2009 17th Mediterranean Conference on Control and Automation最新文献_第5页

Performance of Model-Based Networked Control Systems with discrete-time plants 具有离散时间对象的基于模型的网络控制系统的性能

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164613

T. Estrada, P. Antsaklis

引用次数: 19

Trajectory control of unmanned aerial vehicle using neural nets with a stable learning algorithm 基于稳定学习算法的神经网络无人机轨迹控制

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164656

A. Topalov, N. Shakev, Severina Nikolova, D. Seyzinski, O. Kaynak

{"title":"Trajectory control of unmanned aerial vehicle using neural nets with a stable learning algorithm","authors":"A. Topalov, N. Shakev, Severina Nikolova, D. Seyzinski, O. Kaynak","doi":"10.1109/MED.2009.5164656","DOIUrl":"https://doi.org/10.1109/MED.2009.5164656","url":null,"abstract":"A neuro-adaptive trajectory control approach for unmanned aerial vehicles is proposed. The aerial robot's altitude and latitude-longitude is controlled by three neuro-adaptive controllers that are used to track the desired altitude, airspeed and roll angle of the vehicle. Each intelligent control module consists of a conventional and a neural network feedback controller. The former is provided both to guarantee global asymptotic stability in compact space and as an inverse reference model of the response of the controlled system. Its output is used as an error signal by a stable on-line learning algorithm to update the parameters of the neurocontroller. In this way the latter is able to eliminate gradually the conventional controller from the control of the system. The proposed learning algorithm makes direct use of the variable structure systems theory and establishes a sliding motion in term of the neurocontroller parameters, leading the learning error toward zero. The performance of the proposed trajectory control scheme is evaluated with time based diagrams under MATLAB's standard configuration and the Aeronautical Simulation Block Set.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"1 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131394845","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

Integration of the Stability Overlay (SO) with the Robust Multiple-Model Adaptive Control (RMMAC) 稳定性覆盖与鲁棒多模型自适应控制的集成

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164543

P. Rosa, J. Shamma, C. Silvestre, M. Athans

引用次数: 2

Discrete-time decentralized neural backstepping controller for a five DOF robot manipulator 五自由度机器人的离散时间分散神经反步控制器

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164600

R. García-Hernández, E. Sánchez, M. Saad, E. Bayro-Corrochano

引用次数: 0

Feature extraction based on a fuzzy complementary criterion for gait recognition using GRF signals 基于模糊互补准则的GRF信号步态识别特征提取

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164752

S. Moustakidis, J. Theocharis, G. Giakas

引用次数: 14

Characterization and modeling of a 3D scanner for mobile robot navigation 用于移动机器人导航的三维扫描仪的特性和建模

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164518

S. Koceski, N. Koceska, P. B. Zobel, F. Durante

引用次数: 8

Advanced methods for modeling of monitoring functions in hierarchical systems 分层系统中监测功能建模的先进方法

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164695

E. Minca, Florin Dragomir, O. Dragomir, I. Istudor

引用次数: 6

Integrated identification modeling of rotorcraft-based unmanned aerial vehicle 基于旋翼机的无人机集成识别建模

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164659

A. Budiyono, K. Yoon, F. Daniel

{"title":"Integrated identification modeling of rotorcraft-based unmanned aerial vehicle","authors":"A. Budiyono, K. Yoon, F. Daniel","doi":"10.1109/MED.2009.5164659","DOIUrl":"https://doi.org/10.1109/MED.2009.5164659","url":null,"abstract":"Developing an autonomous rotorcraft-based unmanned aerial vehicle presents higher level and difficult challenges than most of the robots in general. A miniature rotorcraft, with four control inputs and six degrees of freedom, has an inherently multivariable behavior that exhibits coupling effects among the different axes of motion. The dynamics of this type of aerial vehicle is characterized by instability, high-order and sensitivity to disturbance. For rotorcraft to function as a stable mobile platform in changing flight conditions, therefore, its dynamics must be understood and modeled as the basis for controlling such a vehicle. The paper presents a development of linear model of a small scale helicopter using multi input multi output time domain identification system. The results from first principle approach are used as initial condition in the Prediction Error Minimization scheme to achieve convergence. It is demonstrated that the proposed technique can enhance the accuracy of dynamics model obtained from the first principle prediction. Using the technique, the establishment of global helicopter linear model can be achieved for a practical design of linear control laws.","PeriodicalId":422386,"journal":{"name":"2009 17th Mediterranean Conference on Control and Automation","volume":"2012 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2009-06-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133496464","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: 16

Discrete time minimax tracking control with state and disturbance estimation II: Time-varying reference and disturbance signals 状态和干扰估计的离散时间极大极小跟踪控制II:时变参考和干扰信号

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164589

P. Bauer, B. Kulcsár, J. Bokor

引用次数: 4

Multiple faults diagnosability of Hybrid Systems 混合动力系统的多故障可诊断性

2009 17th Mediterranean Conference on Control and Automation Pub Date : 2009-06-24 DOI: 10.1109/MED.2009.5164568

G. Fourlas

引用次数: 6