of manufacturing industry. Recently the utilization of data analytics tool is dramatically increased since these methods bring new insights into already existing data. Nevertheless, manufacturing industry in general is still reluctant to make the data available to researcher due to privacy issues. One such example is the challenge sponsored by Bosch and run by kaggle.com, where anonymized data was made available to data scientist with very limited description. In this work, we present our solution to the Bosch assembly line performance challenge, specifically in respect to dealing with raw big data without detailed explanation. The data science methods applied were used to successfully predict internal failures along the assembly lines, although no details of the structure and line description was available.","PeriodicalId":379025,"journal":{"name":"2017 13th IEEE International Conference on Control & Automation (ICCA)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2017-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133912591","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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