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Longitudinal control law design for fixed-wing UAV based on multi-model technique 基于多模型技术的固定翼无人机纵向控制律设计
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010312
Desheng Kong, Qingbo Geng, Qiong Hu, Jianbo Shao
{"title":"Longitudinal control law design for fixed-wing UAV based on multi-model technique","authors":"Desheng Kong, Qingbo Geng, Qiong Hu, Jianbo Shao","doi":"10.1109/ICICIP.2014.7010312","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010312","url":null,"abstract":"Multi-model technique is studied and adopted for the control design for longitudinal dynamics of fixed-wing unmanned aerial vehicle (UAV) in the paper. A linear model set is built up at a number of operating points which are characterized by the different values of flight velocity and altitude, since the aerodynamics is greatly influenced by the two flight states, and a corresponding controller set for the linearized models is constructed, including discrete-time linear quadratic regulator (DLQR) as the inner loop controller for the velocity and pitch angle control and a PID controller for the altitude tracking and keeping. The switching strategy within the multi-model control scheme is put forward according to the square root of velocity and altitude. Finally, the simulation validates the efficiency of the proposed method, with the F-16 model as the controlled plant.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"21 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126621088","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
Research on control strategies for the stabilization of quadrotor UAV 四旋翼无人机稳定控制策略研究
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010265
Kaabche Issam, Geng Qing-bo
{"title":"Research on control strategies for the stabilization of quadrotor UAV","authors":"Kaabche Issam, Geng Qing-bo","doi":"10.1109/ICICIP.2014.7010265","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010265","url":null,"abstract":"Recently, quadrotors have drawn the attention of many researchers, which is due principally to the broad range of military and civilian purposes [1]. In this paper, three kinds of control strategies (PID, Sliding mode and Backstepping) are adopted to address the control problem of the quadrotor. Firstly, the mathematical model of the quadrotor is presented, and then the classical approach PID is directly applied. Secondly, due to the under-actuated property of the quadrotor, the Sliding mode and Backstepping controller can make the quadrotor track the reference signals of the positions and the yaw angle, and meanwhile guarantee the stability of the pitching and rolling motions. Finally, the simulation using Matlab-Simulink is carried out and the results show that the three proposed techniques can achieve a good performance.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"30 8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"132612865","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
Vehicle suspension vibration control using recurrent neural networks 基于递归神经网络的汽车悬架振动控制
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010293
H. Guan, Xinyi Le, Jun Wang
{"title":"Vehicle suspension vibration control using recurrent neural networks","authors":"H. Guan, Xinyi Le, Jun Wang","doi":"10.1109/ICICIP.2014.7010293","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010293","url":null,"abstract":"This paper presents an application of vibration control to a half-car model using recurrent neural networks. The robust vibration control is formulated as equality constrained optimization problem. Simulation results show that the close-loop system has good response performance in the presence of disturbances generated by an isolated bump. The study shows potential in using neural networks for the active vibration control in precision machine design.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"87 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114922574","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
Pseudoinverse-based jerk-level solutions of D3Z0, D2Z1, D1Z2 and D0Z3 types to redundant manipulator's inverse kinematics 基于伪逆的D3Z0、D2Z1、D1Z2和D0Z3型冗余机械手逆运动学解
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010328
Hongzhou Tan, Jiawei Luo, Xiaotian Yu, Dongsheng Guo, Yunong Zhang
{"title":"Pseudoinverse-based jerk-level solutions of D3Z0, D2Z1, D1Z2 and D0Z3 types to redundant manipulator's inverse kinematics","authors":"Hongzhou Tan, Jiawei Luo, Xiaotian Yu, Dongsheng Guo, Yunong Zhang","doi":"10.1109/ICICIP.2014.7010328","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010328","url":null,"abstract":"The pseudoinverse-based method, as a conventional method, is generally used in the motion planning and control of velocity and/or acceleration level(s) to solve the complicated inverse-kinematics (IK) problem. In this paper, we firstly propose a simple pseudoinverse-based solution at the jerk level to solve the IK problem by using direct derivative dynamics (DDD or D3 for short) thrice and without using Zhang dynamics (ZD), which is thus termed D3Z0 type. Note that, though the D3Z0 solution is simple, it has some inherent weaknesses, such as low control precision and lack of necessary feedbacks. Therefore, as an important branch of dynamics methods, ZD is adopted to solve the above weaknesses. According to the number of times of using ZD, three enhanced solutions termed D2Z1, D1Z2 and D0Z3 types are then proposed and investigated. Specifically, D2Z1 means that we use 3D twice and ZD once to construct the solution, and D1Z2 and D0Z3 can be obtained and defined similarly. Moreover, feedbacks of position, velocity and acceleration levels can be partially or fully incorporated into the D2Z1, D1Z2 and D0Z3 solutions. Meanwhile, based on D3Z0, D2Z1, D1Z2 and D0Z3 solutions, a relatively complete framework of DZ-type solutions is thus proposed for solving the IK problem at the jerk level. Finally, simulation results performed on a five-link redundant manipulator substantiate the effectiveness and superiority of the DZ-type solutions for manipulator motion planning and control, which further show both smooth and efficient tracking performance, especially for solving the jerk-level IK redundancy of manipulators.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"55 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"134439852","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
Adaptive fuzzy control for synchronization of second-order nonlinear systems with prescribed performance 具有规定性能的二阶非线性系统的自适应模糊同步控制
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010269
Wei Wang, Dan Wang, Zhouhua Peng
{"title":"Adaptive fuzzy control for synchronization of second-order nonlinear systems with prescribed performance","authors":"Wei Wang, Dan Wang, Zhouhua Peng","doi":"10.1109/ICICIP.2014.7010269","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010269","url":null,"abstract":"In this paper, an adaptive fuzzy control scheme is presented for synchronization of second-order nonlinear systems with prescribed transient and steady synchronization error bounds. Fuzzy logical systems (FLSs) are employed to approximate the unknown nonlinear functions. By using dynamic surface control (DSC) and prescribed performance control techniques, distributed adaptive fuzzy controllers are developed to guarantee that the outputs of all followers synchronize to that of the leader under directed graphs. Based on Lyapunov stability theory, it is proved that all signals in the closed-loop systems are semiglobally uniformly ultimately bounded (SUUB), and the synchronization errors remain in a neighborhood of the origin with the prescribed bounds. Simulation results are presented to show the validity of the proposed approach.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"182 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114065448","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
Obstacle and singularity avoidance for kinematically redundant manipulators based on neurodynamic optimization 基于神经动力学优化的运动冗余机械臂避障与避奇
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010299
Panpan Zhang, Zheng Yan, Jun Wang
{"title":"Obstacle and singularity avoidance for kinematically redundant manipulators based on neurodynamic optimization","authors":"Panpan Zhang, Zheng Yan, Jun Wang","doi":"10.1109/ICICIP.2014.7010299","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010299","url":null,"abstract":"With wide applications of kinematically redundant manipulators in robotics, obstacle and singularity avoidance emerge as critical issues to be addressed. Correspondingly, three problems have to be considered, including the determination of critical points on a given manipulator, the computation of joint velocities using inverse kinematics, and the analysis of singularity caused by configurations of manipulators. In this paper, these tasks are formulated as a convex quadratic programming (QP) subject to equality and inequality constraints with time-varying parameters where physical constraints such as joint physical limits are also incorporated directly into the formulation. To solve the QP problem in real time, a recurrent neural network called the improved dual neural network is applied, which has lower structural complexity compared with existing neural networks for solving this particular problem. The effectiveness of the proposed approaches is demonstrated by simulation results based on the Mitsubishi PA10-7C manipulator.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"110 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122514136","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
Exponential stability of interval Cohen-Grossberg neural networks with inverse Lipschitz activation and mixed delays 具有逆Lipschitz激活和混合时滞的区间Cohen-Grossberg神经网络的指数稳定性
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010313
Sitian Qin, Xin Shi, Guofang Chen, Jing-Xue Xu
{"title":"Exponential stability of interval Cohen-Grossberg neural networks with inverse Lipschitz activation and mixed delays","authors":"Sitian Qin, Xin Shi, Guofang Chen, Jing-Xue Xu","doi":"10.1109/ICICIP.2014.7010313","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010313","url":null,"abstract":"The exponential convergence of interval Cohen-Grossberg neural network is studied in this paper. The neural network considered in this paper has the inverse-Lipschitz continuous activation and mixed delays. Based on homomorphic method and Lyapunov stability theorem, the existence, uniqueness and exponential stability of the equilibrium point of the interval Cohen-Grossberg neural network are derived. Some comparisons and numerical examples are introduced to show the improvement of the conclusions in this paper.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122827042","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
Nearly optimal control approach to ship course-keeping system with input saturation 输入饱和船舶航向保持系统的近最优控制方法
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010292
Zhenkai Huang, Tie-shan Li
{"title":"Nearly optimal control approach to ship course-keeping system with input saturation","authors":"Zhenkai Huang, Tie-shan Li","doi":"10.1109/ICICIP.2014.7010292","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010292","url":null,"abstract":"In this paper, an optimal control method is applied to a second-order nonlinear ship course-keeping system with input saturation. By using a nonquadratic functional as performance index the constrained control input is formulated. Neural network (NN) is employed to approximate the cost function associated with each LE. The quality of operation of the designed control algorithm is checked in simulation tests by taking a ship as an example. In order to obtain reference results for comparison, another control algorithm using the backstepping method is examined as well. The results verified the effectiveness of the nearly optimal control law with less consumption of energy.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"47 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117039597","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
Validation of WASD neuronet fitting method applied to Asian population projection: 9 years within 1.9% error in average WASD神经网络拟合方法在亚洲人口预测中的应用验证:9年平均误差1.9%
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010288
Yunong Zhang, Ziyi Luo, Dongsheng Guo, Keke Zhai, Hongzhou Tan
{"title":"Validation of WASD neuronet fitting method applied to Asian population projection: 9 years within 1.9% error in average","authors":"Yunong Zhang, Ziyi Luo, Dongsheng Guo, Keke Zhai, Hongzhou Tan","doi":"10.1109/ICICIP.2014.7010288","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010288","url":null,"abstract":"Data fitting as well as projection plays an important part in information processing. As the computing power improves, fitting methods such as the WASD (weights-and-structure-determination) neuronet become more operable. Though the WASD neuronet has been applied to different issues, its application on fitting data needs to be recognized more widely. Therefore, this paper is committed to introduce the WASD-neuronet model for data fitting and further to explore its capability of data projection (or say, prediction). In order to improve the projection performance and extend its application, we introduce the learning-checking method and the concept of global minimum point (GMP). By applying such a model to Asian population projection, the great performance is thus substantiated. With 12 experiments validating the predicting performance and a final projection based on historical data, we present a reasonable population tendency in the following 9 years (i.e., the Asian population keeps growing with a steady growth rate).","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"45 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123463903","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
An 8-bit 20 MS/s successive approximation register analog-to-digital converter for wireless intelligent control and information processing 用于无线智能控制和信息处理的8位20 MS/s逐次逼近寄存器模数转换器
Fifth International Conference on Intelligent Control and Information Processing Pub Date : 2014-08-01 DOI: 10.1109/ICICIP.2014.7010324
W. Lai, Jhin-Fang Huang, Cheng-Gu Hsieh
{"title":"An 8-bit 20 MS/s successive approximation register analog-to-digital converter for wireless intelligent control and information processing","authors":"W. Lai, Jhin-Fang Huang, Cheng-Gu Hsieh","doi":"10.1109/ICICIP.2014.7010324","DOIUrl":"https://doi.org/10.1109/ICICIP.2014.7010324","url":null,"abstract":"In this paper, a 1.8-V 10-bit 20MS/s successive approximation register (SAR) analog-to-digital converter (ADC) implemented in TSMC 0.18-um CMOS process is presented for wireless intelligent control and information processing. By applying low input capacitance that reduces driving difficulty of the ADC, the proposed SAR ADC achieves less sampling time. Also, asynchronous control logic is used which doesn't need an external high frequency clock to drive ADC. Measured results show that at the supply voltage of 1.8 V and sampling rate of 20 MS/s, the proposed SAR ADC achieves a spurious-free dynamic range (SFDR) of 55.1 dB, a signal-to-noise and distortion ratio (SNDR) of 44.5 dB, an effective number of bits (ENOB) of 7.1 bits, a differential nonlinearity (DNL) of 0.81 LSB, an integral nonlinearity (INL) of 1.24 LSB and a power consumption of 588 μΥ. The overall chip area is only 0.53 mm2 with a small ADC core area of 0.73 mm2.","PeriodicalId":408041,"journal":{"name":"Fifth International Conference on Intelligent Control and Information Processing","volume":"27 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122452640","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
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