Search

In this paper, we presents a systematic approach to the vision based ground object tracking problem of a low cost AR.Drone quadrotor, using Hybrid Terminal Sliding Mode Controller (HTSM), based on nonsingular terminal sliding mode (NTSM) and higher order sliding mode (HOSM). In this approach, NTSM manifold is used to provide fast convergence and better tracking precision while HOSM control law is utilized to eliminate chattering phenomenon. The Experimental results demonstrate that the proposed HTSM approach outperforms conventional PD and sliding mode tracking controllers in terms of response speed, tracking precision and robustness. [ABSTRACT FROM PUBLISHER]

In this paper, the oscillation behaviors of terminal sliding mode control systems due to Euler discretization are studied. Periodic orbits are observed. Necessary and sufficient conditions for the existence of periodic orbits with a specific period are given. Simulations are presented to verify the theoretical results. [ABSTRACT FROM PUBLISHER]

A decentralized cooperative control strategy engaging offline and online computations for constrained multi-agent vehicle systems is presented in this paper. Intermittent data dropouts may incur concurrently to all vehicle agents in this formulation. Demands on communication links and online data are limited with a perturbed state-feedback strategy, which consists of a static cooperative-state feedback and an online-optimizing perturbation. The former compensates for the interagent communication-coupled dynamics. The latter attends to constraints and data losses, adopting only decoupled objective functions. The state feedback gain is determined in accordance with the interconnection topology of the formation, which is described by a directed graph in this paper. The ADC - asymptotically dissipative constraint, is employed in the overriding control strategy of stabilizing agents such that the inter-operability between remote manoeuvres and local autonomous commands becomes practically realizable. The equilibrium-independent supply rate and storage function are used in the stabilizability condition in this development for the final-state tracking of the cooperative formation problem. [ABSTRACT FROM PUBLISHER]

This paper presents the identification of a gas furnace process using the so called wavelet based State Dependent Parameter (WSDP) models. Here, each of the process' dominant dynamics are characterized by a state dependent parameter in form of wavelet which is able to provide valuable insight, and effective means to measure the system's degree of nonlinearity. To illustrate the advantages of the proposed modeling approach, the identified model is benchmarked with a few welknown reported results, i.e. fuzzy logic, generalised kernel and linear ARX models. [ABSTRACT FROM PUBLISHER]

Recent advancement and dominance of Android devices in smart phone market makes them promising candidates for a number of industrial applications. This paper describes the development of a Android based platform for remote manufacturing monitoring and control, with an example of a CNC machine via wireless network. Here, such a device accesses the CNC machine in a server-client approach which combines SOAP web service, socket programming and TCP/IPv4 protocols. [ABSTRACT FROM PUBLISHER]

Spam filtering is seen as the considerable concern to the researchers, and there are some techniques and email filtering systems are implemented. They are, however, not so effective for Vietnamese language. Although methods for filtering English spam email can be still used in Vietnamese language, but Vietnamese has its own particular characteristic. The biggest difference is a signified word in Vietnamese usually a compound. When a compound used in spam email is separated into single words, it becomes words that are usually used in both spam and ham emails. This leads to the difficulty for the system to filter spam emails. The objective of this paper is to present a new model using the application of Naïve Bayesian algorithms to analyze the segmentation of Vietnamese language. The process of demonstration and evaluation of this model shows the feasibility of this technique in filtering Vietnamese email. [ABSTRACT FROM PUBLISHER]

The development of a Hardware-in-the-Loop (HiL) simulation platform for precision induction motor (IM) servo drive development, evaluation and testing of various control architectures is described in this paper. The platform uses industrial graded hardware components, i.e. Mitsubishi IGBT inverter, 3-phase induction motor and incremental optical encoder as well as various measurement sensors. Its main computational core is implemented using an xPC Target platform which enables rapid validation, prototyping and deployment of various control algorithms via Matlab & Simulink. [ABSTRACT FROM PUBLISHER]

Hardware-in-the-Loop (HiL) has been a proven technique, widely used in the development and testing of realtime embedded systems, especially in the automotive industry. This paper describes the development of a HiL simulation platform for motion control systems, demonstrated with an example of Permanent Magnet Synchronous Motor (PMSM) control system development and testing. The platform uses industry graded hardware, i.e. Mitsubishi IGBT driver, high performance SEM PMSM motor, etc. as well as various measurement sensors and associated electronics. Here, the platform main computational core is implemented using xPC Target platform which enables rapid validation, prototyping and deployment of tested control modules via Matlab and Simulink. [ABSTRACT FROM PUBLISHER]

Variation of relevant mechanical parameters (i.e. moment of inertia, viscous coefficient) highly influences the performance of servo motor drive systems as it affects the motor's mechanical dynamics. This paper, on one hand, reviews relevant approaches to the estimation of such parameters of motion control systems, identifying their strengths and weaknesses. On the other hand, an efficient alternative to such an estimation problem is presented. This approach is relatively simple, thus computationally advantageous to implement, yet very robust to external disturbances such as measurement noise, mechanical resonance within the drive system. [ABSTRACT FROM PUBLISHER]