Lyapunov based nonlinear control of electrical and mechanical systems
Behal, Aman
fusing a filtered tracking error transformation with the dynamic oscillator design presented in [20]. The proposed tracking controller yields a GUUB result for the regulation problem also. In the final chapter, a nonlinear controller is designed for the kinematic model of an underactuated rigid spacecraft that ensures uniform, ultimately bounded (UUB) tracking provided the initial errors are selected sufficiently small. The result is achieved via a judicious formulation of the spacecraft kinematics and the novel design of a Lyapunov-based controller. It is also demonstrated how standard backstepping control techniques can be fused with the kinematic controller to solve the full-order regulation problem for an axisymmetric spacecraft. Simulation results are included to demonstrate the efficacy of the proposed algorithm. 1It is to be noted that the controller presented in [16] was originally designed to obtain exponential rotor position /rotor flux tracking for the full-order induction motor model (i.e., stator current dynamics are included).
Eleiwi, Fadi
2015-07-01
This paper presents a nonlinear Lyapunov-based boundary control for the temperature difference of a membrane distillation boundary layers. The heat transfer mechanisms inside the process are modeled with a 2D advection-diffusion equation. The model is semi-descretized in space, and a nonlinear state-space representation is provided. The control is designed to force the temperature difference along the membrane sides to track a desired reference asymptotically, and hence a desired flux would be generated. Certain constraints are put on the control law inputs to be within an economic range of energy supplies. The effect of the controller gain is discussed. Simulations with real process parameters for the model, and the controller are provided. © 2015 American Automatic Control Council.
Passivity/Lyapunov based controller design for trajectory tracking of flexible joint manipulators
Sicard, Pierre; Wen, John T.; Lanari, Leonardo
1992-01-01
A passivity and Lyapunov based approach for the control design for the trajectory tracking problem of flexible joint robots is presented. The basic structure of the proposed controller is the sum of a model-based feedforward and a model-independent feedback. Feedforward selection and solution is analyzed for a general model for flexible joints, and for more specific and practical model structures. Passivity theory is used to design a motor state-based controller in order to input-output stabilize the error system formed by the feedforward. Observability conditions for asymptotic stability are stated and verified. In order to accommodate for modeling uncertainties and to allow for the implementation of a simplified feedforward compensation, the stability of the system is analyzed in presence of approximations in the feedforward by using a Lyapunov based robustness analysis. It is shown that under certain conditions, e.g., the desired trajectory is varying slowly enough, stability is maintained for various approximations of a canonical feedforward.
A unifying Lyapunov-based framework for the event-triggered control of nonlinear systems
Postoyan, Romain; Nesic, Dragan; Tabuada, Paulo
2011-01-01
We present a prescriptive framework for the event-triggered control of nonlinear systems. Rather than closing the loop periodically, as traditionally done in digital control, in event-triggered implementations the loop is closed according to a state-dependent criterion. Event-triggered control is especially well suited for embedded systems and networked control systems since it reduces the amount of resources needed for control such as communication bandwidth. By modeling the event-triggered implementations as hybrid systems, we provide Lyapunov-based conditions to guarantee the stability of the resulting closed-loop system and explain how they can be utilized to synthesize event-triggering rules. We illustrate the generality of the approach by showing how it encompasses several existing event-triggering policies and by developing new strategies which further reduce the resources needed for control.
Nonlinear control for systems containing input uncertainty via a Lyapunov-based approach
Mackunis, William
Controllers are often designed based on the assumption that a control actuation can be directly applied to the system. This assumption may not be valid, however, for systems containing parametric input uncertainty or unmodeled actuator dynamics. In this dissertation, a tracking control methodology is proposed for aircaft and aerospace systems for which the corresponding dynamic models contain uncertainty in the control actuation. The dissertation will focus on five problems of interest: (1) adaptive CMG-actuated satellite attitude control in the presence of inertia uncertainty and uncertain CMG gimbal friction; (2) adaptive neural network (NN)-based satellite attitude control for CMG-actuated small-sats in the presence of uncertain satellite inertia, nonlinear disturbance torques, uncertain CMG gimbal friction, and nonlinear electromechanical CMG actuator disturbances; (3) dynamic inversion (DI) control for aircraft systems containing parametric input uncertainty and additive, nonlinearly parameterizable (non-LP) disturbances; (4) adaptive dynamic inversion (ADI) control for aircraft systems as described in (3); and (5) adaptive output feedback control for aircraft systems as described in (3) and (4).
Simon, J. S.; Valavani, L.
1991-01-01
The use of a closed-loop control to allow surge-free operation of a compression system beyond its uncontrolled surge line is addressed. In contrast to previous analyses which used a linearized model, the approach described directly addresses the nonlinear nature of the compressor characteristic using a Liapunov-based control law design formulation. The proposed approach is fairly generic and should be of interest for gas turbine engines as well as other applications.
Simon, J. S.; Valavani, L.
1991-01-01
The use of a closed-loop control to allow surge-free operation of a compression system beyond its uncontrolled surge line is addressed. In contrast to previous analyses which used a linearized model, the approach described directly addresses the nonlinear nature of the compressor characteristic using a Liapunov-based control law design formulation. The proposed approach is fairly generic and should be of interest for gas turbine engines as well as other applications.
Cooperative tracking control of nonlinear multiagent systems using self-structuring neural networks.
Chen, Gang; Song, Yong-Duan
2014-08-01
This paper considers a cooperative tracking problem for a group of nonlinear multiagent systems under a directed graph that characterizes the interaction between the leader and the followers. All the networked systems can have different dynamics and all the dynamics are unknown. A neural network (NN) with flexible structure is used to approximate the unknown dynamics at each node. Considering that the leader is a neighbor of only a subset of the followers and the followers have only local interactions, we introduce a cooperative dynamic observer at each node to overcome the deficiency of the traditional tracking control strategies. An observer-based cooperative controller design framework is proposed with the aid of graph tools, Lyapunov-based design method, self-structuring NN, and separation principle. It is proved that each agent can follow the active leader only if the communication graph contains a spanning tree. Simulation results on networked robots are provided to show the effectiveness of the proposed control algorithms.
Direct Lyapunov-based control law design for spacecraft attitude maneuvers
HU Likun; ANG Qingchao
2006-01-01
A direct Lyapunov-based control law is presented to perform on-orbit stability for spacecraft attitude maneuvers. Spacecraft attitude kinematic equations and dynamic equations are coupled, nonlinear, multi-input multi-output(MIMO), which baffles controller design. Orbit angular rates are taken into account in kinematic equations and influence of gravity gradient moments and disturbance moments on the spacecraft attitude in dynamic equations is considered to approach the practical environment, which enhance the problem complexity to some extent. Based on attitude tracking errors and angular rates, a Lyapunov function is constructed, through which the stabilizing feedback control law is deduced via Lie derivation of the Lyapunov function. The proposed method can deal with the case that the spacecraft is subjected to mass property variations or centroidal inertia matrix variations due to fuel assumption or flexibility, and disturbance moments, which shows the proposed controller is robust for spacecraft attitude maneuvers. The unlimited controller and the limited controller are taken into account respectively in simulations. Simulation results are demonstrated to validate effectiveness and feasibility of the proposed method.
Lyapunov-based Low-thrust Optimal Orbit Transfer: An approach in Cartesian coordinates
Zhang, Hantian; Cao, Qingjie
2014-01-01
This paper presents a simple approach to low-thrust optimal-fuel and optimal-time transfer problems between two elliptic orbits using the Cartesian coordinates system. In this case, an orbit is described by its specific angular momentum and Laplace vectors with a free injection point. Trajectory optimization with the pseudospectral method and nonlinear programming are supported by the initial guess generated from the Chang-Chichka-Marsden Lyapunov-based transfer controller. This approach successfully solves several low-thrust optimal problems. Numerical results show that the Lyapunov-based initial guess overcomes the difficulty in optimization caused by the strong oscillation of variables in the Cartesian coordinates system. Furthermore, a comparison of the results shows that obtaining the optimal transfer solution through the polynomial approximation by utilizing Cartesian coordinates is easier than using orbital elements, which normally produce strongly nonlinear equations of motion. In this paper, the Eart...
Tracking Control for Switched Cascade Nonlinear Systems
Xiaoxiao Dong
2015-01-01
Full Text Available The issue of H∞ output tracking for switched cascade nonlinear systems is discussed in this paper, where not all the linear parts of subsystems are stabilizable. The conditions of the solvability for the issue are given by virtue of the structural characteristics of the systems and the average dwell time method, in which the total activation time for stabilizable subsystems is longer than that for the unstabilizable subsystems. At last, a simulation example is used to demonstrate the validity and advantages of the proposed approach.
Constrained tracking control for nonlinear systems.
Khani, Fatemeh; Haeri, Mohammad
2017-09-01
This paper proposes a tracking control strategy for nonlinear systems without needing a prior knowledge of the reference trajectory. The proposed method consists of a set of local controllers with appropriate overlaps in their stability regions and an on-line switching strategy which implements these controllers and uses some augmented intermediate controllers to ensure steering the system states to the desired set points without needing to redesign the controller for each value of set point changes. The proposed approach provides smooth transient responses despite switching among the local controllers. It should be mentioned that the stability regions of the proposed controllers could be estimated off-line for a range of set-point changes. The efficiencies of the proposed algorithm are illustrated via two example simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Consensus tracking for multiagent systems with nonlinear dynamics.
Dong, Runsha
2014-01-01
This paper concerns the problem of consensus tracking for multiagent systems with a dynamical leader. In particular, it proposes the corresponding explicit control laws for multiple first-order nonlinear systems, second-order nonlinear systems, and quite general nonlinear systems based on the leader-follower and the tree shaped network topologies. Several numerical simulations are given to verify the theoretical results.
Tracking controller for robot manipulators via composite nonlinear feedback law
Peng Wendong; Su Jianbo
2009-01-01
A composite nonlinear feedback tracking controller for motion control of robot manipulators is de-scribed. The structure of the controller is composed of a composite nonlinear feedback law plus full robot nonlinear dynamics compensation. The stability is carried out in the presence of friction. The controller takes advantage of varying damping ratios induced by the composite nonlinear feedback control, so the transient performance of the closed-loop is remarkably improved. Simulation results demonstrate the feasibility of the proposed method.
A novel strong tracking finite-difference extended Kalman filter for nonlinear eye tracking
ZHANG ZuTao; ZHANG JiaShu
2009-01-01
Non-Intrusive methods for eye tracking are Important for many applications of vision-based human computer interaction. However, due to the high nonlinearity of eye motion, how to ensure the robust-ness of external interference and accuracy of eye tracking poses the primary obstacle to the integration of eye movements into today's interfaces. In this paper, we present a strong tracking finite-difference extended Kalman filter algorithm, aiming to overcome the difficulty In modeling nonlinear eye tracking. In filtering calculation, strong tracking factor is introduced to modify a priori covariance matrix and im-prove the accuracy of the filter. The filter uses finite-difference method to calculate partial derivatives of nonlinear functions for eye tracking. The latest experimental results show the validity of our method for eye tracking under realistic conditions.
A Lyapunov-based three-axis attitude intelligent control approach for unmanned aerial vehicle
A.H. Mazinan
2015-01-01
A novel Lyapunov-based three-axis attitude intelligent control approach via allocation scheme is considered in the proposed research to deal with kinematics and dynamics regarding the unmanned aerial vehicle systems. There is a consensus among experts of this field that the new outcomes in the present complicated systems modeling and control are highly appreciated with respect to state-of-the-art. The control scheme presented here is organized in line with a new integration of the linear-nonlinear control approaches, as long as the angular velocities in the three axes of the system are accurately dealt with in the inner closed loop control. And the corresponding rotation angles are dealt with in the outer closed loop control. It should be noted that the linear control in the present outer loop is first designed through proportional based linear quadratic regulator (PD based LQR) approach under optimum coefficients, while the nonlinear control in the corresponding inner loop is then realized through Lyapunov-based approach in the presence of uncertainties and disturbances. In order to complete the inner closed loop control, there is a pulse-width pulse-frequency (PWPF) modulator to be able to handle on-off thrusters. Furthermore, the number of these on-off thrusters may be increased with respect to the investigated control efforts to provide the overall accurate performance of the system, where the control allocation scheme is realized in the proposed strategy. It may be shown that the dynamics and kinematics of the unmanned aerial vehicle systems have to be investigated through the quaternion matrix and its corresponding vector to avoid presenting singularity of the results. At the end, the investigated outcomes are presented in comparison with a number of potential benchmarks to verify the approach performance.
Direct heuristic dynamic programming for nonlinear tracking control with filtered tracking error.
Yang, Lei; Si, Jennie; Tsakalis, Konstantinos S; Rodriguez, Armando A
2009-12-01
This paper makes use of the direct heuristic dynamic programming design in a nonlinear tracking control setting with filtered tracking error. A Lyapunov stability approach is used for the stability analysis of the tracking system. It is shown that the closed-loop tracking error and the approximating neural network weight estimates retain the property of uniformly ultimate boundedness under the presence of neural network approximation error and bounded unknown disturbances under certain conditions.
On the Improved Nonlinear Tracking Differentiator based Nonlinear PID Controller Design
Ibraheem Kasim Ibraheem
2016-10-01
Full Text Available This paper presents a new improved nonlinear tracking differentiator (INTD with hyperbolic tangent function in the state-space system. The stability and convergence of the INTD are thoroughly investigated and proved. Through the error analysis, the proposed INTD can extract differentiation of any piecewise smooth nonlinear signal to reach a high accuracy. The improved tracking differentiator (INTD has the required filtering features and can cope with the nonlinearities caused by the noise. Through simulations, the INTD is implemented as a signal’s derivative generator for the closed-loop feedback control system with a nonlinear PID controller for the nonlinear Mass-Spring-Damper system and showed that it could achieve the signal tracking and differentiation faster with a minimum mean square error.
Adaptive practical output tracking of a class of nonlinear systems
Qiangde WANG; Yuanwei JING; Siying ZHANG
2004-01-01
Focus is laid on the adaptive practical output-tracking problem of a class of nonlinear systems with high-order lower-triangular structure and uncontrollable unstable linearization. Using the modified adaptive addition of a power integrator technique as a basic tool, a new smooth adaptive state feedback controller is designed. This controller can ensure all signals of the closed-loop systems are globally bounded and output tracking error is arbitrary small.
A new nonlinear output tracking controller via output-feedback
Yun ZHANG; Yungang LIU; Yuqin DING
2006-01-01
In this paper, the output tracking control is investigated for a class of nonlinear systems when only output is available for feedback. Based on the multivariable analog of circle criterion, an observer is first introduced. Then, the observer-based output tracking controller is constructively designed by using the integral backstepping approach together with completing square. It is shown that, under relatively mild conditions, all the closed-loop signals are uniformly bounded.Meanwhile the system output asymptotically tracks the desired output. A simulation example is given to illustrate the effectiveness of the theoretical results.
Backstepping tracking control for nonlinear time-delay systems
Chen Weisheng; Li Junmin
2006-01-01
Two design approaches of state feedback and output feedback tracking controllers are proposed for a class of strict feedback nonlinear time-delay systems by using backstepping technique. When the states of system cannot be observed, the time-delay state observer is designed to estimate the system states. Domination method is used to deal with nonlinear time-delay function under the assumption that the nonlinear time-delay functions of systems satisfy Lipschitz condition. The global asymptotical tracking of the references signal is achieved and the bound of all signals of the resultant closed-loop system is also guaranteed. By constructing a Lyapunov-Krasoviskii functional, the stability of the closed-loop system is proved. The feasibility of the proposed approach is illustrated by a simulation example.
Nonlinear Principal Component Analysis Using Strong Tracking Filter
无
2007-01-01
The paper analyzes the problem of blind source separation (BSS) based on the nonlinear principal component analysis (NPCA) criterion. An adaptive strong tracking filter (STF) based algorithm was developed, which is immune to system model mismatches. Simulations demonstrate that the algorithm converges quickly and has satisfactory steady-state accuracy. The Kalman filtering algorithm and the recursive leastsquares type algorithm are shown to be special cases of the STF algorithm. Since the forgetting factor is adaptively updated by adjustment of the Kalman gain, the STF scheme provides more powerful tracking capability than the Kalman filtering algorithm and recursive least-squares algorithm.
Tracking control of a flexible beam by nonlinear boundary feedback
Bao-Zhu Guo
1995-01-01
Full Text Available This paper is concerned with tracking control of a dynamic model consisting of a flexible beam rotated by a motor in a horizontal plane at the one end and a tip body rigidly attached at the free end. The well-posedness of the closed loop systems considering the dissipative nonlinear boundary feedback is discussed and the asymptotic stability about difference energy of the hybrid system is also investigated.
Lyapunov-based control designs for flexible-link manipulators
Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn
1989-01-01
A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
Lyapunov-based control designs for flexible-link manipulators
Juang, Jer-Nan; Huang, Jen-Kuang; Yang, Li-Farn
1989-01-01
A feedback controller for the stabilization of closed-loop systems is proposed which is based on the Liapunov stability criterion. A feedback control law is first generated for the linear portion of the system equation using linear control theory. A feedback control is then designed for the nonlinear portion of the system equation by making negative the time derivative of a positive definite Liapunov function.
Transient stability improvement by nonlinear controllers based on tracking
Ramirez, Juan M. [Centro de Investigacion y Estudios Avanzados, Guadalajara, Mexico. Av. Cientifica 1145. Col. El Bajio. Zapopan, Jal. 45015 (Mexico); Arroyave, Felipe Valencia; Correa Gutierrez, Rosa Elvira [Universidad Nacional de Colombia, Sede Medellin. Facultad de Minas, Escuela de Mecatronica (Colombia)
2011-02-15
This paper deals with the control problem in multi-machine electric power systems, which represent complex great scale nonlinear systems. Thus, the controller design is a challenging problem. These systems are subjected to different perturbations, such as short circuits, connection and/or disconnection of loads, lines, or generators. Then, the utilization of controllers which guarantee good performance under those perturbations is required in order to provide electrical energy to the loads with admissible stability margins. The proposed controllers are based on a systematic strategy, which calculate nonlinear controllers for generating units in a power plant, both for voltage and velocity regulation. The formulation allows designing controllers in a multi-machine power system without intricate calculations. Results on a power system of the open research indicate the proposition's suitability. The problem is formulated as a tracking problem. The designed controllers may be implemented in any electric power system. (author)
Modified unscented particle filter for nonlinear Bayesian tracking
无
2008-01-01
A modified unscented particle filtering scheme for nonlinear tracking is proposed,in view of the potential drawbacks (such as,particle impoverishment and numerical sensitivity in calculating the prior) of the conventional unscented particle filter (UPF) confronted in practice.Specifically,a different derivation of the importance weight is presented in detail.The proposed method can avoid the calculation of the prior and reduce the effects of the impoverishment problem caused by sampling from the proposal distribution.Simulations have been performed using two illustrative examples and results have been provided to demonstrate the validity of the modified UPF as well as its improved performance over the conventional one.
Large-Signal Lyapunov-Based Stability Analysis of DC/AC Inverters and Inverter-Based Microgrids
Kabalan, Mahmoud
Microgrid stability studies have been largely based on small-signal linearization techniques. However, the validity and magnitude of the linearization domain is limited to small perturbations. Thus, there is a need to examine microgrids with large-signal nonlinear techniques to fully understand and examine their stability. Large-signal stability analysis can be accomplished by Lyapunov-based mathematical methods. These Lyapunov methods estimate the domain of asymptotic stability of the studied system. A survey of Lyapunov-based large-signal stability studies showed that few large-signal studies have been completed on either individual systems (dc/ac inverters, dc/dc rectifiers, etc.) or microgrids. The research presented in this thesis addresses the large-signal stability of droop-controlled dc/ac inverters and inverter-based microgrids. Dc/ac power electronic inverters allow microgrids to be technically feasible. Thus, as a prelude to examining the stability of microgrids, the research presented in Chapter 3 analyzes the stability of inverters. First, the 13 th order large-signal nonlinear model of a droop-controlled dc/ac inverter connected to an infinite bus is presented. The singular perturbation method is used to decompose the nonlinear model into 11th, 9th, 7th, 5th, 3rd and 1st order models. Each model ignores certain control or structural components of the full order model. The aim of the study is to understand the accuracy and validity of the reduced order models in replicating the performance of the full order nonlinear model. The performance of each model is studied in three different areas: time domain simulations, Lyapunov's indirect method and domain of attraction estimation. The work aims to present the best model to use in each of the three domains of study. Results show that certain reduced order models are capable of accurately reproducing the performance of the full order model while others can be used to gain insights into those three areas of
Nonlinear control of ships minimizing the position tracking errors
Svein P. Berge
1999-07-01
Full Text Available In this paper, a nonlinear tracking controller with integral action for ships is presented. The controller is based on state feedback linearization. Exponential convergence of the vessel-fixed position and velocity errors are proven by using Lyapunov stability theory. Since we only have two control devices, a rudder and a propeller, we choose to control the longship and the sideship position errors to zero while the heading is stabilized indirectly. A Virtual Reference Point (VRP is defined at the bow or ahead of the ship. The VRP is used for tracking control. It is shown that the distance from the center of rotation to the VRP will influence on the stability of the zero dynamics. By selecting the VRP at the bow or even ahead of the bow, the damping in yaw can be increased and the zero dynamics is stabilized. Hence, the heading angle will be less sensitive to wind, currents and waves. The control law is simulated by using a nonlinear model of the Japanese training ship Shiojimaru with excellent results. Wind forces are added to demonstrate the robustness and performance of the integral controller.
Output tracking and regulation of nonlinear system based on Takagi-Sugeno fuzzy model.
Ma, X J; Sun, Z Q
2000-01-01
On the basis of the Takagi-Sugeno (TS) fuzzy model, this paper discusses in detail the following three problems: (1) output tracking of the nonlinear system; (2) output regulation of the nonlinear system via a state feedback; (3) output regulation of the nonlinear system via a error feedback. Numerical simulations are given to illustrate the soundness of these results and the effectiveness of the new methodology solving the output tracking and regulation problem of the nonlinear system.
Lyapunov-Based Control Scheme for Single-Phase Grid-Connected PV Central Inverters
Meza, C.; Biel, D.; Jeltsema, D.; Scherpen, J. M. A.
2012-01-01
A Lyapunov-based control scheme for single-phase single-stage grid-connected photovoltaic central inverters is presented. Besides rendering the closed-loop system globally stable, the designed controller is able to deal with the system uncertainty that depends on the solar irradiance. A laboratory p
Lyapunov-Based Control Scheme for Single-Phase Grid-Connected PV Central Inverters
Meza, C.; Biel, D.; Jeltsema, D.; Scherpen, J. M. A.
2012-01-01
A Lyapunov-based control scheme for single-phase single-stage grid-connected photovoltaic central inverters is presented. Besides rendering the closed-loop system globally stable, the designed controller is able to deal with the system uncertainty that depends on the solar irradiance. A laboratory p
Lyapunov based control of hybrid energy storage system in electric vehicles
El Fadil, H.; Giri, F.; Guerrero, Josep M.
2012-01-01
This paper deals with a Lyapunov based control principle in a hybrid energy storage system for electric vehicle. The storage system consists on fuel cell (FC) as a main power source and a supercapacitor (SC) as an auxiliary power source. The power stage of energy conversion consists on a boost...
NONLINEAR ESTIMATION METHODS FOR AUTONOMOUS TRACKED VEHICLE WITH SLIP
ZHOU Bo; HAN Jianda
2007-01-01
In order to achieve precise, robust autonomous guidance and control of a tracked vehicle, a kinematic model with longitudinal and lateral slip is established. Four different nonlinear filters are used to estimate both state vector and time-varying parameter vector of the created model jointly. The first filter is the well-known extended Kalman filter. The second filter is an unscented version of the Kalman filter. The third one is a particle filter using the unscented Kalman filter to generate the importance proposal distribution. The last one is a novel and guaranteed filter that uses a linear set-membership estimator and can give an ellipsoid set in which the true state lies. The four different approaches have different complexities, behavior and advantages that are surveyed and compared.
Chu, Chia-Chi; Tsai, Hung-Chi; Chang, Wei-Neng
A Lyapunov-based recurrent neural networks unified power flow controller (UPFC) is developed for improving transient stability of power systems. First, a simple UPFC dynamical model, composed of a controllable shunt susceptance on the shunt side and an ideal complex transformer on the series side, is utilized to analyze UPFC dynamical characteristics. Secondly, we study the control configuration of the UPFC with two major blocks: the primary control, and the supplementary control. The primary control is implemented by standard PI techniques when the power system is operated in a normal condition. The supplementary control will be effective only when the power system is subjected by large disturbances. We propose a new Lyapunov-based UPFC controller of the classical single-machine-infinite-bus system for damping enhancement. In order to consider more complicated detailed generator models, we also propose a Lyapunov-based adaptive recurrent neural network controller to deal with such model uncertainties. This controller can be treated as neural network approximations of Lyapunov control actions. In addition, this controller also provides online learning ability to adjust the corresponding weights with the back propagation algorithm built in the hidden layer. The proposed control scheme has been tested on two simple power systems. Simulation results demonstrate that the proposed control strategy is very effective for suppressing power swing even under severe system conditions.
Ghabraei, Soheil; Moradi, Hamed; Vossoughi, Gholamreza
2016-06-01
Large amplitude oscillation of the power transmission lines, which is also known as galloping phenomenon, has hazardous consequences such as short circuiting and failure of transmission line. In this article, to suppress the undesirable vibrations of the transmission lines, first the governing equations of transmission line are derived via mode summation technique. Then, due to the occurrence of large amplitude vibrations, nonlinear quadratic and cubic terms are included in the derived linear equations. To suppress the vibrations, arbitrary number of the piezoelectric actuators is assumed to exert the actuation forces. Afterwards, a Lyapunov based approach is proposed for the robust adaptive suppression of the undesirable vibrations in the finite time. To compensate the supposed parametric uncertainties with unknown bands, proper adaption laws are introduced. To avoid the vibration devastating consequences as quickly as possible, appropriate control laws are designed. The vibration suppression in the finite time with supposed adaption and control laws is mathematically proved via Lyapunov finite time stability theory. Finally, to illustrate and validate the efficiency and robustness of the proposed finite time control scheme, a parametric case study with three piezoelectric actuators is performed. It is observed that the proposed active control strategy is more efficient and robust than the passive control methods.
H(infinity) output tracking control for nonlinear systems via T-S fuzzy model approach.
Lin, Chong; Wang, Qing-Guo; Lee, Tong Heng
2006-04-01
This paper studies the problem of H(infinity) output tracking control for nonlinear time-delay systems using Takagi-Sugeno (T-S) fuzzy model approach. An LMI-based design method is proposed for achieving the output tracking purpose. Illustrative examples are given to show the effectiveness of the present results.
Chuanjing Hou
2015-01-01
Full Text Available An adaptive failure compensation scheme using output feedback is proposed for a class of nonlinear systems with nonlinearities depending on the unmeasured states of systems. Adaptive high-gain K-filters are presented to suppress the nonlinearities while the proposed backstepping adaptive high-gain controller guarantees the stability of the closed-loop system and small tracking errors. Simulation results verify that the adaptive failure compensation scheme is effective.
Nonlinear Robust Tracking Control of a Quadrotor UAV on SE(3)
Lee, Taeyoung; McClamroch, N Harris
2011-01-01
This paper provides nonlinear tracking control systems for a quadrotor unmanned aerial vehicle (UAV) that are robust to bounded uncertainties. A mathematical model of a quadrotor UAV is defined on the special Euclidean group, and nonlinear output-tracking controllers are developed to follow (1) an attitude command, and (2) a position command for the vehicle center of mass. The controlled system has the desirable properties that the tracking errors are uniformly ultimately bounded, and the size of the ultimate bound can be arbitrarily reduced by control system parameters. Numerical examples illustrating complex maneuvers are provided.
LYAPUNOV-Based Sensor Failure Detection and Recovery for the Reverse Water Gas Shift Process
Haralambous, Michael G.
2002-01-01
Livingstone, a model-based AI software system, is planned for use in the autonomous fault diagnosis, reconfiguration, and control of the oxygen-producing reverse water gas shift (RWGS) process test-bed located in the Applied Chemistry Laboratory at KSC. In this report the RWGS process is first briefly described and an overview of Livingstone is given. Next, a Lyapunov-based approach for detecting and recovering from sensor failures, differing significantly from that used by Livingstone, is presented. In this new method, models used are in t e m of the defining differential equations of system components, thus differing from the qualitative, static models used by Livingstone. An easily computed scalar inequality constraint, expressed in terms of sensed system variables, is used to determine the existence of sensor failures. In the event of sensor failure, an observer/estimator is used for determining which sensors have failed. The theory underlying the new approach is developed. Finally, a recommendation is made to use the Lyapunov-based approach to complement the capability of Livingstone and to use this combination in the RWGS process.
LYAPUNOV-Based Sensor Failure Detection and Recovery for the Reverse Water Gas Shift Process
Haralambous, Michael G.
2002-01-01
Livingstone, a model-based AI software system, is planned for use in the autonomous fault diagnosis, reconfiguration, and control of the oxygen-producing reverse water gas shift (RWGS) process test-bed located in the Applied Chemistry Laboratory at KSC. In this report the RWGS process is first briefly described and an overview of Livingstone is given. Next, a Lyapunov-based approach for detecting and recovering from sensor failures, differing significantly from that used by Livingstone, is presented. In this new method, models used are in t e m of the defining differential equations of system components, thus differing from the qualitative, static models used by Livingstone. An easily computed scalar inequality constraint, expressed in terms of sensed system variables, is used to determine the existence of sensor failures. In the event of sensor failure, an observer/estimator is used for determining which sensors have failed. The theory underlying the new approach is developed. Finally, a recommendation is made to use the Lyapunov-based approach to complement the capability of Livingstone and to use this combination in the RWGS process.
H∞ output tracking control of discrete-time nonlinear systems via standard neural network models.
Liu, Meiqin; Zhang, Senlin; Chen, Haiyang; Sheng, Weihua
2014-10-01
This brief proposes an output tracking control for a class of discrete-time nonlinear systems with disturbances. A standard neural network model is used to represent discrete-time nonlinear systems whose nonlinearity satisfies the sector conditions. H∞ control performance for the closed-loop system including the standard neural network model, the reference model, and state feedback controller is analyzed using Lyapunov-Krasovskii stability theorem and linear matrix inequality (LMI) approach. The H∞ controller, of which the parameters are obtained by solving LMIs, guarantees that the output of the closed-loop system closely tracks the output of a given reference model well, and reduces the influence of disturbances on the tracking error. Three numerical examples are provided to show the effectiveness of the proposed H∞ output tracking design approach.
Wenqi Wu
2012-06-01
Full Text Available In Compass/INS integrated navigation systems, feedback inertial navigation solutions to baseband tracking loops may eliminate receiver dynamic effects, and effectively improve the tracking accuracy and sensitivity. In the conventional inertially-aided tracking loop, the satellite-receiver line-of-sight velocity is used directly to adjust local carrier frequency. However, if the inertial solution drifts, the phase tracking error will be enlarged. By using Kalman filter based carrier phase tracking loop, this paper introduces a new inertial aid method, in which the line-of-sight jerk obtained from inertial acceleration by a nonlinear tracking differentiator is used to adjust relevant parameters of the Kalman filter’s process noise matrix. Validation is achieved through high dynamic Compass B3 signal with line-of-sight jerk of 10 g/s collected by a GNSS simulator. Experimental results indicate that the new inertial aid method proposed in this paper is free of the impact of the receiver dynamic and inertial errors. Therefore, when the integrated navigation system is starting or re-tracking after losing lock, the inertial error is absent from the navigation solution correction that induces large drift, and the new aid method proposed in this paper can track highly dynamic signals.
Guo, Yao; Wu, Wenqi; Tang, Kanghua
2012-01-01
In Compass/INS integrated navigation systems, feedback inertial navigation solutions to baseband tracking loops may eliminate receiver dynamic effects, and effectively improve the tracking accuracy and sensitivity. In the conventional inertially-aided tracking loop, the satellite-receiver line-of-sight velocity is used directly to adjust local carrier frequency. However, if the inertial solution drifts, the phase tracking error will be enlarged. By using Kalman filter based carrier phase tracking loop, this paper introduces a new inertial aid method, in which the line-of-sight jerk obtained from inertial acceleration by a nonlinear tracking differentiator is used to adjust relevant parameters of the Kalman filter's process noise matrix. Validation is achieved through high dynamic Compass B3 signal with line-of-sight jerk of 10 g/s collected by a GNSS simulator. Experimental results indicate that the new inertial aid method proposed in this paper is free of the impact of the receiver dynamic and inertial errors. Therefore, when the integrated navigation system is starting or re-tracking after losing lock, the inertial error is absent from the navigation solution correction that induces large drift, and the new aid method proposed in this paper can track highly dynamic signals.
Observer-Based Robust Tracking Control for a Class of Switched Nonlinear Cascade Systems
Ben Niu
2013-01-01
Full Text Available This paper is devoted to robust output feedback tracking control design for a class of switched nonlinear cascade systems. The main goal is to ensure the global input-to-state stable (ISS property of the tracking error nonlinear dynamics with respect to the unknown structural system uncertainties and external disturbances. First, a nonlinear observer is constructed through state transformation to reconstruct the unavailable states, where only one parameter should be determined. Then, by virtue of the nonlinear sliding mode control (SMC, a discontinuous nonlinear output feedback controller is designed using a backstepping like design procedure to ensure the ISS property. Finally, an example is provided to show the effectiveness of the proposed approach.
Chattering-Free Sliding-Mode Control for Electromechanical Actuator with Backlash Nonlinearity
Dongqi Ma
2017-01-01
Full Text Available Considering the backlash nonlinearity and parameter time-varying characteristics in electromechanical actuators, a chattering-free sliding-mode control strategy is proposed in this paper to regulate the rudder angle and suppress unknown external disturbances. Different from most existing backlash compensation methods, a special continuous function is addressed to approximate the backlash nonlinear dead-zone model. Regarding the approximation error, unmodeled dynamics, and unknown external disturbances as a disturbance-like term, a strict feedback nonlinear model is established. Based on this nonlinear model, a chattering-free nonsingular terminal sliding-mode controller is proposed to achieve the rudder angle tracking with a chattering elimination and tracking dynamic performance improvement. A Lyapunov-based proof ensures the asymptotic stability and finite-time convergence of the closed-loop system. Experimental results have verified the effectiveness of the proposed method.
Lyapunov-based boundary feedback control in multi-reach canals
CEN LiHui; XI YuGeng
2009-01-01
This paper presents a Lyapunov-based approach to design the boundary feedback control for an open-channel network composed of a cascade of multi-reach canals, each described by a pair of Saint-Venant equations. The weighted sum of entropies of the multi-reaches is adopted to construct the Lyapunov function. The time derivative of the Lyapunov function is expressed by the water depth variations at the gate boundaries, based on which a class of boundary feedback controllers is presented to guarantee the local asymptotic closed-loop stability. The advantage of this approach is that only the water level depths at the gate boundaries are measured as the feedback.
Adaptive H∞ nonlinear velocity tracking using RBFNN for linear DC brushless motor
Tsai, Ching-Chih; Chan, Cheng-Kain; Li, Yi Yu
2012-01-01
This article presents an adaptive H ∞ nonlinear velocity control for a linear DC brushless motor. A simplified model of this motor with friction is briefly recalled. The friction dynamics is described by the Lu Gre model and the online tuning radial basis function neural network (RBFNN) is used to parameterise the nonlinear friction function and un-modelled errors. An adaptive nonlinear H ∞ control method is then proposed to achieve velocity tracking, by assuming that the upper bounds of the ripple force, the changeable load and the nonlinear friction can be learned by the RBFNN. The closed-loop system is proven to be uniformly bounded using the Lyapunov stability theory. The feasibility and the efficacy of the proposed control are exemplified by conducting two velocity tracking experiments.
Robust FDI for A Ship-mounted Satellite Tracking Antenna: A Nonlinear Approach
Soltani, Mohsen; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal
2008-01-01
Overseas telecommunication is preserved by means of satellite communication. Tracking system postures the on-board antenna toward a chosen satellite while the external disturbances affect the antenna. Certain faults (beam sensor malfunction or signal blocking) cause interruption in the communicat......Overseas telecommunication is preserved by means of satellite communication. Tracking system postures the on-board antenna toward a chosen satellite while the external disturbances affect the antenna. Certain faults (beam sensor malfunction or signal blocking) cause interruption...... in the communication connection resulting in the loss of the tracking functionality. In this paper, an optimization based fault diagnosis system is proposed for the nonlinear model of the satellite tracking antenna (STA). The suggested method is able to estimate the fault for a class of nonlinear systems acting under...
Yan, Xuehua
2014-01-01
This paper is the further investigation of work of Yan and Liu, 2011, and considers the global practical tracking problem by output feedback for a class of uncertain nonlinear systems with not only unmeasured states dependent growth but also time-varying time delay. Compared with the closely related works, the remarkableness of the paper is that the time-varying time delay and unmeasurable states are permitted in the system nonlinear growth. Motivated by the related tracking results and flexibly using the ideas and techniques of universal control and dead zone, an adaptive output-feedback tracking controller is explicitly designed with the help of a new Lyapunov-Krasovskii functional, to make the tracking error prescribed arbitrarily small after a finite time while keeping all the closed-loop signals bounded. A numerical example demonstrates the effectiveness of the results. PMID:25276859
Adaptive neural network tracking control for a class of unknown nonlinear time-delay systems
Chen Weisheng; Li Junmin
2006-01-01
For a class of unknown nonlinear time-delay systems, an adaptive neural network (NN) control design approach is proposed. Backstepping, domination and adaptive bounding design technique are combined to construct a robust memoryless adaptive NN tracking controller. Unknown time-delay functions are approximated by NNs, such that the requirement on the nonlinear time-delay functions is relaxed. Based on Lyapunov-Krasoviskii functional, the sem-global uniformly ultimately boundedness (UUB) of all the signals in the closed-loop system is proved. The arbitrary output tracking accuracy is achieved by tuning the design parameters. The feasibility is investigated by an illustrative simulation example.
TF/TA2 trajectory tracking using nonlinear predictive control approach
Tang Qiang; Zhang Xinguo; Liu Xicheng
2006-01-01
The use of a methodology of nonlinear continuous predictive control to design the guidance control law for the aircraft TF/TA2 trajectory tracking problem is emplojed. For the derivation of the predictive control law, by using Taylor series expansion, and based on optimizing a performance index which is a quadratic function of both the predictive value of the state variables and the control inputs, a state variable feedback controller for nonlinear systems is obtained, and it provides a tradeoff between satisfactory tracking performance and the control magnitude requirements. Numerical simulation results for a supersonic fighter aircraft model show the viability of this approach.
Endong LIU; Yuanwei JING; Siying ZHANG
2005-01-01
Based on high order dynamic neural network,this paper presents the tracking problem for uncertain nonlinear composite system,which contains external disturbance,whose nonlinearities are assumed to be unknown.A smooth controller is designed to guarantee a uniform ultimate boundedness property for the tracking error and all other signals in the closed loop.Certain measures are utilized to test its performance.No a priori knowledge of an upper bound on the "optimal" weight and modeling error is required;the weights of neural networks are updated on-line.Numerical simulations performed on a simple example illustrate and clarify the approach.
Remote tracking via encoded information for nonlinear systems
Isidori, A.; Marconi, L.; De Persis, C.
2006-01-01
The problem addressed in this paper is to control a plant so as to have its output tracking (a family of) reference commands generated at a remote location and transmitted through a communication channel of finite capacity. The uncertainty due to the presence of the communication channel is countera
Remote tracking via encoded information for nonlinear systems
Isidori, A.; Marconi, L.; De Persis, C.
2006-01-01
The problem addressed in this paper is to control a plant so as to have its output tracking (a family of) reference commands generated at a remote location and transmitted through a communication channel of finite capacity. The uncertainty due to the presence of the communication channel is
Terminal sliding mode tracking control for a class of SISO uncertain nonlinear systems.
Chen, Mou; Wu, Qing-Xian; Cui, Rong-Xin
2013-03-01
In this paper, the terminal sliding mode tracking control is proposed for the uncertain single-input and single-output (SISO) nonlinear system with unknown external disturbance. For the unmeasured disturbance of nonlinear systems, terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to zero in the finite time. Based on the output of designed disturbance observer, the terminal sliding mode tracking control is presented for uncertain SISO nonlinear systems. Subsequently, terminal sliding mode tracking control is developed using disturbance observer technique for the uncertain SISO nonlinear system with control singularity and unknown non-symmetric input saturation. The effects of the control singularity and unknown input saturation are combined with the external disturbance which is approximated using the disturbance observer. Under the proposed terminal sliding mode tracking control techniques, the finite time convergence of all closed-loop signals are guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed terminal sliding mode tracking control.
CONTINUOUS ROBUST TRACKING CONTROLLERS FOR A CLASS OF UNCERTAIN NONLINEAR DYNAMICAL SYSTEMS
胡剑波; 苏宏业; 柯挺; 褚健; 陈新海
2001-01-01
Robust tracking controller for a class of uncertain nonlinear dynamical systems, which are linearizable by input-output feedback with matching uncertainties, was investigated. In this study, uniform ultimate bound or uniformly asymptotic stability of tracking errors were obtained by different choice of the control gain. A simulation to determine the effectiveness of the proposed approach showed that the control performance was better than that of VSC (Variable Structure Control).
Approximation-Based Adaptive Tracking Control for MIMO Nonlinear Systems With Input Saturation.
Zhou, Qi; Shi, Peng; Tian, Yang; Wang, Mingyu
2015-10-01
In this paper, an approximation-based adaptive tracking control approach is proposed for a class of multiinput multioutput nonlinear systems. Based on the method of neural network, a novel adaptive controller is designed via backstepping design process. Furthermore, by introducing Nussbaum function, the issue of unknown control directions is handled. In the backstepping design process, the dynamic surface control technique is employed to avoid differentiating certain nonlinear functions repeatedly. Moreover, in order to reduce the number of adaptation laws, we do not use the neural networks to directly approximate the unknown nonlinear functions but the desired control signals. Finally, we provide two examples to illustrate the effectiveness of the proposed approach.
H∞ reference tracking control design for a class of nonlinear systems with time-varying delays
Mei-qin LIU; Hai-yang CHEN; Sen-lin ZHANG
2015-01-01
This paper investigates the H∞ trajectory tracking control for a class of nonlinear systems with time-varying delays by virtue of Lyapunov-Krasovskii stability theory and the linear matrix inequality (LMI) technique. A unifi ed model consisting of a linear delayed dynamic system and a bounded static nonlinear operator is introduced, which covers most of the nonlinear systems with bounded nonlinear terms, such as the one-link robotic manipulator, chaotic systems, complex networks, the continuous stirred tank reactor (CSTR), and the standard genetic regulatory network (SGRN). First, the defi nition of the tracking control is given. Second, the H∞ performance analysis of the closed-loop system including this unifi ed model, reference model, and state feedback controller is presented. Then criteria on the tracking controller design are derived in terms of LMIs such that the output of the closed-loop system tracks the given reference signal in the H∞ sense. The reference model adopted here is modifi ed to be more fl exible. A scaling factor is introduced to deal with the disturbance such that the control precision is improved. Finally, a CSTR system is provided to demonstrate the effectiveness of the established control laws.
A new smooth robust control design for uncertain nonlinear systems with non-vanishing disturbances
Xian, Bin; Zhang, Yao
2016-06-01
In this paper, we consider the control problem for a general class of nonlinear system subjected to uncertain dynamics and non-varnishing disturbances. A smooth nonlinear control algorithm is presented to tackle these uncertainties and disturbances. The proposed control design employs the integral of a nonlinear sigmoid function to compensate the uncertain dynamics, and achieve a uniformly semi-global practical asymptotic stable tracking control of the system outputs. A novel Lyapunov-based stability analysis is employed to prove the convergence of the tracking errors and the stability of the closed-loop system. Numerical simulation results on a two-link robot manipulator are presented to illustrate the performance of the proposed control algorithm comparing with the layer-boundary sliding mode controller and the robust of integration of sign of error control design. Furthermore, real-time experiment results for the attitude control of a quadrotor helicopter are also included to confirm the effectiveness of the proposed algorithm.
Observed-Based Adaptive Fuzzy Tracking Control for Switched Nonlinear Systems With Dead-Zone.
Tong, Shaocheng; Sui, Shuai; Li, Yongming
2015-12-01
In this paper, the problem of adaptive fuzzy output-feedback control is investigated for a class of uncertain switched nonlinear systems in strict-feedback form. The considered switched systems contain unknown nonlinearities, dead-zone, and immeasurable states. Fuzzy logic systems are utilized to approximate the unknown nonlinear functions, a switched fuzzy state observer is designed and thus the immeasurable states are obtained by it. By applying the adaptive backstepping design principle and the average dwell time method, an adaptive fuzzy output-feedback tracking control approach is developed. It is proved that the proposed control approach can guarantee that all the variables in the closed-loop system are bounded under a class of switching signals with average dwell time, and also that the system output can track a given reference signal as closely as possible. The simulation results are given to check the effectiveness of the proposed approach.
Intelligent Tracking Control for a Class of Uncertain High-Order Nonlinear Systems.
Zhao, Xudong; Shi, Peng; Zheng, Xiaolong; Zhang, Jianhua
2016-09-01
This brief is concerned with the problem of intelligent tracking control for a class of high-order nonlinear systems with completely unknown nonlinearities. An intelligent adaptive control algorithm is presented by combining the adaptive backstepping technique with the neural networks' approximation ability. It is shown that the practical output tracking performance of the system is achieved using the proposed state-feedback controller under two mild assumptions. In particular, by introducing a parameter in the derivations, the tracking error between the time-varying target signal and the output can be reduced via tuning the controller design parameters. Moreover, in order to solve the problem of overparameterization, which is a common issue in adaptive control design, a controller with one adaptive law is also designed. Finally, simulation results are given to show the effectiveness of the theoretical approaches and the potential of the proposed new design techniques.
Han, Seong-Ik; Lee, Jang-Myung
2014-01-01
This paper proposes a backstepping control system that uses a tracking error constraint and recurrent fuzzy neural networks (RFNNs) to achieve a prescribed tracking performance for a strict-feedback nonlinear dynamic system. A new constraint variable was defined to generate the virtual control that forces the tracking error to fall within prescribed boundaries. An adaptive RFNN was also used to obtain the required improvement on the approximation performances in order to avoid calculating the explosive number of terms generated by the recursive steps of traditional backstepping control. The boundedness and convergence of the closed-loop system was confirmed based on the Lyapunov stability theory. The prescribed performance of the proposed control scheme was validated by using it to control the prescribed error of a nonlinear system and a robot manipulator.
Optimal low-thrust spiral trajectories using Lyapunov-based guidance
Yang, Da-lin; Xu, Bo; Zhang, Lei
2016-09-01
For an increasing number of electric propulsion systems used for real missions, it is very important to design optimal low-thrust spiral trajectories for these missions. However, it is particularly challenging to search for optimal low-thrust transfers. This paper describes an efficient optimal guidance scheme for the design of time-optimal and time-fixed fuel-optimal low-thrust spiral trajectories. The time-optimal solution is obtained with Lyapunov-based guidance, in which the artificial neural network (ANN) is adopted to implement control gains steering and the evolutionary algorithm is used as the learning algorithm for ANN. Moreover, the relative efficiency introduced in Q-law is analyzed and a periapis-and-apoapsis-centered burn structure is proposed for solving time-fixed fuel-optimal low-thrust orbit transfer problem. In this guidance scheme, the ANN is adopted to determine the burn structure within each orbital revolution and the optimal low-thrust orbit transfer problem is converted to the parameter optimization problem. This guidance scheme runs without an initial guess and provides closed form solutions. In addition, Earth J2 perturbation and Earth-shadow eclipse effects are considered in this paper. Finally, a comparison with solutions given by the literature demonstrates the effectiveness of the proposed method.
Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations
Anh-Huy Vo
2016-07-01
Full Text Available In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i drive the crane system to the desired positions, (ii suppresses the vibrations of the payload, and (iii velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values were used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results.
Non-linear controllers in ship tracking control system
LESZEK M
2005-01-01
The cascade systems which stabilize the transverse deviation of the ship in relation to the set path is presented. The ship's path is determined as a broken line with specified coordinates of way points. Three controllers are used in the system. The main primary controller is the trajectory controller. The set value of heading for the course control system or angular velocity for the turning control system is generated. The course control system is used on the straight line of the set trajectory while the turning controller is used during a change of the set trajectory segment. The characteristics of the non-linear controllers are selected in such a way that the properties of the control system with the rate of turn controller are modelled by the first-order inertia, while the system with the course keeping controller is modelled by a second-order linear term. The presented control system is tested in computer simulation. Some results of simulation tests are presented and discussed.
Manifold learning for object tracking with multiple nonlinear models.
Nascimento, Jacinto C; Silva, Jorge G; Marques, Jorge S; Lemos, Joao M
2014-04-01
This paper presents a novel manifold learning algorithm for high-dimensional data sets. The scope of the application focuses on the problem of motion tracking in video sequences. The framework presented is twofold. First, it is assumed that the samples are time ordered, providing valuable information that is not presented in the current methodologies. Second, the manifold topology comprises multiple charts, which contrasts to the most current methods that assume one single chart, being overly restrictive. The proposed algorithm, Gaussian process multiple local models (GP-MLM), can deal with arbitrary manifold topology by decomposing the manifold into multiple local models that are probabilistic combined using Gaussian process regression. In addition, the paper presents a multiple filter architecture where standard filtering techniques are integrated within the GP-MLM. The proposed approach exhibits comparable performance of state-of-the-art trackers, namely multiple model data association and deep belief networks, and compares favorably with Gaussian process latent variable models. Extensive experiments are presented using real video data, including a publicly available database of lip sequences and left ventricle ultrasound images, in which the GP-MLM achieves state of the art results.
Chen, Jie; Li, Jiahong; Yang, Shuanghua; Deng, Fang
2016-07-21
The identification of the nonlinearity and coupling is crucial in nonlinear target tracking problem in collaborative sensor networks. According to the adaptive Kalman filtering (KF) method, the nonlinearity and coupling can be regarded as the model noise covariance, and estimated by minimizing the innovation or residual errors of the states. However, the method requires large time window of data to achieve reliable covariance measurement, making it impractical for nonlinear systems which are rapidly changing. To deal with the problem, a weighted optimization-based distributed KF algorithm (WODKF) is proposed in this paper. The algorithm enlarges the data size of each sensor by the received measurements and state estimates from its connected sensors instead of the time window. A new cost function is set as the weighted sum of the bias and oscillation of the state to estimate the "best" estimate of the model noise covariance. The bias and oscillation of the state of each sensor are estimated by polynomial fitting a time window of state estimates and measurements of the sensor and its neighbors weighted by the measurement noise covariance. The best estimate of the model noise covariance is computed by minimizing the weighted cost function using the exhaustive method. The sensor selection method is in addition to the algorithm to decrease the computation load of the filter and increase the scalability of the sensor network. The existence, suboptimality and stability analysis of the algorithm are given. The local probability data association method is used in the proposed algorithm for the multitarget tracking case. The algorithm is demonstrated in simulations on tracking examples for a random signal, one nonlinear target, and four nonlinear targets. Results show the feasibility and superiority of WODKF against other filtering algorithms for a large class of systems.
Khan, Zulfiqar Hasan; Gu, Irene Yu-Hua
2013-12-01
This paper proposes a novel Bayesian online learning and tracking scheme for video objects on Grassmann manifolds. Although manifold visual object tracking is promising, large and fast nonplanar (or out-of-plane) pose changes and long-term partial occlusions of deformable objects in video remain a challenge that limits the tracking performance. The proposed method tackles these problems with the main novelties on: 1) online estimation of object appearances on Grassmann manifolds; 2) optimal criterion-based occlusion handling for online updating of object appearances; 3) a nonlinear dynamic model for both the appearance basis matrix and its velocity; and 4) Bayesian formulations, separately for the tracking process and the online learning process, that are realized by employing two particle filters: one is on the manifold for generating appearance particles and another on the linear space for generating affine box particles. Tracking and online updating are performed in an alternating fashion to mitigate the tracking drift. Experiments using the proposed tracker on videos captured by a single dynamic/static camera have shown robust tracking performance, particularly for scenarios when target objects contain significant nonplanar pose changes and long-term partial occlusions. Comparisons with eight existing state-of-the-art/most relevant manifold/nonmanifold trackers with evaluations have provided further support to the proposed scheme.
Recursive identification and tracking of parameters for linear and nonlinear multivariable systems
Sidar, M.
1975-01-01
The problem of identifying constant and variable parameters in multi-input, multi-output, linear and nonlinear systems is considered, using the maximum likelihood approach. An iterative algorithm, leading to recursive identification and tracking of the unknown parameters and the noise covariance matrix, is developed. Agile tracking, and accurate and unbiased identified parameters are obtained. Necessary conditions for a globally, asymptotically stable identification process are provided; the conditions proved to be useful and efficient. Among different cases studied, the stability derivatives of an aircraft were identified and some of the results are shown as examples.
Nonlinear tracking in a diffusion process with a Bayesian filter and the finite element method
Pedersen, Martin Wæver; Thygesen, Uffe Høgsbro; Madsen, Henrik
2011-01-01
A new approach to nonlinear state estimation and object tracking from indirect observations of a continuous time process is examined. Stochastic differential equations (SDEs) are employed to model the dynamics of the unobservable state. Tracking problems in the plane subject to boundaries...... become complicated using SMC because Monte Carlo randomness is introduced. The finite element (FE) method solves the Kolmogorov equations of the SDE numerically on a triangular unstructured mesh for which boundary conditions to the state-space are simple to incorporate. The FE approach to nonlinear state...... estimation is suited for off-line data analysis because the computed smoothed state densities, maximum a posteriori parameter estimates and state sequence are deterministic conditional on the finite element mesh and the observations. The proposed method is conceptually similar to existing point...
Dai, Juan; Gao, Ai; Xia, Yuanqing
2017-03-01
A robust entry guidance law based on terminal sliding mode and second-order differentiator is designed for trajectory tracking in this paper. The bank angle is regarded as the control variable. A novel nonlinear compound controller is designed to make the system with the trajectory-tracking error and its rate as states be input-to-state stable (ISS) with respect to uncertainties. The terminal sliding mode controller is designed to the problem of entry guidance by using the second-order differentiator to estimate the total disturbances. The proposed nonlinear compound control law by employing the second-order differentiator and the terminal sliding mode controller, provide robustness, higher control precision. Also, simulation results are presented to illustrate the effectiveness of the control strategy.
Yoo, Sung Jin
2013-04-01
In this brief, we study the distributed consensus tracking control problem for multiple strict-feedback systems with unknown nonlinearities under a directed graph topology. It is assumed that the leader's output is time-varying and has been accessed by only a small fraction of followers in a group. The distributed dynamic surface design approach is proposed to design local consensus controllers in order to guarantee the consensus tracking between the followers and the leader. The function approximation technique using neural networks is employed to compensate unknown nonlinear terms induced from the controller design procedure. From the Lyapunov stability theorem, it is shown that the consensus errors are cooperatively semiglobally uniformly ultimately bounded and converge to an adjustable neighborhood of the origin.
Series-based approximate approach of optimal tracking control for nonlinear systems with time-delay
Gongyou Tang; Mingqu Fan
2008-01-01
The optimal output tracking control (OTC) problem for nonlinear systems with time-delay is considered.Using a series-based approx-imate approach,the original OTC problem is transformed into iteration solving linear two-point boundary value problems without time-delay.The OTC law obtained consists of analytical linear feedback and feedforward terms and a nonlinear compensation term with an infinite series of the adjoint vectors.By truncating a finite sum of the adjoint vector series,an approximate optimal tracking control law is obtained.A reduced-order reference input observer is constructed to make the feedforward term physically realizable.Simulation exam-pies are used to test the validity of the series-based approximate approach.
Fernando Gómez-Salas
2015-01-01
Full Text Available This work proposes a discrete-time nonlinear rational approximate model for the unstable magnetic levitation system. Based on this model and as an application of the input-output linearization technique, a discrete-time tracking control design will be derived using the corresponding classical state space representation of the model. A simulation example illustrates the efficiency of the proposed methodology.
Numerical Tracking of Limit Points for Direct Parametric Analysis in Nonlinear Rotordynamics
Xie, Lihan; Baguet, Sébastien; Prabel, Benoit; Dufour, Régis
2016-01-01
International audience; A frequency-domain approach for direct parametric analysis of limit points of nonlinear dynamical systems is presented in this paper. Instead of computing responses curves for several values of a given system parameter, the direct tracking of limit points is performed. The whole numerical procedure is based on the Harmonic Balance Method and can be decomposed in three distinct steps. Firstly, a response curve is calculated by HBM combined with a continuation technique ...
Adaptive Neural Tracking Control for a Class of Nonlinear Systems With Dynamic Uncertainties.
Wang, Huanqing; Shi, Peng; Li, Hongyi; Zhou, Qi
2016-09-22
This paper considers the problem of adaptive neural control of nonlower triangular nonlinear systems with unmodeled dynamics and dynamic disturbances. The design difficulties appeared in the unmodeled dynamics and nonlower triangular form are handled with a dynamic signal and a variable partition technique for the nonlinear functions of all state variables, respectively. It is shown that the proposed controller is able to ensure the semi-global boundedness of all signals of the resulting closed-loop system. Furthermore, the system output is ensured to converge to a small domain of the given trajectories. The main advantage about this research is that a neural networks-based tracking control method is developed for uncertain nonlinear systems with unmodeled dynamics and nonlower triangular form. Simulation results demonstrate the feasibility of the newly presented design techniques.
Adaptive Fuzzy Tracking Control for a Class of MIMO Nonlinear Systems in Nonstrict-Feedback Form.
Chen, Bing; Lin, Chong; Liu, Xiaoping; Liu, Kefu
2015-12-01
This paper focuses on the problem of fuzzy adaptive control for a class of multiinput and multioutput (MIMO) nonlinear systems in nonstrict-feedback form, which contains the strict-feedback form as a special case. By the condition of variable partition, a new fuzzy adaptive backstepping is proposed for such a class of nonlinear MIMO systems. The suggested fuzzy adaptive controller guarantees that the proposed control scheme can guarantee that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking errors eventually converge to a small neighborhood around the origin. The main advantage of this paper is that a control approach is systematically derived for nonlinear systems with strong interconnected terms which are the functions of all states of the whole system. Simulation results further illustrate the effectiveness of the suggested approach.
A Comparison of Error Bounds for a Nonlinear Tracking System with Detection Probability Pd < 1
Tong, Huisi; Zhang, Hao; Meng, Huadong; Wang, Xiqin
2012-01-01
Error bounds for nonlinear filtering are very important for performance evaluation and sensor management. This paper presents a comparative study of three error bounds for tracking filtering, when the detection probability is less than unity. One of these bounds is the random finite set (RFS) bound, which is deduced within the framework of finite set statistics. The others, which are the information reduction factor (IRF) posterior Cramer-Rao lower bound (PCRLB) and enumeration method (ENUM) PCRLB are introduced within the framework of finite vector statistics. In this paper, we deduce two propositions and prove that the RFS bound is equal to the ENUM PCRLB, while it is tighter than the IRF PCRLB, when the target exists from the beginning to the end. Considering the disappearance of existing targets and the appearance of new targets, the RFS bound is tighter than both IRF PCRLB and ENUM PCRLB with time, by introducing the uncertainty of target existence. The theory is illustrated by two nonlinear tracking applications: ballistic object tracking and bearings-only tracking. The simulation studies confirm the theory and reveal the relationship among the three bounds. PMID:23242274
A Comparison of Error Bounds for a Nonlinear Tracking System with Detection Probability Pd < 1
Xiqin Wang
2012-12-01
Full Text Available Error bounds for nonlinear filtering are very important for performance evaluation and sensor management. This paper presents a comparative study of three error bounds for tracking filtering, when the detection probability is less than unity. One of these bounds is the random finite set (RFS bound, which is deduced within the framework of finite set statistics. The others, which are the information reduction factor (IRF posterior Cramer-Rao lower bound (PCRLB and enumeration method (ENUM PCRLB are introduced within the framework of finite vector statistics. In this paper, we deduce two propositions and prove that the RFS bound is equal to the ENUM PCRLB, while it is tighter than the IRF PCRLB, when the target exists from the beginning to the end. Considering the disappearance of existing targets and the appearance of new targets, the RFS bound is tighter than both IRF PCRLB and ENUM PCRLB with time, by introducing the uncertainty of target existence. The theory is illustrated by two nonlinear tracking applications: ballistic object tracking and bearings-only tracking. The simulation studies confirm the theory and reveal the relationship among the three bounds.
A comparison of error bounds for a nonlinear tracking system with detection probability Pd < 1.
Tong, Huisi; Zhang, Hao; Meng, Huadong; Wang, Xiqin
2012-12-14
Error bounds for nonlinear filtering are very important for performance evaluation and sensor management. This paper presents a comparative study of three error bounds for tracking filtering, when the detection probability is less than unity. One of these bounds is the random finite set (RFS) bound, which is deduced within the framework of finite set statistics. The others, which are the information reduction factor (IRF) posterior Cramer-Rao lower bound (PCRLB) and enumeration method (ENUM) PCRLB are introduced within the framework of finite vector statistics. In this paper, we deduce two propositions and prove that the RFS bound is equal to the ENUM PCRLB, while it is tighter than the IRF PCRLB, when the target exists from the beginning to the end. Considering the disappearance of existing targets and the appearance of new targets, the RFS bound is tighter than both IRF PCRLB and ENUM PCRLB with time, by introducing the uncertainty of target existence. The theory is illustrated by two nonlinear tracking applications: ballistic object tracking and bearings-only tracking. The simulation studies confirm the theory and reveal the relationship among the three bounds.
Observation and output adaptive tracking for a class of nonlinear non-minimum phase systems
Bartolini, G.; Estrada, A.; Punta, E.
2016-09-01
In this paper, the output tracking problem for a class of systems with unstable zero dynamics is addressed. The state is assumed not measurable. The output of the dynamical system to be controlled has to track a signal, which is the sum of a known number of sinusoids with unknown frequencies, amplitudes and phases. The non-minimum phase nature of the considered systems prevents the direct tracking by standard sliding mode methods, which are known to generate unstable behaviours of the internal dynamics. The proposed method relies on the availability of a flat output and its time derivatives which are functions of the unavailable state; therefore, a nonlinear observer is needed. Due to the uncertainty in the frequencies and in the parameters defining the relationship between the output of the system and the flat states, adaptive indirect methods are applied.
2016-01-01
Photovoltaic (PV) systems have non-linear characteristics that generate maximum power at one particular operating point. Environmental factors such as irradiance and temperature variations greatly affect the maximum power point (MPP). Diverse offline and online techniques have been introduced for tracking the MPP. Here, to track the MPP, an augmented-state feedback linearized (AFL) non-linear controller combined with an artificial neural network (ANN) is proposed. This approach linearizes the...
Robust tracking control design for a flexible air-breathing hypersonic vehicle
张垚; 鲜斌; 刁琛; 赵勃; 郭建川
2014-01-01
A nonlinear robust controller was presented to improve the tracking control performance of a flexible air-breathing hypersonic vehicle (AHV) which is subjected to system parametric uncertainties and unknown additive time-varying disturbances. The longitudinal dynamic model for the flexible AHV was used for the control development. High-gain observers were designed to compensate for the system uncertainties and additive disturbances. Small gain theorem and Lyapunov based stability analysis were utilized to prove the stability of the closed loop system. Locally uniformly ultimately bounded tracking of the vehicle’s velocity, altitude and attack angle were achieved under aeroelastic effects, system parametric uncertainties and unknown additive disturbances. Matlab/Simulink simulation results were provided to validate the robustness of the proposed control design. The simulation results demonstrate that the tracking errors stay in a small region around zero.
Faten Baklouti
2016-01-01
Full Text Available The trajectory tracking of underactuated nonlinear system with two degrees of freedom is tackled by an adaptive fuzzy hierarchical sliding mode controller. The proposed control law solves the problem of coupling using a hierarchical structure of the sliding surfaces and chattering by adopting different reaching laws. The unknown system functions are approximated by fuzzy logic systems and free parameters can be updated online by adaptive laws based on Lyapunov theory. Two comparative studies are made in this paper. The first comparison is between three different expressions of reaching laws to compare their abilities to reduce the chattering phenomenon. The second comparison is made between the proposed adaptive fuzzy hierarchical sliding mode controller and two other control laws which keep the coupling in the underactuated system. The tracking performances of each control law are evaluated. Simulation examples including different amplitudes of external disturbances are made.
Nonlinear inversion-based output tracking control of a boiler-turbine unit
Fang FANG; Jizhen LIU; Wen TAN
2005-01-01
The capability to perform fast load-following has been an important issue in the power industry. An output tracking control system of a boiler-turbine unit is developed. The system is composed of stable inversion and feedback controller.The stable inversion is implemented as a feedforward controller to improve the load-following capability, and the feedback controller is utilized to guarantee the stability and robustness of the whole system. Loop-shaping H∞ method is used to design the feedback controller and the final controller is reduced to a multivariable PI form. The output tracking control system takes account of the multivariable, nonlinear and coupling behavior of boiler-turbine system, and the simulation tests show that the control system works well and can be widely applied.
Aguilar-Lopez, R
2006-04-01
Full Text Available This work addresses the problem of robust tracking of the substrate concentration in a continuous bioreactor in anindustrial wastewater treatment plant of an oil refinery. The entire nonlinear operating region of the process wasapproached by several linear models. The suggested global controller is designed considering an average betweenthe linear single controllers designed for each operating region. The averaging methodology is conducted viainterpolation, considering Gaussian distributions as the interpolating functions. The robust properties of the globalcontroller are shown by employing a Lyapunov function. The corresponding performance of the proposedmethodology is illustrated via numerical simulations.
Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs
Mousumi Ahmed
2016-02-01
Full Text Available This paper presents an estimation based backstepping like control law design for an Unmanned Aerial Vehicle (UAV to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF to estimate the full state of the target. A nonlinear controller then utilizes this estimated target state and the chaser’s state to provide speed, flight path, and course/heading angle commands to the chaser UAV. Tracking performance with respect to measurement uncertainty is evaluated for three cases: (1 stationary white noise; (2 stationary colored noise and (3 non-stationary (range correlated white noise. Furthermore, in an effort to improve tracking performance, the measurement model is made more realistic by taking into consideration range-dependent uncertainties in the measurements, i.e., as the chaser closes in on the target, measurement uncertainties are reduced in the EKF, thus providing the UAV with more accurate control commands. Simulation results for these cases are shown to illustrate target state estimation and trajectory tracking performance.
Ganjefar, Soheil; Rezaei, Sara; Hashemzadeh, Farzad
2017-03-01
In this paper, a new bounded force feedback control law is proposed to guarantee position and force tracking in nonlinear teleoperation systems in the presence of passive and nonpassive input interaction forces, time varying delay in their communication channels and sandwich linearity in their actuators. The proposed control is a nonlinear-proportional plus nonlinear damping (nP+nD) controller with the addition of a nonlinear function of the environment force on the slave side and nonlinear function of the human force and force error on the master side, the transparency of the proposed scheme will be improved. The controller prevents the inputs from reaching their usual actuator bounds. Using a novel Lyapunov-Krasovskii functional, the asymptotic stability and tracking performance of the teleoperation system are established under some conditions on the controller parameters, actuator saturation characteristics and maximum allowable time delays.
Xiaoyan Lei
2016-01-01
Full Text Available A model for dynamic analysis of the vehicle-track nonlinear coupling system is established by the finite element method. The whole system is divided into two subsystems: the vehicle subsystem and the track subsystem. Coupling of the two subsystems is achieved by equilibrium conditions for wheel-to-rail nonlinear contact forces and geometrical compatibility conditions. To solve the nonlinear dynamics equations for the vehicle-track coupling system, a cross iteration algorithm and a relaxation technique are presented. Examples of vibration analysis of the vehicle and slab track coupling system induced by China’s high speed train CRH3 are given. In the computation, the influences of linear and nonlinear wheel-to-rail contact models and different train speeds are considered. It is found that the cross iteration algorithm and the relaxation technique have the following advantages: simple programming; fast convergence; shorter computation time; and greater accuracy. The analyzed dynamic responses for the vehicle and the track with the wheel-to-rail linear contact model are greater than those with the wheel-to-rail nonlinear contact model, where the increasing range of the displacement and the acceleration is about 10%, and the increasing range of the wheel-to-rail contact force is less than 5%.
Adaptive set-point tracking of the Lorenz chaotic system using non-linear feedback
Haghighatdar, F. [Department of Electronic Engineering, University of Isfahan, Hezar-Jerib St., Postal code: 8174673441, Isfahan (Iran, Islamic Republic of)], E-mail: fr_haghighat@yahoo.com; Ataei, M. [Department of Electronic Engineering, University of Isfahan, Hezar-Jerib St., Postal code: 8174673441, Isfahan (Iran, Islamic Republic of)], E-mail: mataei1971@yahoo.com
2009-05-30
In this paper, an adaptive control method for set-point tracking of the Lorenz chaotic system by using non-linear feedback is proposed. The design procedure of the proposed controller is accomplished in two steps. At the first step, using Lyapunov's direct method, a non-linear state feedback is selected so that without any need to apply identification techniques, in despite of the uncertain parameters existence in the system state equations, the asymptotic stability of the general Lorenz system is guaranteed in a stochastic point of the manifold containing general system equilibrium points. At the second step, a linear state feedback with adaptive gain is added to the prior controller to eliminate the tracking error. In order to guarantee the system asymptotic stability at desired set-point, the indirect Lyapunov's method is used. Finally, to show the effectiveness of the proposed methodology, the simulation results of different experiments including system parameters changes and set-point variation are provided.
Guoguang Wen
2014-01-01
Full Text Available This paper mainly addresses the distributed consensus tracking problem for second-order nonlinear multiagent systems with a specified reference trajectory. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position and velocity information of its neighbors. The consensus reference is taken as a virtual leader, whose output is only its position and velocity information that is available to only a subset of a group of followers. To achieve consensus tracking, a class of nonsmooth control protocols is proposed which reply on the relative information among the neighboring agents. Then some corresponding sufficient conditions are derived. It is shown that if the communication graph associated with the virtual leader and followers is connected at each time instant, the consensus can be achieved at least globally exponentially with the proposed protocol. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Finally, numerical examples are presented to illustrate the theoretical analysis.
Valenza, Gaetano; Citi, Luca; Scilingo, Enzo Pasquale; Barbieri, Riccardo
2014-01-01
Measures of entropy have been proved as powerful quantifiers of complex nonlinear systems, particularly when applied to stochastic series of heartbeat dynamics. Despite the remarkable achievements obtained through standard definitions of approximate and sample entropy, a time-varying definition of entropy characterizing the physiological dynamics at each moment in time is still missing. To this extent, we propose two novel measures of entropy based on the inho-mogeneous point-process theory. The RR interval series is modeled through probability density functions (pdfs) which characterize and predict the time until the next event occurs as a function of the past history. Laguerre expansions of the Wiener-Volterra autoregressive terms account for the long-term nonlinear information. As the proposed measures of entropy are instantaneously defined through such probability functions, the proposed indices are able to provide instantaneous tracking of autonomic nervous system complexity. Of note, the distance between the time-varying phase-space vectors is calculated through the Kolmogorov-Smirnov distance of two pdfs. Experimental results, obtained from the analysis of RR interval series extracted from ten healthy subjects during stand-up tasks, suggest that the proposed entropy indices provide instantaneous tracking of the heartbeat complexity, also allowing for the definition of complexity variability indices.
Deyuan Meng
2014-05-01
Full Text Available The dynamics of pneumatic systems are highly nonlinear, and there normally exists a large extent of model uncertainties; the precision motion trajectory tracking control of pneumatic cylinders is still a challenge. In this paper, two typical nonlinear controllers—adaptive controller and deterministic robust controller—are constructed firstly. Considering that they have both benefits and limitations, an adaptive robust controller (ARC is further proposed. The ARC is a combination of the first two controllers; it employs online recursive least squares estimation (RLSE to reduce the extent of parametric uncertainties, and utilizes the robust control method to attenuate the effects of parameter estimation errors, unmodeled dynamics, and disturbances. In order to solve the conflicts between the robust control design and the parameter adaption law design, the projection mapping is used to condition the RLSE algorithm so that the parameter estimates are kept within a known bounded convex set. Theoretically, ARC possesses the advantages of the adaptive control and the deterministic robust control, and thus an even better tracking performance can be expected. Extensive comparative experimental results are presented to illustrate the achievable performance of the three proposed controllers and their performance robustness to the parameter variations and sudden disturbance.
Uzzal, R. U. A.; Ahmed, A. K. W.; Bhat, R. B.
2013-11-01
This paper presents dynamic contact loads at wheel-rail contact point in a three-dimensional railway vehicle-track model as well as dynamic response at vehicle-track component levels in the presence of wheel flats. The 17-degrees of freedom lumped mass vehicle is modelled as a full car body, two bogies and four wheelsets, whereas the railway track is modelled as two parallel Timoshenko beams periodically supported by lumped masses representing the sleepers. The rail beam is also supported by nonlinear spring and damper elements representing the railpad and ballast. In order to ensure the interactions between the railpads, a shear parameter beneath the rail beams has also been considered into the model. The wheel-rail contact is modelled using nonlinear Hertzian contact theory. In order to solve the coupled partial and ordinary differential equations of the vehicle-track system, modal analysis method is employed. Idealised Haversine wheel flats with the rounded corner are included in the wheel-rail contact model. The developed model is validated with the existing measured and analytical data available in the literature. The nonlinear model is then employed to investigate the wheel-rail impact forces that arise in the wheel-rail interface due to the presence of wheel flats. The validated model is further employed to investigate the dynamic responses of vehicle and track components in terms of displacement, velocity, and acceleration in the presence of single wheel flat.
Song, Yongduan; Guo, Junxia; Huang, Xiucai
2016-06-23
This paper considers the tracking control problem for a class of multi-input multi-output nonlinear systems subject to unknown actuation characteristics and external disturbances. Neuroadaptive proportional-integral (PI) control with self-tuning gains is proposed, which is structurally simple and computationally inexpensive. Different from traditional PI control, the proposed one is able to online adjust its PI gains using stability-guaranteed analytic algorithms without involving manual tuning or trial and error process. It is shown that the proposed neuroadaptive PI control is continuous and smooth everywhere and ensures the uniformly ultimately boundedness of all the signals of the closed-loop system. Furthermore, the crucial compact set precondition for a neural network (NN) to function properly is guaranteed with the barrier Lyapunov function, allowing the NN unit to play its learning/approximating role during the entire system operation. The salient feature also lies in its low complexity in computation and effectiveness in dealing with modeling uncertainties and nonlinearities. Both square and nonsquare nonlinear systems are addressed. The benefits and the feasibility of the developed control are also confirmed by simulations.
Low-Complexity Tracking of Laser and Nonlinear Phase Noise in WDM Optical Fiber Systems
Yankov, Metodi Plamenov; Fehenberger, Tobias; Barletta, Luca
2015-01-01
In this paper, the wavelength division multiplexed (WDM) fiber optic channel is considered. It is shown that for ideal distributed Raman amplification (IDRA), the Wiener process model is suitable for the non-linear phase noise due to cross phase modulation from neighboring channels. Based...... compared to previous trellis-based approaches, which require numerical integration. Further, the proposed method performs very well in low-to-moderate signal-to-noise ratio (SNR), where standard decision directed (DD) methods, especially for high-order modulation, fail. The proposed algorithm does not rely...... on this model, a phase noise tracking algorithm is presented. We approximate the distribution of the phase noise at each time instant by a mixture of Tikhonov distributions, and derive a closed form expression for the posterior probabilities of the input symbols. This reduces the complexity dramatically...
Adaptive fuzzy control with output feedback for H infinity tracking of SISO nonlinear systems.
Rigatos, Gerasimos G
2008-08-01
Observer-based adaptive fuzzy H(infinity) control is proposed to achieve H(infinity) tracking performance for a class of nonlinear systems, which are subject to model uncertainty and external disturbances and in which only a measurement of the output is available. The key ideas in the design of the proposed controller are (i) to transform the nonlinear control problem into a regulation problem through suitable output feedback, (ii) to design a state observer for the estimation of the non-measurable elements of the system's state vector, (iii) to design neuro-fuzzy approximators that receive as inputs the parameters of the reconstructed state vector and give as output an estimation of the system's unknown dynamics, (iv) to use an H(infinity) control term for the compensation of external disturbances and modelling errors, (v) to use Lyapunov stability analysis in order to find the learning law for the neuro-fuzzy approximators, and a supervisory control term for disturbance and modelling error rejection. The control scheme is tested in the cart-pole balancing problem and in a DC-motor model.
Target tracking by distributed autonomous vessels using the derivative-free nonlinear Kalman filter
Rigatos, Gerasimos; Siano, Pierluigi; Raffo, Guilerme
2015-12-01
In this paper a distributed control problem for unmanned surface vessels (USVs) is formulated as follows: there are N USVs which pursue another vessel (moving target). At each time instant each USV can obtain measurements of the target's cartesian coordinates. The objective is to make the USVs converge in a synchronized manner towards the target, while avoiding collisions between them and avoiding collisions with obstacles in their motion plane. A distributed control law is developed for the USVs which enables not only convergence of the USVs to the goal position, but also makes possible to maintain the cohesion of the USVs fleet. Moreover, distributed filtering is performed, so as to obtain an estimate of the target vessel's state vector. This provides the desirable state vector to be tracked by each one of the USVs. To this end, a new distributed nonlinear filtering method of improved accuracy and computation speed is introduced. This filtering approach, under the name Derivative-free distributed nonlinear Kalman Filter is based on differential flatness theory and on an exact linearization of the target vessel's dynamic/kinematic model.
Suliang Ma
2016-11-01
Full Text Available Photovoltaic (PV systems have non-linear characteristics that generate maximum power at one particular operating point. Environmental factors such as irradiance and temperature variations greatly affect the maximum power point (MPP. Diverse offline and online techniques have been introduced for tracking the MPP. Here, to track the MPP, an augmented-state feedback linearized (AFL non-linear controller combined with an artificial neural network (ANN is proposed. This approach linearizes the non-linear characteristics in PV systems and DC/DC converters, for tracking and optimizing the PV system operation. It also reduces the dependency of the designed controller on linearized models, to provide global stability. A complete model of the PV system is simulated. The existing maximum power-point tracking (MPPT and DC/DC boost-converter controller techniques are compared with the proposed ANN method. Two case studies, which simulate realistic circumstances, are presented to demonstrate the effectiveness and superiority of the proposed method. The AFL with ANN controller can provide good dynamic operation, faster convergence speed, and fewer operating-point oscillations around the MPP. It also tracks the global maxima under different conditions, especially irradiance-mutating situations, more effectively than the conventional methods. Detailed mathematical models and a control approach for a three-phase grid-connected intelligent hybrid system are proposed using MATLAB/Simulink.
Nguyen, Charles C.; Zhou, Zhen-Lei; Mosier, Gary E.
1993-01-01
This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.
Nguyen, Charles C.; Zhou, Zhen-Lei; Mosier, Gary E.
1993-01-01
This paper presents the design of a joint-space adaptive control scheme for controlling the slave arm motion of a dual-arm telerobot system developed at Goddard Space Flight Center (GSFC) to study telerobotic operations in space. Each slave arm of the dual-arm system is a kinematically redundant manipulator with seven degrees of freedom (DOF). Using the concept of model reference adaptive control (MRAC) and Liupunov direct method, we derive an adaptation algorithm that adjusts the PD controller gains of the control scheme. The development of the adaptive control scheme assumes that the slave arm motion is non-compliant and slowly varying. The implementation of the derived control scheme does not require the computation of manipulator dynamics which makes the control scheme sufficiently fast for real-time applications. Computer simulation study performed for the 7-DOF slave arm shows that the developed control scheme can efficiently adapt to sudden change in payload while tracking various test trajectories such as ramp or sinusoids with negligible position errors.
Chen, Y.-Y.; Zhang, Y.; Liu, C.-L.; Wei, P.
2016-12-01
This paper deals with two-dimensional and three-dimensional cooperative control of multiple agents formation tracking a set of given closed orbits, where each agent has intrinsic second-order non-linear dynamics and the communication topology among agents is directed. By using our previous curve extension method, the cooperative control system can be regarded as a cascade system composed of the orbit-tracking subsystem and the formation subsystem with the orbit-tracking error as input. A novel solution is established by separatively designing the orbit-tracking control law and the formation control protocol ignoring the perturbation at first and then applying input-to-state stability theory to analyse the asymptotic stability of the cascade system. It is shown that the closed-loop system is asymptotic stability if the directed communication topology contains a directed spanning tree. The effectiveness of the analytical results is verified by numerical simulations.
Robust Optimal Output Tracking Control of A Midwater Trawl System Based on T-S Fuzzy Nonlinear Model
ZHOU Hua; CHEN Ying-long; YANG Hua-yong
2013-01-01
A robust optimal output tracking control method for a midwater trawl system is investigated based on T-S fuzzy nonlinear model.A simplified nonlinear mathematical model is first employed to represent a midwater trawl system,and then a T-S fuzzy model is adopted to approximate the nonlinear system.Since the strong nonlinearities and the external disturbance of the trawling system,a mixed H2/H∞ fuzzy output tracking control strategy via T-S fuzzy system is proposed to regulate the trawl depth to follow a desired trajectory.The trawl depth can be regulated by adjusting the winch velocity automatically and the tracking error can be minimized according to the robust optimal criterion.In order to validate the proposed control method,a computer simulation is conducted.The simulation results indicate that the proposed fuzzy robust optimal controller make the trawl net rapidly follow the desired trajectory under the model uncertainties and the external disturbance caused by wave and current.
Mazinan, A H
2016-03-01
The research addresses a Lyapunov-based constrained control strategy to deal with the autonomous space system in the presence of large disturbances. The aforementioned autonomous space system under control is first represented through a dynamics model and subsequently the proposed control strategy is fully investigated with a focus on the three-axis detumbling and the corresponding pointing mode control approaches. The three-axis detumbling mode control approach is designed to deal with the unwanted angular rates of the system to be zero, while the saturations of the actuators are taken into consideration. Moreover, the three-axis pointing mode control approach is designed in the similar state to deal with the rotational angles of the system to be desirable. The contribution of the research is mathematically made to propose a control law in connection with a new candidate of Lyapunov function to deal with the rotational angles and the related angular rates of the present autonomous space system with respect to state-of-the-art. A series of experiments are carried out to consider the efficiency of the proposed control strategy, as long as a number of benchmarks are realized in the same condition to verify and guarantee the strategy performance in both modes of control approaches.
Min WANG; Xiuying WANG; Bing CHEN; Shaocheng TONG
2007-01-01
In this paper, the robust adaptive fuzzy tracking control problem is discussed for a class of perturbed strict-feedback nonlinear systems. The fuzzy logic systems in Mamdani type are used to approximate unknown nonlinear functions. A design scheme of the robust adaptive fuzzy controller is proposed by use of the backstepping technique. The proposed controller guarantees semi-global uniform ultimate boundedness of all the signals in the derived closed-loop system and achieves the good tracking performance. The possible controller singularity problem which may occur in some existing adaptive control schemes with feedback linearization techniques can be avoided. In addition, the number of the on-line adaptive parameters is not more than the order of the designed system. Finally, two simulation examples are used to demonstrate the effectiveness of the proposed control scheme.
Huanqing Wang
2014-01-01
Full Text Available The problem of fuzzy-based direct adaptive tracking control is considered for a class of pure-feedback stochastic nonlinear systems. During the controller design, fuzzy logic systems are used to approximate the packaged unknown nonlinearities, and then a novel direct adaptive controller is constructed via backstepping technique. It is shown that the proposed controller guarantees that all the signals in the closed-loop system are bounded in probability and the tracking error eventually converges to a small neighborhood around the origin in the sense of mean quartic value. The main advantages lie in that the proposed controller structure is simpler and only one adaptive parameter needs to be updated online. Simulation results are used to illustrate the effectiveness of the proposed approach.
Chen, C L Philip; Wen, Guo-Xing; Liu, Yan-Jun; Liu, Zhi
2016-07-01
Combined with backstepping techniques, an observer-based adaptive consensus tracking control strategy is developed for a class of high-order nonlinear multiagent systems, of which each follower agent is modeled in a semi-strict-feedback form. By constructing the neural network-based state observer for each follower, the proposed consensus control method solves the unmeasurable state problem of high-order nonlinear multiagent systems. The control algorithm can guarantee that all signals of the multiagent system are semi-globally uniformly ultimately bounded and all outputs can synchronously track a reference signal to a desired accuracy. A simulation example is carried out to further demonstrate the effectiveness of the proposed consensus control method.
Wen, Guoguang; Yu, Yongguang; Peng, Zhaoxia; Rahmani, Ahmed
2016-06-01
This paper investigates the consensus tracking problem for nonlinear multi-agent systems with a time-varying reference state. The consensus reference is taken as a virtual leader, whose output is only its position information that is available to only a subset of a group of followers. The dynamics of each follower consists of two terms: nonlinear inherent dynamics and a simple communication protocol relying only on the position of its neighbours. In this paper, the consensus tracking problem is respectively considered under fixed and switching communication topologies. Some corresponding sufficient conditions are obtained to guarantee the states of followers can converge to the state of the virtual leader in finite time. Rigorous proofs are given by using graph theory, matrix theory, and Lyapunov theory. Simulations are presented to illustrate the theoretical analysis.
Chiang-Cheng Chiang
2013-01-01
Full Text Available The tracking control problem of uncertain nonlinear time-delay systems with unknown dead-zone input is tackled by a robust adaptive fuzzy control scheme. Because the nonlinear gain function and the uncertainties of the controlled system including matched and unmatched uncertainties are supposed to be unknown, fuzzy logic systems are employed to approximate the nonlinear gain function and the upper bounded functions of these uncertainties. Moreover, the upper bound of the uncertainty caused by the fuzzy modeling error is also estimated. According to these learning fuzzy models and some feasible adaptive laws, a robust adaptive fuzzy tracking controller is developed in this paper without constructing the dead-zone inverse. Based on the Lyapunov stability theorem, the proposed controller not only guarantees that the robust stability of the whole closed-loop system in the presence of uncertainties and unknown dead-zone input can be achieved, but it also obtains that the output tracking error can converge to a neighborhood of zero exponentially. Some simulation results are provided to demonstrate the effectiveness and performance of the proposed approach.
Yang, Yang; Yue, Dong; Yuan, Deming
2016-11-01
Considering interconnections among subsystems, we propose an adaptive neural tracking control scheme for a class of multiple-input-multiple-output (MIMO) non-affine pure-feedback time-delay nonlinear systems with input saturation. Neural networks (NNs) are employed to approximate unknown functions in the design procedure, and the separation technology is introduced here to tackle the problem induced from unknown time-delay items. The adaptive neural tracking control scheme is constructed by combining Lyapunov-Krasovskii functionals, NNs, the auxiliary system, the implicit function theory and the mean value theorem along with the dynamic surface control technique. Also, it is proven that the strategy guarantees tracking errors converge to a small neighbourhood around the origin by appropriate choice of design parameters and all signals in the closed-loop system uniformly ultimately bounded. Numerical simulation results are presented to demonstrate the effectiveness of the proposed control strategy.
Smolders, K.; Volckaert, M.; Swevers, J.
2008-11-01
This paper presents a nonlinear model-based iterative learning control procedure to achieve accurate tracking control for nonlinear lumped mechanical continuous-time systems. The model structure used in this iterative learning control procedure is new and combines a linear state space model and a nonlinear feature space transformation. An intuitive two-step iterative algorithm to identify the model parameters is presented. It alternates between the estimation of the linear and the nonlinear model part. It is assumed that besides the input and output signals also the full state vector of the system is available for identification. A measurement and signal processing procedure to estimate these signals for lumped mechanical systems is presented. The iterative learning control procedure relies on the calculation of the input that generates a given model output, so-called offline model inversion. A new offline nonlinear model inversion method for continuous-time, nonlinear time-invariant, state space models based on Newton's method is presented and applied to the new model structure. This model inversion method is not restricted to minimum phase models. It requires only calculation of the first order derivatives of the state space model and is applicable to multivariable models. For periodic reference signals the method yields a compact implementation in the frequency domain. Moreover it is shown that a bandwidth can be specified up to which learning is allowed when using this inversion method in the iterative learning control procedure. Experimental results for a nonlinear single-input-single-output system corresponding to a quarter car on a hydraulic test rig are presented. It is shown that the new nonlinear approach outperforms the linear iterative learning control approach which is currently used in the automotive industry on durability test rigs.
Real-time Non-linear Target Tracking Control of Wheeled Mobile Robots
YU Wenyong
2006-01-01
A control strategy for real-time target tracking for wheeled mobile robots is presented. Using a modified Kalman filter for environment perception, a novel tracking control law derived from Lyapunov stability theory is introduced. Tuning of linear velocity and angular velocity with mechanical constraints is applied. The proposed control system can simultaneously solve the target trajectory prediction, real-time tracking, and posture regulation problems of a wheeled mobile robot. Experimental results illustrate the effectiveness of the proposed tracking control laws.
Choi, Yun Ho; Yoo, Sung Jin
2017-03-28
A minimal-approximation-based distributed adaptive consensus tracking approach is presented for strict-feedback multiagent systems with unknown heterogeneous nonlinearities and control directions under a directed network. Existing approximation-based consensus results for uncertain nonlinear multiagent systems in lower-triangular form have used multiple function approximators in each local controller to approximate unmatched nonlinearities of each follower. Thus, as the follower's order increases, the number of the approximators used in its local controller increases. However, the proposed approach employs only one function approximator to construct the local controller of each follower regardless of the order of the follower. The recursive design methodology using a new error transformation is derived for the proposed minimal-approximation-based design. Furthermore, a bounding lemma on parameters of Nussbaum functions is presented to handle the unknown control direction problem in the minimal-approximation-based distributed consensus tracking framework and the stability of the overall closed-loop system is rigorously analyzed in the Lyapunov sense.
Korayem, M H; Nekoo, S R
2015-07-01
This work studies an optimal control problem using the state-dependent Riccati equation (SDRE) in differential form to track for time-varying systems with state and control nonlinearities. The trajectory tracking structure provides two nonlinear differential equations: the state-dependent differential Riccati equation (SDDRE) and the feed-forward differential equation. The independence of the governing equations and stability of the controller are proven along the trajectory using the Lyapunov approach. Backward integration (BI) is capable of solving the equations as a numerical solution; however, the forward solution methods require the closed-form solution to fulfill the task. A closed-form solution is introduced for SDDRE, but the feed-forward differential equation has not yet been obtained. Different ways of solving the problem are expressed and analyzed. These include BI, closed-form solution with corrective assumption, approximate solution, and forward integration. Application of the tracking problem is investigated to control robotic manipulators possessing rigid or flexible joints. The intention is to release a general program for automatic implementation of an SDDRE controller for any manipulator that obeys the Denavit-Hartenberg (D-H) principle when only D-H parameters are received as input data.
Urban and Indoor Weak Signal Tracking Using an Array Tracker with MVA and Nonlinear Filtering
Jicheng Ding
2014-01-01
Full Text Available We focus on the need for weak GPS signal tracking technique at a receiver powered on in urban or indoor environment; the tracking loop is unlocked and data bit edge position is unknown. A modified Viterbi algorithm (MVA based on dynamic programming is developed and it is applied to GPS bit synchronization to improve bit edge position detection probability. Meanwhile, two combination carrier tracking schemes based on central difference Kalman filter (CDKF and MVA module are designed for tracking very weak GPS signal. The testing results indicate that the methods can successfully detect bit edge position with high detection probability whether or not the tracking loop is locked. The tested combination tracking scheme is still able to work well when the signal quality deteriorates to 20 dB-Hz without additional large store space.
Sun, Hongfei; Yang, Zhiling; Meng, Bin
2015-05-01
A new tracking-control method for general non-linear systems is proposed. A virtual controller and some command references are introduced to asymptotically stabilise the system of the tracking error dynamics. Then, the actual controller and command references are derived by solving a system of linear algebraic equations. Compared with other tracking-control methods in the literature, the tracking-controller design in this paper is simple because it needs only to solve a system of linear algebraic equations. The boundedness of the tracking controller and command references is guaranteed by the solvability of the terminal value problem (TVP) of an ordinary differential equation. For non-linear systems with minimum-phase properties, the TVP is automatically solvable. A numerical example shows that the tracking-control method is still available for some systems with non-minimum-phase properties. To enhance the robustness of the tracking controller, a non-linear disturbance observer (NDO) is introduced to estimate the disturbance. The combination of the tracking controller and the NDO is applied to the tracking control of an air-breathing hypersonic vehicle.
无
2007-01-01
A new type controller, BP neural-networks-based sliding mode controller is developed for a class of large-scale nonlinear systems with unknown bounds of high-order interconnections in this paper. It is shown that decentralized BP neural networks are used to adaptively learn the uncertainty bounds of interconnected subsystems in the Lyapunov sense, and the outputs of the decentralized BP neural networks are then used as the parameters of the sliding mode controller to compensate for the effects of subsystems uncertainties. Using this scheme, not only strong robustness with respect to uncertainty dynamics and nonlinearities can be obtained, but also the output tracking error between the actual output of each subsystem and the corresponding desired reference output can asymptotically converge to zero. A simulation example is presented to support the validity of the proposed BP neural-networks-based sliding mode controller.
Wang, Huanqing; Chen, Bing; Liu, Kefu; Liu, Xiaoping; Lin, Chong
2014-05-01
This paper considers the problem of adaptive neural control of stochastic nonlinear systems in nonstrict-feedback form with unknown backlash-like hysteresis nonlinearities. To overcome the design difficulty of nonstrict-feedback structure, variable separation technique is used to decompose the unknown functions of all state variables into a sum of smooth functions of each error dynamic. By combining radial basis function neural networks' universal approximation capability with an adaptive backstepping technique, an adaptive neural control algorithm is proposed. It is shown that the proposed controller guarantees that all the signals in the closed-loop system are four-moment semiglobally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood of the origin in the sense of mean quartic value. Simulation results further show the effectiveness of the presented control scheme.
Hua, Changchun; Zhang, Liuliu; Guan, Xinping
2015-11-01
This paper studies the dynamic output feedback tracking control problem for stochastic interconnected time-delay systems with the prescribed performance. The subsystems are in the form of triangular structure. First, we design a reduced-order observer independent of time delay to estimate the unmeasured state variables online instead of the traditional full-order observer. Then, a new state transformation is proposed in consideration of the prescribed performance requirement. Using neural network to approximate the composite unknown nonlinear function, the corresponding decentralized output tracking controller is designed. It is strictly proved that the resulting closed-loop system is stable in probability in the sense of uniformly ultimately boundedness and that both transient-state and steady-state performances are preserved. Finally, a simulation example is given, and the result shows the effectiveness of the proposed control design method.
Based on interval type-2 adaptive fuzzy H∞ tracking controller for SISO time-delay nonlinear systems
Lin, Tsung-Chih; Roopaei, Mehdi
2010-12-01
In this article, based on the adaptive interval type-2 fuzzy logic, by adjusting weights, centers and widths of proposed fuzzy neural network (FNN), the modeling errors can be eliminated for a class of SISO time-delay nonlinear systems. The proposed scheme has the advantage that can guarantee the H∞ tracking performance to attenuate the lumped uncertainties caused by the unmodelled dynamics, the approximation error and the external disturbances. Moreover, the stability analysis of the proposed control scheme will be guaranteed in the sense that all the states and signals are uniformly bounded and arbitrary small attenuation level. The simulation results are demonstrated to show the effectiveness of the advocated design methodology.
Zhang, Huaguang; Song, Ruizhuo; Wei, Qinglai; Zhang, Tieyan
2011-12-01
In this paper, a novel heuristic dynamic programming (HDP) iteration algorithm is proposed to solve the optimal tracking control problem for a class of nonlinear discrete-time systems with time delays. The novel algorithm contains state updating, control policy iteration, and performance index iteration. To get the optimal states, the states are also updated. Furthermore, the "backward iteration" is applied to state updating. Two neural networks are used to approximate the performance index function and compute the optimal control policy for facilitating the implementation of HDP iteration algorithm. At last, we present two examples to demonstrate the effectiveness of the proposed HDP iteration algorithm.
Feng, Xin; Winters, Jack M
2011-01-01
Individualizing a neurorehabilitation training protocol requires understanding the performance of subjects with various capabilities under different task settings. We use multivariate regression to evaluate the performance of subjects with stroke-induced hemiparesis in trajectory tracking tasks using a force-reflecting joystick. A nonlinear effect was consistently shown in both dimensions of force field strength and impairment level for selected kinematic performance measures, with greatest sensitivity at lower force fields. This suggests that the form of a force field may play a different "role" for subjects with various impairment levels, and confirms that to achieve optimized therapeutic benefit, it is necessary to personalize interfaces.
Mu, Chaoxu; Ni, Zhen; Sun, Changyin; He, Haibo
2016-04-22
A data-driven adaptive tracking control approach is proposed for a class of continuous-time nonlinear systems using a recent developed goal representation heuristic dynamic programming (GrHDP) architecture. The major focus of this paper is on designing a multivariable tracking scheme, including the filter-based action network (FAN) architecture, and the stability analysis in continuous-time fashion. In this design, the FAN is used to observe the system function, and then generates the corresponding control action together with the reference signals. The goal network will provide an internal reward signal adaptively based on the current system states and the control action. This internal reward signal is assigned as the input for the critic network, which approximates the cost function over time. We demonstrate its improved tracking performance in comparison with the existing heuristic dynamic programming (HDP) approach under the same parameter and environment settings. The simulation results of the multivariable tracking control on two examples have been presented to show that the proposed scheme can achieve better control in terms of learning speed and overall performance.
Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations
Anh-Huy Vo; Quoc-Toan Truong; Ha-Quang-Thinh Ngo; Quoc-Chi Nguyen
2016-01-01
In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the v...
Target Tracking in 3-D Using Estimation Based Nonlinear Control Laws for UAVs
Mousumi Ahmed; Kamesh Subbarao
2016-01-01
...) to track a moving target in 3-D space. A ground-based sensor or an onboard seeker antenna provides range, azimuth angle, and elevation angle measurements to a chaser UAV that implements an extended Kalman filter (EKF...
Zhang, Huaguang; Cui, Lili; Zhang, Xin; Luo, Yanhong
2011-12-01
In this paper, a novel data-driven robust approximate optimal tracking control scheme is proposed for unknown general nonlinear systems by using the adaptive dynamic programming (ADP) method. In the design of the controller, only available input-output data is required instead of known system dynamics. A data-driven model is established by a recurrent neural network (NN) to reconstruct the unknown system dynamics using available input-output data. By adding a novel adjustable term related to the modeling error, the resultant modeling error is first guaranteed to converge to zero. Then, based on the obtained data-driven model, the ADP method is utilized to design the approximate optimal tracking controller, which consists of the steady-state controller and the optimal feedback controller. Further, a robustifying term is developed to compensate for the NN approximation errors introduced by implementing the ADP method. Based on Lyapunov approach, stability analysis of the closed-loop system is performed to show that the proposed controller guarantees the system state asymptotically tracking the desired trajectory. Additionally, the obtained control input is proven to be close to the optimal control input within a small bound. Finally, two numerical examples are used to demonstrate the effectiveness of the proposed control scheme.
Zhenxin He
2014-01-01
Full Text Available A continuous nonsingular fast terminal sliding mode (NFTSM control scheme with the extended state observer (ESO and the tracking differentiator (TD is proposed for second-order uncertain SISO nonlinear systems. The system’s disturbances and states can be estimated by introducing the ESO, then the disturbances are compensated effectively, and the ideal transient process of the system can be arranged based on TD to provide the target tracking signal and its high-order derivatives. The proposed controller obtains finite-time convergence property and keeps good robustness of sliding mode control (SMC for disturbances. Moreover, compared with conventional SMC, the proposed control law is continuous and no chattering phenomenon exists. The property of system stability is guaranteed by Lyapunov stability theory. The simulation results show that the proposed method can be employed to shorten the system reaching time, improve the system tracking precision, and suppress the system chattering and the input noise. The proposed control method is finally applied for the rotating control problem of theodolite servo system.
Han, Dong Ki; Chang, Pyung Hun [Korea Advanced Institute of Science and Technology, Daejeon (Korea, Republic of)
2010-08-15
We propose an enhanced controller to improve the robustness of Time Delay Control (TDC) for a robot manipulator in the presence of nonlinear friction, such as Coulomb friction. The problem of TDC is first analyzed with TDC as a trajectory control for a robot manipulator in the presence of nonlinear friction. Gradient estimation is used to solve this problem. The proposed controller is called TDC with Gradient Estimator (TDCGE). Comparing with a prior research to improve the robustness of TDC, named TDCSA, the TDCGE is much simpler to design. Through 1 DOF linear motor experiment, it is verified that the TDCGE is more robust against nonlinear friction than TDC and the TDCGE has a similar robustness to the TDCSA. In addition, it is confirmed that the TDCGE is easily implemented in the multi degree-of-freedom robot manipulator through a 3 DOF spatial robot manipulator experiment
Zhang, Huaguang; Wei, Qinglai; Luo, Yanhong
2008-08-01
In this paper, we aim to solve the infinite-time optimal tracking control problem for a class of discrete-time nonlinear systems using the greedy heuristic dynamic programming (HDP) iteration algorithm. A new type of performance index is defined because the existing performance indexes are very difficult in solving this kind of tracking problem, if not impossible. Via system transformation, the optimal tracking problem is transformed into an optimal regulation problem, and then, the greedy HDP iteration algorithm is introduced to deal with the regulation problem with rigorous convergence analysis. Three neural networks are used to approximate the performance index, compute the optimal control policy, and model the nonlinear system for facilitating the implementation of the greedy HDP iteration algorithm. An example is given to demonstrate the validity of the proposed optimal tracking control scheme.
Low-Complexity Tracking of Laser and Nonlinear Phase Noise in WDM Optical Fiber Systems
Yankov, Metodi Plamenov; Fehenberger, Tobias; Barletta, Luca;
2015-01-01
In this paper, the wavelength division multiplexed (WDM) fiber optic channel is considered. It is shown that for ideal distributed Raman amplification (IDRA), the Wiener process model is suitable for the non-linear phase noise due to cross phase modulation from neighboring channels. Based...
Chaoyang Dong
2015-01-01
Full Text Available This paper is concerned with the robust fault-tolerant tracking control problem for networked control system (NCS. Firstly, considering the locally overlapped switching law widely existed in engineering applications, the NCS is modeled as a locally overlapped switched polytopic system to reduce designing conservatism and solving complexity. Then, switched parameter dependent fault-tolerant tracking controllers are constructed to deal with the asynchronous switching phenomenon caused by the updating delays of the switching signals and weighted coefficients. Additionally, the global uniform asymptotic stability in the mean (GUAS-M and desired weighted l2 performance are guaranteed by combining the switched parameter dependent Lyapunov functional method with the average dwell time (ADT method, and the feasible conditions for the fault-tolerant tracking controllers are obtained in the form of linear matrix inequalities (LMIs. Finally, the performance of the proposed approach is verified on a highly maneuverable technology (HiMAT vehicle’s tracking control problem. Simulation results show the effectiveness of the proposed method.
刘允刚; 张纪峰; 潘子刚
2003-01-01
In this paper, the design problem of satisfaction output feedback controls for stochastic nonlinear systems in strict feedback form under long-term tracking risk-sensitive index is investigated.The index function adopted here is of quadratic form usually encountered in practice, rather than of quartic one used to beg the essential difficulty on controller design and performance analysis of the closed-loop systems. For any given risk-sensitive parameter and desired index value, by using the integrator backstepping method, an output feedback control is constructively designed so that the closed-loop system is bounded in probability and the risk-sensitive index is upper bounded by the desired value.
Li, Xiao-Dong; Lv, Mang-Mang; Ho, John K. L.
2016-07-01
In this article, two adaptive iterative learning control (ILC) algorithms are presented for nonlinear continuous systems with non-parametric uncertainties. Unlike general ILC techniques, the proposed adaptive ILC algorithms allow that both the initial error at each iteration and the reference trajectory are iteration-varying in the ILC process, and can achieve non-repetitive trajectory tracking beyond a small initial time interval. Compared to the neural network or fuzzy system-based adaptive ILC schemes and the classical ILC methods, in which the number of iterative variables is generally larger than or equal to the number of control inputs, the first adaptive ILC algorithm proposed in this paper uses just two iterative variables, while the second even uses a single iterative variable provided that some bound information on system dynamics is known. As a result, the memory space in real-time ILC implementations is greatly reduced.
Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs
Dictino Chaos; David Moreno-Salinas; Rocío Muñoz-Mansilla; Joaquín Aranda
2013-01-01
This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientat...
Quaternion-based nonlinear trajectory tracking control of a quadrotor unmanned aerial vehicle
Zha, Changliu; Ding, Xilun; Yu, Yushu; Wang, Xueqiang
2017-01-01
At present, most controllers of quadrotor unmanned aerial vehicles(UAVs) use Euler angles to express attitude. These controllers suffer a singularity problem when the pitch angle is near 90°C, which limits the maneuverability of the UAV. To overcome this problem, based on the quaternion attitude representation, a 6 degree of freedom(DOF) nonlinear controller of a quadrotor UAV is designed using the trajectory linearization control(TLC) method. The overall controller contains a position sub-controller and an attitude sub-controller. The two controllers regulate the translational and rotational motion of the UAV, respectively. The controller is improved by using the commanded value instead of the nominal value as the input of the inner control loop. The performance of controller is tested by simulation before and after the improvement, the results show that the improved controller is better. The proposed controller is also tested via numerical simulation and real flights and is compared with the traditional controller based on Euler angles. The test results confirm the feasibility and the robustness of the proposed nonlinear controller. The proposed controller can successfully solve the singularity problem that usually occurs in the current attitude control of UAV and it is easy to be realized.
Hua, Changchun; Zhang, Liuliu; Guan, Xinping
2017-01-01
This paper studies the problem of distributed output tracking consensus control for a class of high-order stochastic nonlinear multiagent systems with unknown nonlinear dead-zone under a directed graph topology. The adaptive neural networks are used to approximate the unknown nonlinear functions and a new inequality is used to deal with the completely unknown dead-zone input. Then, we design the controllers based on backstepping method and the dynamic surface control technique. It is strictly proved that the resulting closed-loop system is stable in probability in the sense of semiglobally uniform ultimate boundedness and the tracking errors between the leader and the followers approach to a small residual set based on Lyapunov stability theory. Finally, two simulation examples are presented to show the effectiveness and the advantages of the proposed techniques.
Qin Zou
2015-01-01
Full Text Available The control problem of a flexible hypersonic vehicle is presented, where input saturation and aerodynamic uncertainty are considered. A control-oriented model including aerodynamic uncertainty is derived for simple controller design due to the nonlinearity and complexity of hypersonic vehicle model. Then it is separated into velocity subsystem and altitude subsystem. On the basis of the integration of robust adaptive control and backstepping technique, respective controller is designed for each subsystem, where an auxiliary signal provided by an additional dynamic system is used to compensate for the control saturation effect. Then to deal with the “explosion of terms” problem inherent in backstepping control, a novel first-order filter is proposed. Simulation results are included to demonstrate the effectiveness of the adaptive backstepping control scheme.
Nonlinear Control for Trajectory Tracking of a Nonholonomic RC-Hovercraft with Discrete Inputs
Dictino Chaos
2013-01-01
Full Text Available This work studies the problem of trajectory tracking for an underactuated RC-hovercraft, the control of which must be done by means of discrete inputs. Thus, the aim is to control a vehicle with very simple propellers that produce only a discrete set of control commands, and with minimal information about the dynamics of the actuators. The control problem is approached as a cascade control problem, where the outer loop stabilizes the position error, and the inner loop stabilizes the orientation of the vehicle. Stability of the controller is theoretically demonstrated and the robustness of the control law against disturbances and noise is established. Simulation examples and experiments on a real setup validate the control law showing the real system to be robust against disturbances, noise, and outdated dynamics.
Robust finite-time tracking control for nonlinear suspension systems via disturbance compensation
Pan, Huihui; Jing, Xingjian; Sun, Weichao
2017-05-01
This paper focuses on the finite-time tracking control with external disturbance for active suspension systems. In order to compensate unknown disturbance efficiently, a disturbance compensator with finite-time convergence property is studied. By analyzing the discontinuous phenomenon of classical disturbance compensation techniques, this study presents a simple approach to construct a continuous compensator satisfying the finite-time disturbance rejection performance. According to the finite-time separation principle, the design procedures of the nominal controller for the suspension system without disturbance and the disturbance compensator can be implemented in a completely independent manner. Therefore, the overall control law for the closed-loop system is continuous, which offers some distinct advantages over the existing discontinuous ones. From the perspective of practical implementation, the continuous controller can avoid effectively the unexpected chattering in active suspension control. Comparative experimental results are presented and discussed to illustrate the advantage and effectiveness of the proposed control strategy.
Particle filter initialization in non-linear non-Gaussian radar target tracking
无
2007-01-01
When particle filter is applied in radar target tracking,the accuracy of the initial particles greatly effects the results of filtering. For acquiring more accurate initial particles,a new method called"competition strategy algorithm"is presented.In this method,initial measurements give birth to several particle groups around them,regularly.Each of the groups is tested several times,separately,in the beginning periods,and the group that has the most number of efficient particles is selected as the initial particles.For this method,sample initial particles selected are on the basis of several measurements instead of only one first measurement,which surely improves the accuracy of initial particles.The method sacrifices initialization time and computation cost for accuracy of initial particles. Results of simulation show that it greely improves the accuracy of initial particles,which makes the effect of filtering much better.
Joaquim Monteiro
2017-06-01
Full Text Available This paper proposes a Direct Matrix Converter operating as a Unified Power Flow Controller (DMC-UPFC with an advanced control method for UPFC, based on the Lyapunov direct method, presenting good results in power quality assessment. This control method is used for real-time calculation of the appropriate matrix switching state, determining which switching state should be applied in the following sampling period. The control strategy takes into account active and reactive power flow references to choose the vector converter closest to the optimum. Theoretical principles for this new real-time vector modulation and control applied to the DMC-UPFC with input filter are established. The method needs DMC-UPFC dynamic equations to be solved just once in each control cycle, to find the required optimum vector, in contrast to similar control methods that need 27 vector estimations per control cycle. The designed controller’s performance was evaluated using Matlab/Simulink software. Controllers were also implemented using a digital signal processing (DSP system and matrix hardware. Simulation and experimental results show decoupled transmission line active (P and reactive (Q power control with zero theoretical error tracking and fast response. Output currents and voltages show small ripple and low harmonic content.
一种非线性航迹自适应跟踪控制方法%Adaptive tracking control method for nonlinear trajectory
缪存孝; 房建成; 盛蔚
2012-01-01
For flight trajectory tracking accuracy and quality problem of small unmanned aerial vehicle（SUAV）,an adaptive tracking control method for nonlinear trajectory was proposed.Waypoints were fitted utilizing five-order B-spline to built nonlinear desired trajectory.The location and crossing heading error equations were established within the Serret-Frenet coordinates.The asymptotically stable convergence adaptive crossing heading law was designed based on the error formulations.The flight experimental results show that the proposed adaptive tracking control method are effective and can improve the tracking accuracy.%针对小型无人飞行器航迹跟踪精度和飞行品质问题,提出了一种基于非线性航迹的自适应跟踪控制方法.应用五阶B样条拟合航点,构建非线性期望航迹;建立基于非线性期望航迹Serret-Frenet坐标系下的位置和运动航向误差方程;根据误差方程设计渐近稳定收敛的自适应运动航向控制律.并应用此方法进行了外场飞行实验,实验结果表明自适应航迹跟踪控制方法有效且能保证航迹跟踪精度.
Adaptive Fractional Fuzzy Sliding Mode Control for Multivariable Nonlinear Systems
Junhai Luo; Heng Liu
2014-01-01
This paper presents a robust adaptive fuzzy sliding mode control method for a class of uncertain nonlinear systems. The fractional order calculus is employed in the parameter updating stage. The underlying stability analysis as well as parameter update law design is carried out by Lyapunov based technique. In the simulation, two examples including a comparison with the traditional integer order counterpart are given to show the effectiveness of the proposed method. The main contribution of th...
Vahid Azimi; Mohammad Bagher Menhaj; Ahmad Fakharian
2015-04-01
In this paper, a robust H2/H∞ control with regional Pole-Placement is considered for tool position control of a nonlinear uncertain flexible robot manipulator. The uncertain nonlinear system is first approximated by Takagi and Sugeno's (T-S) fuzzy model. To achieve a better tracking, an extra state (error of tracking) is then augmented to the T-S model. Based on each local linear subsystem with augmented state, a regional pole-placement state feedback H2/H∞ controller is properly designed via linear matrix inequality (LMI) approach. Parallel Distributed Compensation (PDC) is also used to establish the whole controller for the overall system and the total linear system is obtained by using the weighted sum of the local linear systems. A fuzzy weighted online computation (FWOC) component is employed to update fuzzy weights in real time for different operating points of the system. Simula-tion results are presented to validate the effectiveness of the proposed controller like robustness and good load disturbance attenuation and accurate tracking, even in the presence of parameter variations and also load disturbances on the motor and the tool. The superiority of the proposed control scheme is finally highlighted in comparison with the Quantitative feedback theory (QFT) controller, the QFT controller of order 13, a polynomial controller and the so-called linear sliding-mode controller methods.
Zhu, Shengyang; Cai, Chengbiao; Spanos, Pol D.
2015-01-01
A nonlinear and fractional derivative viscoelastic (FDV) model is used to capture the complex behavior of rail pads. It is implemented into the dynamic analysis of coupled vehicle-slab track (CVST) systems. The vehicle is treated as a multi-body system with 10 degrees of freedom, and the slab track is represented by a three layer Bernoulli-Euler beam model. The model for the rail pads is one dimensional, and the force-displacement relation is based on a superposition of elastic, friction, and FDV forces. This model takes into account the influences of the excitation frequency and of the displacement amplitude through a fractional derivative element, and a nonlinear friction element, respectively. The Grünwald representation of the fractional derivatives is employed to numerically solve the fractional and nonlinear equations of motion of the CVST system by means of an explicit integration algorithm. A dynamic analysis of the CVST system exposed to excitations of rail harmonic irregularities is carried out, pointing out the stiffness and damping dependence on the excitation frequency and the displacement amplitude. The analysis indicates that the dynamic stiffness and damping of the rail pads increase with the excitation frequency while they decrease with the displacement amplitude. Furthermore, comparisons between the proposed model and ordinary Kelvin model adopted for the CVST system, under excitations of welded rail joint irregularities and of random track irregularities, are conducted in the time domain as well as in the frequency domain. The proposed model is shown to possess several modeling advantages over the ordinary Kelvin element which overestimates both the stiffness and damping features at high frequencies.
Niu, Ben; Qin, Tian; Fan, Xiaodong
2016-10-01
In this paper, an adaptive neural network tracking control approach is proposed for a class of switched stochastic pure-feedback nonlinear systems with backlash-like hysteresis. In the design procedure, an affine variable is constructed, which avoids the use of the mean value theorem, and the additional first-order low-pass filter is employed to deal with the problem of explosion of complexity. Then, a common Lyapunov function and a state feedback controller are explicitly obtained for all subsystems. It is proved that the proposed controller that guarantees all signals in the closed-loop system are semi-globally uniformly ultimately bounded and the tracking error remains an adjustable neighbourhood of the origin. Finally, simulation results show the effectiveness of the presented control design approach.
Nonlinear Feedforward Control for Spacecraft Relative Attitude Tracking%航天器相对姿态跟踪的非线性前馈控制
铁钰嘉; 杨伟; 岳晓奎
2011-01-01
The spacecraft relative attitude kinematics and dynamics based on modified rodrigues parameters(MRP) were proposed in the presence of serious nonlinear and controller design complexity during spacecraft relative attitude tracking control. A nonlinear feedforward controller was designed using Lyapunov method. The control law can not only ensure global asymptotic steady of close-loop system, but also make relative attitude tracking errors converge to zero field speedily. By using Matlab/Simulink programming, the modeling and simulation of spacecraft relative attitude tracking were discussed. Numerical simulations are exploited to verify the effectiveness of the model and control law.%针对航天器相对姿态跟踪过程中严重的非线性及控制器设计的复杂性,建立了基于修正罗德里格斯参数的航天器相对姿态运动学和动力学方程并根据Lyapunov直接法设计了非线性前馈控制律.设计的控制律不仅保证闭环系统稳定,还使得航天器相对姿态跟踪误差快速收敛到零点邻域内.通过在Matlab/Simulink环境下对航天器相对姿态跟踪进行数值仿真,验证了建立模型和设计控制律的有效性.
Approximate N-Player Nonzero-Sum Game Solution for an Uncertain Continuous Nonlinear System.
Johnson, Marcus; Kamalapurkar, Rushikesh; Bhasin, Shubhendu; Dixon, Warren E
2015-08-01
An approximate online equilibrium solution is developed for an N -player nonzero-sum game subject to continuous-time nonlinear unknown dynamics and an infinite horizon quadratic cost. A novel actor-critic-identifier structure is used, wherein a robust dynamic neural network is used to asymptotically identify the uncertain system with additive disturbances, and a set of critic and actor NNs are used to approximate the value functions and equilibrium policies, respectively. The weight update laws for the actor neural networks (NNs) are generated using a gradient-descent method, and the critic NNs are generated by least square regression, which are both based on the modified Bellman error that is independent of the system dynamics. A Lyapunov-based stability analysis shows that uniformly ultimately bounded tracking is achieved, and a convergence analysis demonstrates that the approximate control policies converge to a neighborhood of the optimal solutions. The actor, critic, and identifier structures are implemented in real time continuously and simultaneously. Simulations on two and three player games illustrate the performance of the developed method.
Zhang, Dayu; Luo, Jianjun; Gao, Dengwei; Ma, Weihua; Yuan, Jianping
2017-09-01
This paper studies the control of flexible chaser spacecraft to track and rendezvous with a rotating non-cooperative target accompanied by translational maneuver. The problem is formulated that the chaser spacecraft is required to track target position and be synchronized with its attitude precisely. Meanwhile, the elastic vibration, induced by large angular maneuver in the tracking process, needs to be reduced. With respect to this unique movement of target, a novel modified θ - D control method, derived by standard θ - D algorithm and Lyapunov min-max value theorem, is proposed to incorporate position, attitude and flexural motion into one united control frame. The modification term in the proposed control method is dealt with target translational maneuver, which is the primary contribution in this paper. The asymptotically stability of closed-loop system is proved via the Lyapunov theory and Lyapunov min-max value theorem. Numerical results demonstrate an excellent tracking performance of proposed united control frame even under large inertia uncertainties.
Chen, Syuan-Yi; Gong, Sheng-Sian
2017-09-01
This study aims to develop an adaptive high-precision control system for controlling the speed of a vane-type air motor (VAM) pneumatic servo system. In practice, the rotor speed of a VAM depends on the input mass air flow, which can be controlled by the effective orifice area (EOA) of an electronic throttle valve (ETV). As the control variable of a second-order pneumatic system is the integral of the EOA, an observation-based adaptive dynamic sliding-mode control (ADSMC) system is proposed to derive the differential of the control variable, namely, the EOA control signal. In the ADSMC system, a proportional-integral-derivative fuzzy neural network (PIDFNN) observer is used to achieve an ideal dynamic sliding-mode control (DSMC), and a supervisor compensator is designed to eliminate the approximation error. As a result, the ADSMC incorporates the robustness of a DSMC and the online learning ability of a PIDFNN. To ensure the convergence of the tracking error, a Lyapunov-based analytical method is employed to obtain the adaptive algorithms required to tune the control parameters of the online ADSMC system. Finally, our experimental results demonstrate the precision and robustness of the ADSMC system for highly nonlinear and time-varying VAM pneumatic servo systems.
Formation design and nonlinear control of spacecraft formation flying
Wong, Hong
reference control. Using a Lyapunov-based approach, a full state feedback control law, a parameter update algorithm, and a model reference control estimate are designed that facilitate the tracking of given periodic reference trajectories in the presence of unknown leader and follower spacecraft masses. Furthermore, using a discrete Lyapunov-type stability analysis, model reference control error is shown to converge to zero. Illustrative simulations are included to demonstrate the efficacy of the proposed controllers. The third part of this research explores the feasibility of using the effects of J2 perturbations as a mechanism to deploy pico-satellites (e.g., cubesats) to create a spacecraft constellation. Specifically, using two deployer spacecraft, both moving on polar Earth orbits, we insert one hundred cubesats into sparsely populated 60 degree inclination orbits around the Earth using a change in orbital inclination only. We also outline a proof-of-concept single stage propulsion system that provides necessary propulsive input for the velocity change needed for the orbital inclination change of cubesats. A series of illustrative simulations are given to demonstrate that sufficient and effective coverage of the Earth is achieved using the designed cubesat constellation. (Abstract shortened by UMI.)
Tossaporn Chamsai
2015-01-01
Full Text Available The sliding mode control (SMC technique with a first-order low-pass filter (LPF is incorporated with a new adaptive PID controller. It is proposed for tracking control of an uncertain nonlinear system. In the proposed control scheme, the adaptation law is able to update the PID controller online during the control process within a short period. The chattering phenomenon of the SMC can be alleviated by incorporation of a first-order LPF, while the robustness of the control system is similar to that of the sliding mode. In the closed-loop control analysis, the convergence condition in the reaching phase and the existence condition of the sliding mode were analyzed. The stability of the closed-loop control is guaranteed in the sense of Lyapunov’s direct method. The simulations and experimental applications of a speed tracking control of a spark ignition (SI engine via electronic throttle valve control architecture are provided to verify the effectiveness and the feasibility of the proposed control scheme.
Robust Nonlinear Regulation of Limit Cycle Oscillations in UAVs Using Synthetic Jet Actuators
Natalie Ramos Pedroza
2014-09-01
Full Text Available In this paper, a synthetic jet actuators (SJA-based nonlinear robust controller is developed, which is capable of completely suppressing limit cycle oscillations (LCO in UAV systems with parametric uncertainty in the SJA dynamics and unmodeled external disturbances. Specifically, the control law compensates for uncertainty in an input gain matrix, which results from the unknown airflow dynamics generated by the SJA. Challenges in the control design include compensation for input-multiplicative parametric uncertainty in the actuator dynamic model. The result was achieved via innovative algebraic manipulation in the error system development, along with a Lyapunov-based robust control law. A rigorous Lyapunov-based stability analysis is utilized to prove asymptotic LCO suppression, considering a detailed dynamic model of the pitching and plunging dynamics. Numerical simulation results are provided to demonstrate the robustness and practical performance of the proposed control law.
Ghiasi, Mohammad Iman; Aliakbar Golkar, Masoud; Hajizadeh, Amin
2017-01-01
This paper presents a distributed control strategy based on Fuzzy-Sliding Mode Control (FSMC) for power control of an infrastructure integrated with a DC-Microgrid, which includes photovoltaic, fuel cell and energy storage systems with Plug-in Electric Vehicles (PEVs). In order to implement...... the proposed control strategy, first a general nonlinear modeling of a DC-Microgrid based on related DC-DC converters to each DC power sources is introduced. Secondly, a power management strategy based on fuzzy control for regulating the power flow between the hybrid DC sources, PEVs is proposed. Third...
Adaptive Fractional Fuzzy Sliding Mode Control for Multivariable Nonlinear Systems
Junhai Luo
2014-01-01
Full Text Available This paper presents a robust adaptive fuzzy sliding mode control method for a class of uncertain nonlinear systems. The fractional order calculus is employed in the parameter updating stage. The underlying stability analysis as well as parameter update law design is carried out by Lyapunov based technique. In the simulation, two examples including a comparison with the traditional integer order counterpart are given to show the effectiveness of the proposed method. The main contribution of this paper consists in the control performance is better for the fractional order updating law than that of traditional integer order.
Zanderigo, Francesca; Bertoldo, Alessandra; Pillonetto, Gianluigi; Cobelli Ast, Claudio
2009-05-01
An accurate characterization of tissue residue function R(t) in bolus-tracking magnetic resonance imaging is of crucial importance to quantify cerebral hemodynamics. R(t) estimation requires to solve a deconvolution problem. The most popular deconvolution method is singular value decomposition (SVD). However, SVD is known to bear some limitations, e.g., R(t) profiles exhibit nonphysiological oscillations and take on negative values. In addition, SVD estimates are biased in presence of bolus delay and dispersion. Recently, other deconvolution methods have been proposed, in particular block-circulant SVD (cSVD) and Tikhonov regularization (TIKH). Here we propose a new method based on nonlinear stochastic regularization (NSR). NSR is tested on simulated data and compared with SVD, cSVD, and TIKH in presence and absence of bolus dispersion. A clinical case in one patient has also been considered. NSR is shown to perform better than SVD, cSVD, and TIKH in reconstructing both the peak and the residue function, in particular when bolus dispersion is considered. In addition, differently from SVD, cSVD, and TIKH, NSR always provides positive and smooth R(t).
Dynamic neural network-based robust observers for uncertain nonlinear systems.
Dinh, H T; Kamalapurkar, R; Bhasin, S; Dixon, W E
2014-12-01
A dynamic neural network (DNN) based robust observer for uncertain nonlinear systems is developed. The observer structure consists of a DNN to estimate the system dynamics on-line, a dynamic filter to estimate the unmeasurable state and a sliding mode feedback term to account for modeling errors and exogenous disturbances. The observed states are proven to asymptotically converge to the system states of high-order uncertain nonlinear systems through Lyapunov-based analysis. Simulations and experiments on a two-link robot manipulator are performed to show the effectiveness of the proposed method in comparison to several other state estimation methods.
孙宗耀; 刘允刚
2008-01-01
The problem of adaptive practical output tracking control is studied for a class of high-order nonlinear uncertain systems, which has been investigated under the assumption that the lower bounds of the unknown control coefficients are exactly known. Based on the idea of the new robust adaptive control and the continuous stabilization, this assumption is successfully removed. By means of adding a power integrator, a system- atic approach is developed to construct a continuous adaptive practical output tracking controller, which guarantees that all the states of the closed-loop system are giobally stable, while the tracking error can be bounded by any given positive num- ber after a finite time. Finally, a simulation example is given to illustrate the correctness of the theoretical results.
Tracking Control of Autonomous Underwater Vehicles with Internal Moving Mass%自主水下航行器的变质心跟踪控制
李家旺; 宋保维; 邵成
2008-01-01
The trajectory-tracking control problem is inves-tigated for an autonomous underwater vehicle (AUV) moving in the vertical plane using an internal point mass and a rear thruster as actuators. Combined with the dynamics of the point mass, the AUV is modeled as an underactuated system. A Lyapunov-based tracking controller is proposed by using back-stepping approach to stabilize the error dynamics and forcc the position errors to a small neighborhood of thc origin. Simulation results validate the proposcd tracking approach.
On stability of randomly switched nonlinear systems
Chatterjee, Debasish
2007-01-01
This article is concerned with stability analysis and stabilization of randomly switched nonlinear systems. These systems may be regarded as piecewise deterministic stochastic systems: the discrete switches are triggered by a stochastic process which is independent of the state of the system, and between two consecutive switching instants the dynamics are deterministic. Our results provide sufficient conditions for almost sure global asymptotic stability using Lyapunov-based methods when individual subsystems are stable and a certain ``slow switching'' condition holds. This slow switching condition takes the form of an asymptotic upper bound on the probability mass function of the number of switches that occur between the initial and current time instants. This condition is shown to hold for switching signals coming from the states of finite-dimensional continuous-time Markov chains; our results therefore hold for Markov jump systems in particular. For systems with control inputs we provide explicit control s...
刁琛; 鲜斌; 古训; 赵勃; 郭建川
2012-01-01
A new nonlinear tracking controller is presented for an underactuated quadrotor unmanned aerial vehicle(UAV)subjected to parametric uncertainties.A continuous nonlinear robust control design is combined with an on-line parameter estimation scheme to develop the control law.A Lyapunov based stability analysis is used to prove that asymptotic tracking of the quadrotor UAV's position and regulation of yaw orientation are achieved under parametric uncertainties.Compared with the sliding mode based control approaches,the proposed control design is free of chattering.Numerical simulation results of a 6 DOF quadrotor UAV model show that the proposed control strategy has good tracking performance.%针对具有参数不确定性的欠驱动四旋翼无人飞行器,设计了一种非线性飞行控制器.该控制器主要采用非线性鲁棒以及在线参数估计算法.利用基于李亚普诺夫稳定性分析方法,证明了这种控制器可以使四旋翼无人飞行器的x,y,z方向的位移跟踪参考轨迹,偏航角ψ稳定到任意点,并且达到全局最终稳定的控制效果.同时相对于一般的滑模控制算法,本文提出的控制器消除了颤振现象.数值仿真结果表明,本文提出的控制设计具有良好的控制效果.
Şeker, Murat; Zergeroğlu, Erkan; Tatlicioğlu, Enver
2016-01-01
In this study, a robust backstepping approach for the control problem of the variable-speed wind turbine with a permanent magnet synchronous generator is presented. Specifically, to overcome the negative effects of parametric uncertainties in both mechanical and electrical subsystems, a robust controller with a differentiable compensation term is proposed. The proposed methodology ensures the generator velocity tracking error to uniformly approach a small bound where practical tracking is achieved. Stability of the overall system is ensured by Lyapunov-based arguments. Comparative simulation studies with a standard proportional-integral-type controller are performed to illustrate the effectiveness, feasibility and efficiency of the proposed controller.
Sliding mode tracking control for miniature unmanned helicopters
Bin Xian
2015-02-01
Full Text Available A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter’s dynamic model is divided into two subsystems, such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles’ dynamic effects and external disturbances. The global asymptotic stability (GAS of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportional-integral-derivative (PID and linear-quadratic regulator (LQR cascaded controller in the presence of wind gust disturbances.
Sliding mode tracking control for miniature unmanned helicopters
Xian Bin; Guo Jianchuan; Zhang Yao; Zhao Bo
2015-01-01
A sliding mode control design for a miniature unmanned helicopter is presented. The control objective is to let the helicopter track some predefined velocity and yaw trajectories. A new sliding mode control design method is developed based on a linearized dynamic model. In order to facilitate the control design, the helicopter’s dynamic model is divided into two subsystems, such as the longitudinal-lateral and the heading-heave subsystem. The proposed controller employs sliding mode control technique to compensate for the immeasurable flapping angles’ dynamic effects and external disturbances. The global asymptotic stability (GAS) of the closed-loop system is proved by the Lyapunov based stability analysis. Numerical simulations demonstrate that the proposed controller can achieve superior tracking performance compared with the proportional-integral-derivative (PID) and linear-quadratic regulator (LQR) cascaded controller in the presence of wind gust disturbances.
陈为胜; 李俊民
2005-01-01
An adaptive output feedback neural network tracking controller is designed for a class of unknown output feedback nonlinear time-delay systems by using backstepping technique. Neural networks are used to approximate unknown time-delay functions. Delay-dependent filters are introduced for state estimation. The domination method is used to deal with the smooth time-delay basis functions. The adaptive bounding technique is employed to estimate the upper bound of the neural network reconstruction error. Based on Lyapunov-Krasoviskii functional, the semi-global uniform ultimate boundedness (SGUUB) of all the signals in the closed-loop system is proved. The arbitrary output tracking accuracy is achieved by tuning the design parameters and the neural node number.The feasibility is investigated by an illustrative simulationexample.
雷晓燕; 吴神花; 张斌
2016-01-01
运用有限元法建立车辆-轨道非线性耦合系统振动分析模型，该模型包含车辆、轨道两个子系统，其中车辆子系统为附有二系弹簧的整车模型，轨道结构子系统为离散的三层弹性梁模型。两子系统通过轮轨非线性接触力和位移协调条件实现耦合。针对车辆-轨道非线性耦合系统动力学方程提出了交叉迭代算法。为加速迭代收敛速度，引入松弛法对轮轨接触力进行修正。为证明算法的正确性，进行了算例验证。同时还给出了CRH3高速动车在有砟轨道上运行时引起车辆和轨道振动的实例，分析中考虑了轮轨线性和非线性接触及不同列车速度对车辆和轨道结构振动的影响。计算结果表明交叉迭代算法具有程序编制简单、收敛速度快、用时少、精度高的优点；采用轮轨线性接触模型得到的车辆和轨道结构的动力响应比轮轨非线性接触模型得到的结果要大，其中位移、加速度最大值和振幅增大范围约在15%以内，轮轨接触力最大值和振幅增大范围约在5%以内。%A model for dynamic analysis of a vehicle-track nonlinear coupling system is established by finite element method. The system is divided into two subsystems, i.e. the vehicle subsystem considered as the secondary spring vehicle model and the track subsystem regarded as the model of three discrete elastic beams. Coupling of the two systems is achieved by equilibrium conditions of wheel-rail nonlinear contact forces and geometrical compatibility conditions. A cross-iterative algorithm is presented to solve the dynamics equations of the vehicles-track nonlinear coupling system. In order to accelerate the iterative convergence rate, the relaxation technique is employed to correct the wheel-rail contact force. Comparing with the example in a reference, the correctness of the algorithm is verified. Examples of the vehicle and track vibration induced by the high
Luk, Eric K.; Fagan, Anthony D.
1994-03-01
The performance of microwave digital radio systems is severely degraded by multipath fading and also by the nonlinear power amplifier at the transmitter, the combined effects of these result in a time varying nonlinear channel. In this paper, the multilayer perceptron (MLP) based equalizer is investigated for use on such channels. It is found to outperform the conventional approach, that is, the use of a transversal equalizer at the receiver operating with a signal predistorter placed before the non-linear power amplifier at the transmitter. An L- level non-linear function is used as a node activation for the MLP. Two update schemes are investigated, one being a complex version of the back propagation algorithm, the other a complex version of the delta-bar-delta algorithm.
Robust control methods for nonlinear systems with uncertain dynamics and unknown control direction
Ton, Chau T.
Robust nonlinear control design strategies using sliding mode control (SMC) and integral SMC (ISMC) are developed, which are capable of achieving reliable and accurate tracking control for systems containing dynamic uncertainty, unmodeled disturbances, and actuator anomalies that result in an unknown and time-varying control direction. In order to ease readability of this dissertation, detailed explanations of the relevant mathematical tools is provided, including stability denitions, Lyapunov-based stability analysis methods, SMC and ISMC fundamentals, and other basic nonlinear control tools. The contributions of the dissertation are three novel control algorithms for three different classes of nonlinear systems: single-input multipleoutput (SIMO) systems, systems with model uncertainty and bounded disturbances, and systems with unknown control direction. Control design for SIMO systems is challenging due to the fact that such systems have fewer actuators than degrees of freedom to control (i.e., they are underactuated systems). While traditional nonlinear control methods can be utilized to design controllers for certain classes of cascaded underactuated systems, more advanced methods are required to develop controllers for parallel systems, which are not in a cascade structure. A novel control technique is proposed in this dissertation, which is shown to achieve asymptotic tracking for dual parallel systems, where a single scalar control input directly aects two subsystems. The result is achieved through an innovative sequential control design algorithm, whereby one of the subsystems is indirectly stabilized via the desired state trajectory that is commanded to the other subsystem. The SIMO system under consideration does not contain uncertainty or disturbances. In dealing with systems containing uncertainty in the dynamic model, a particularly challenging situation occurs when uncertainty exists in the input-multiplicative gain matrix. Moreover, special
NONLINEAR PREDICTIVE CONTROL FOR TERRAIN FOLLOWING
1998-01-01
A nonlinear continuous predictive control method was used for design of cruise missile terrain-following controller. A performance index which combined the tracking error and rate of tracking error is presented. Then an optimal nonlinear feedback control law is generated to minimize the performance index. The tracking performance and robustness of controller are discussed. The advantage of the control law is demonstrated by successfully designing cruise missile terrain following controllers. The results show that the controller exhibits robustness and excellent tracking performance.
王秋平; 左玲; 康顺
2011-01-01
为解决非线性部分状态卡尔曼滤波算法中由于线性化误差所导致的滤波精度下降问题,提出采用UT变换方法计算系统状态误差方差,及基于新息自适应调整系统噪声方差,进而构成一种新的非线性自适应部分状态卡尔曼滤波算法,并总结出详细算法结构.同时,将此方法应用到非线性测量光电跟踪系统中,并与U卡尔曼滤波和非线性部分状态卡尔曼滤波进行性能对比.仿真实验结果证明,将UT变换和基于新息自适应调整系统噪声方差方法引入部分状态卡尔曼滤波是有效的,而且其性能明显优于U卡尔曼滤波和非线性部分状态卡尔曼滤波.%In order to solve the problem of accuracy decline caused by the linearization error in nonlinear reduced state Kalman filter, a new nonlinear adaptive reduced state Kalman filter algorithm is provided by using UT transformation to calculate the covariance of the system state error and modify adaptively the system noise covariance based on innovation,and the algorithm structure is summarized in detail. Then, the algorithm is applied in nonlinear measurement electro-optical tracking system and the performances of nonlinear adaptive reduced state Kalman filter were compared with unscented Kalman filter and nonlinear reduced state Kalman filter. The Matlab simulation results show that applying UT transformation and modifying adaptively the system noise covariance based on innovation in reduced state Kalman filter is valid, and the performance outperforms those of the unscented Kalman filter and nonlinear reduced state Kalman filter.
赵鹏; 姚敏立; 陆长捷; 胡友涛
2011-01-01
针对典型跟踪微分器函数形式复杂、稳定性差和输出振颤明显的问题,设计了一种改进的高稳定性快速收敛非线性-线性跟踪微分器(MTD).首先通过引入非线性奇指数函数环节和线性函数环节构造MTD的跟踪函数,然后利用李雅普诺夫直接法和系统等价性证明MTD的全局渐近稳定性,最后通过对参数物理意义和参数变化对跟踪输出精度影响的分析得到MTD参数整定规则.跟踪过程中,当状态与平衡点距离较远时,MTD以非线性环节为跟踪函数主体驱动状态向平衡点快速收敛,以提高系统输出的跟踪速度；当状态与平衡点接近时,MTD以线性环节为跟踪函数主体驱动状态平稳逼近平衡点,以抑制系统输出振颤.仿真表明,MTD参数容易整定,与典型跟踪微分器相比,MTD在系统稳定性、收敛速度和输出平稳性方面具有优势,且具有滤波功能.%A modified nonlinear-linear tracking differentiator (MTD) with high stability and high speed is proposed to improve the performance of tracking differentiator (TD) with complicated function, poor stability and obvious chatter. A combination of a nonlinear odd exponent function and a linear function are introduced into the MTD as a tracking function, and then the global asymptotic stability of MTD is proved using Lyapunov's direct method and the equivalence of systems. The principle of parameter tuning is deduced through analyzing the physical meaning and effects of parameters on accuracy of system outputs. In the signal tracking process, the fast convergence to equilibrium point is mainly achieved by the nonlinear exponent function when the state is far away from the equilibrium point, and the linear function works as a main portion in the convergence to generate the output without chattering when the state is near the equilibrium point. Simulation results show that tuning of MTD parameters are simple, and that the performance of MTD is better than
李荣冰; 黄隽祎; 刘建业; 谢非
2014-01-01
Doppler shift and signal power attenuation in the complex environment both can make damage in the accuracy of carrier tracking. Therefore, the non-linear Kalman filter for carrier tracking is designed, which makes correlated observations in the EKF and UKF model based on the analysis of the structure of BeiDou B1 signal. By using measurements from the estimation of filtering in feedback control of the carrier tracking loop, higher and more stable performance can be given in high dynamic and weak signal environments. Finally, the test results show that the feedback control-based EKF and UKF model can perform precise carrier tracking, and make a good limitation of loop error, both of which lead to realization of high performance of signal tracking.%复杂环境下的多普勒频移变化及信号功率衰减均会对载波准确跟踪造成影响。在研究北斗卫星B1频点信号结构的基础上，建立以环路中相关积分值为观测量的非线性EKF模型和UKF模型，并提出利用滤波估计状态量进行状态反馈控制的方法，从而解决了载波跟踪环路在高动态及弱信号环境中难以高性能工作的问题。实验结果表明，状态反馈控制的EKF模型和UKF滤波模型能准确地跟踪弱信号及高动态下的信号变化，从而有效控制跟踪误差，为实现快速准确的载波跟踪奠定了基础。
A H Mazinan; M Sarikhani
2014-02-01
With a focus on new researches in the area of intelligent transportation systems (ITS), an efficient approach has been investigated here. Based on the present view point, analysis of traffic signs are first considered via intelligence based approach, which is carried out through three main stages including detection, tracking and recognition, respectively, in this research. The key role of detection is to identify traffic signs by classification of road sign shapes in accordance with their signatures. This classification consists of four different shapes of circle, semicircle, triangle and square, as well. The linear classification of traffic sign is also carried out via support vector machine (SVM) by using one against all (OAA), since the present SVMs classifiers realized via linear kernel. The next step is to track traffic sign. It should be noted that this technique is now developed to reduce the searching mode in case of the whole area to be optimized its computational processing, consequently. This research work is investigated by realizing Kalman filter approach, where, finally, in recognition step, a feature of the region of interest (ROI) has been extracted for SVM classification. Histogram of oriented gradient (HOG) is realized in organizing the approach, as long as Gaussian kernel is also developed for non-linear SVM classifier.
Nonlinear Control of Magnetic Bearings
Khac Duc Do; Dang Hoe Nguyen; Thanh Binh Nguyen
2010-01-01
In this paper, recent results controling nonlinear systems with output tracking error constraints are applied to the design of new tracking controllers for magnetic bearings. The proposed controllers can force the rotor to track a bounded and sufficiently smooth refer-ence trajectory asymptotically and guarantee non-contactedness be-tween the rotor and the stator of the magnetic bearings. Simulation results are included to illustrate the effectiveness of the proposed con-trollers.
Mirkin, Boris; Haddad, Jack; Shtessel, Yuri
2016-09-01
Asymptotical sliding mode-model reference adaptive control design for a class of systems with parametric uncertainty, unknown nonlinear perturbation and external disturbance, and with known input and state delays is proposed. To overcome the difficulty to directly predict the plant state under uncertainties, a control design is based on a developed decomposition procedure, where a 'generalised error' in conjunction with auxiliary linear dynamic blocks with adjustable gains is introduced and the sliding variable is formed on the basis of this error. The effect of such a decomposition is to pull the input delay out of first step of the design procedure. As a result, similarly to the classical Smith predictor, the adaptive control architecture based only on the lumped-delays, i.e. without conventional in such cases difficult-implemented distributed-delay blocks. Two new adaptive control schemes are proposed. A linearisation-based control design is constructed for feedback control of an urban traffic region model with uncertain dynamics. Simulation results demonstrate the effectiveness of the developed adaptive control method.
非线性不确定系统的自适应模糊跟踪控制%Adaptive Fuzzy Tracking Control of a Class of Nonlinear Uncertain Systems
张月; 薛红; 陈兵
2011-01-01
This paper is concerned with the problem of adaptive fuzzy tracking for a class of nonlinear systems with the uncertainties. Fuzzy logic systems are used to approximate the unknown nonlinear functions, then the adaptive fuzzy tracking controller is designed by using the backstepping technique and Lyapunov functionals. The proposed adaptive fuzzy controller guarantees that all the signals in the closed-loop system are bounded and the system output eventually converges to a small neighborhood of the desired reference signal. An advantage of the proposed control scheme lies in that the design of fuzzy controller does not involve the fuzzy bases vector function. Therefore the proposed controller,when used to control system, will greatly reduce the system online calculation burden. Finally, one example is used to demonstrate the effectiveness of our results proposed in this paper.%针对一类带有未知非线性函数的非线性不确定系统,提出了一种新的自适应模糊跟踪控制方案.模糊逻辑系统用于系统中的未知的非线性函数建模,然后基于backstep-ping方法和自适应技术设计模糊自适应控制器.所设计的模糊自适应控制器确保闭环系统的所有信号是一致有界的,同时跟踪误差收敛到原点的一个充分小的邻域内.另外所设计的控制器不涉及模糊基向量函数,因此所提出的控制器用于控制系统时,将极大地降低系统的在线计算负担.仿真算例验证了所提出方法的有效性.
Modular design of adaptive robust controller for strict-feedback stochastic nonlinear systems
WANG Jun; XI Hong-sheng; JI Hai-bo; KANG Yu
2006-01-01
A modular approach of the estimation-based design in adaptive linear control systems has been extended to the adaptive robust control of strict-feedback stochastic nonlinear systems with additive standard Wiener noises and constant unknown parameters.By using It(o)'s differentiation rule, nonlinear damping and adaptive Backstepping procedure,the input-to-state stable controller of global stabilization in probability is developed,which guarantees that system states are bounded and the system has a robust stabilization.According to Swapping technique,we develop two filters and convert dynamic parametric models into static ones to which the gradient update law is designed.Transient performance of the system is estimated by the norm of error.Results of simulation show the effectiveness of the control algorithms.The modular design,which has a concise hierarchy,is more flexible and versatile than a Lyapunov-based algorithm.
AIRSHIP ATTITUDE TRACKING SYSTEM
WANG Xiao-liang; SHAN Xue-xiong
2006-01-01
The attitude tracking control problem for an airship with parameter uncertainties and external disturbances was considered in this paper. The mathematical model of the airship attitude is a multi-input/multi-output uncertain nonlinear system. Based on the characteristics of this system, a design method of robust output tracking controllers was adopted based on the upper-bounds of the uncertainties. Using the input/output feedback linearization approach and Liapunov method, a control law was designed, which guarantees that the system output exponentially tracks the given desired output. The controller is easy to compute and complement. Simulation results show that, in the closed-loop system, precise attitude control is accomplished in spite of the uncertainties and external disturbances in the system.
Nonlinear modeling and control of slosh in liquid container transfer via a PPR robot
Reyhanoglu, Mahmut; Rubio Hervas, Jaime
2013-06-01
This paper studies the point-to-point liquid container transfer control problem for a PPR robot. The robot manipulator is represented as three rigid links, and the liquid slosh dynamics are included using a multi-mass-spring model. It is assumed that two forces and a torque applied to the prismatic joints and the revolute joint, respectively, are available as control inputs. The objective is to control the robot end-effector movement while suppressing the sloshing modes. A nonlinear mathematical model that reflects all of these assumptions is first introduced. Then, Lyapunov-based feedback controllers are designed to achieve the control objective. Two cases are considered: partial-state feedback that does not use slosh state information and full-state feedback that uses both robot state and slosh state measurements or estimations. Computer simulations are included to illustrate the effectiveness of the proposed control laws.
谢文博; 付明玉; 施小成
2012-01-01
针对一类严格反馈形式的非线性二阶多输入多输出系统,提出一种带有加速度规划的输出跟踪动态控制策略.引入一个代替时间变量的路径参数用以规划路径跟踪时的加速度,回避了设计内环加速度控制回路的常规方法,简化了控制器的设计过程.对二阶系统的控制项求导进行系统扩维,基于新的增广系统,设计了使系统输出收敛于期望路径的反馈线性化动态控制律.再对加速度跟踪误差基于梯度法设计更新律使其渐近收敛于零,最后通过调节期望加速度实现定常速度控制.理论分析表明,误差闭环系统一致渐近稳定,速度误差有界.动力定位船舶循迹控制仿真结果表明了所提出控制器的有效性.%For a class of second order nonlinear multi input multi output (MIMO) systems with strict feedback, an output path-following controller with acceleration assignment is proposed. A path variable, instead of the time variable, is used to program the acceleration in path-following task to eliminate the extra inner acceleration control loop for simplifying the controller design procedure. The derivative of the control term is employed to form an augmented system, the output of which is driven to follow the desired path according to a feedback linearizing dynamic control law. The update law obtained by the gradient method is used to achieve the asymptotic convergence of the acceleration error. The constant speed control is realized by adjusting the desired acceleration. The stability analysis indicates that the closed-loop error system is asymptotically stable and the speed error is bounded. Simulation of the tracking control for a dynamically positioning vessel is presented to illustrate the feasibility and effectiveness of the proposed controller.
Bloembergen, Nicolaas
1996-01-01
Nicolaas Bloembergen, recipient of the Nobel Prize for Physics (1981), wrote Nonlinear Optics in 1964, when the field of nonlinear optics was only three years old. The available literature has since grown by at least three orders of magnitude.The vitality of Nonlinear Optics is evident from the still-growing number of scientists and engineers engaged in the study of new nonlinear phenomena and in the development of new nonlinear devices in the field of opto-electronics. This monograph should be helpful in providing a historical introduction and a general background of basic ideas both for expe
Geniet, F; Leon, J [Physique Mathematique et Theorique, CNRS-UMR 5825, 34095 Montpellier (France)
2003-05-07
A nonlinear system possessing a natural forbidden band gap can transmit energy of a signal with a frequency in the gap, as recently shown for a nonlinear chain of coupled pendulums (Geniet and Leon 2002 Phys. Rev. Lett. 89 134102). This process of nonlinear supratransmission, occurring at a threshold that is exactly predictable in many cases, is shown to have a simple experimental realization with a mechanical chain of pendulums coupled by a coil spring. It is then analysed in more detail. First we go to different (nonintegrable) systems which do sustain nonlinear supratransmission. Then a Josephson transmission line (a one-dimensional array of short Josephson junctions coupled through superconducting wires) is shown to also sustain nonlinear supratransmission, though being related to a different class of boundary conditions, and despite the presence of damping, finiteness, and discreteness. Finally, the mechanism at the origin of nonlinear supratransmission is found to be a nonlinear instability, and this is briefly discussed here.
2016-07-01
Advanced Research Projects Agency (DARPA) Dynamics-Enabled Frequency Sources (DEFYS) program is focused on the convergence of nonlinear dynamics and...Early work in this program has shown that nonlinear dynamics can provide performance advantages. However, the pathway from initial results to...dependent nonlinear stiffness observed in these devices. This work is ongoing, and will continue through the final period of this program . Reference 9
Nayfeh, Ali Hasan
1995-01-01
Nonlinear Oscillations is a self-contained and thorough treatment of the vigorous research that has occurred in nonlinear mechanics since 1970. The book begins with fundamental concepts and techniques of analysis and progresses through recent developments and provides an overview that abstracts and introduces main nonlinear phenomena. It treats systems having a single degree of freedom, introducing basic concepts and analytical methods, and extends concepts and methods to systems having degrees of freedom. Most of this material cannot be found in any other text. Nonlinear Oscillations uses sim
Yoshida, Zensho
2010-01-01
This book gives a general, basic understanding of the mathematical structure "nonlinearity" that lies in the depths of complex systems. Analyzing the heterogeneity that the prefix "non" represents with respect to notions such as the linear space, integrability and scale hierarchy, "nonlinear science" is explained as a challenge of deconstruction of the modern sciences. This book is not a technical guide to teach mathematical tools of nonlinear analysis, nor a zoology of so-called nonlinear phenomena. By critically analyzing the structure of linear theories, and cl
Nanda, Sudarsan
2013-01-01
"Nonlinear analysis" presents recent developments in calculus in Banach space, convex sets, convex functions, best approximation, fixed point theorems, nonlinear operators, variational inequality, complementary problem and semi-inner-product spaces. Nonlinear Analysis has become important and useful in the present days because many real world problems are nonlinear, nonconvex and nonsmooth in nature. Although basic concepts have been presented here but many results presented have not appeared in any book till now. The book could be used as a text for graduate students and also it will be useful for researchers working in this field.
High Precision Control of Ship-Mounted Satellite Tracking Antenna
Mohsen, Soltani; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal
2007-01-01
The telecommunication on a modern merchandise ship is maintained by means of satellite communication. The task of the tracking system is to position the on-board antenna toward a chosen satellite. The control system is capable of rejecting the external disturbances which affect on the under......-actuated antenna and ensures that it remains locked on the satellite. In this paper, a nonlinear internal model controller (NIMC), which achieves asymptotic tracking for the nonlinear antenna system with nonlinear exogenous dynamics, is proposed. Computer simulations as well as practical tests verify...... the effectiveness of this method to cope with the external disturbances that are imposed to the satellite tracking antenna (STA)....
High Precision Control of Ship-Mounted Satellite Tracking Antenna
Mohsen, Soltani; Izadi-Zamanabadi, Roozbeh; Wisniewski, Rafal
2007-01-01
The telecommunication on a modern merchandise ship is maintained by means of satellite communication. The task of the tracking system is to position the on-board antenna toward a chosen satellite. The control system is capable of rejecting the external disturbances which affect on the under......-actuated antenna and ensures that it remains locked on the satellite. In this paper, a nonlinear internal model controller (NIMC), which achieves asymptotic tracking for the nonlinear antenna system with nonlinear exogenous dynamics, is proposed. Computer simulations as well as practical tests verify...... the effectiveness of this method to cope with the external disturbances that are imposed to the satellite tracking antenna (STA)....
Perspectives on Nonlinear Filtering
Law, Kody
2015-01-07
The solution to the problem of nonlinear filtering may be given either as an estimate of the signal (and ideally some measure of concentration), or as a full posterior distribution. Similarly, one may evaluate the fidelity of the filter either by its ability to track the signal or its proximity to the posterior filtering distribution. Hence, the field enjoys a lively symbiosis between probability and control theory, and there are plenty of applications which benefit from algorithmic advances, from signal processing, to econometrics, to large-scale ocean, atmosphere, and climate modeling. This talk will survey some recent theoretical results involving accurate signal tracking with noise-free (degenerate) dynamics in high-dimensions (infinite, in principle, but say d between 103 and 108 , depending on the size of your application and your computer), and high-fidelity approximations of the filtering distribution in low dimensions (say d between 1 and several 10s).
Han, Renke; Meng, Lexuan; Guerrero, Josep M.
2017-01-01
A distributed nonlinear controller is presented to achieve both accurate current-sharing and voltage regulation simultaneously in dc microgrids considering different line impedances’ effects among converters. Then, an improved event-triggered principle for the controller is introduced through...... combining the state-dependent tolerance with a nonnegative offset. In order to design the event-triggered principle and guarantee the global stability, a generalized dc microgrid model is proposed and proven to be positive definite, based on which Lyapunov-based approach is applied. Furthermore, considering...... the effects from constant power loads, the damping performance of proposed controller is further improved and compared with the traditional V-I droop controller. The proposed event-triggered-based communication strategy can considerably reduce the communication traffic and significantly relax the requirement...
Zhu, Hong-Ming; Pen, Ue-Li; Chen, Xuelei; Yu, Hao-Ran
2016-01-01
We present a direct approach to non-parametrically reconstruct the linear density field from an observed non-linear map. We solve for the unique displacement potential consistent with the non-linear density and positive definite coordinate transformation using a multigrid algorithm. We show that we recover the linear initial conditions up to $k\\sim 1\\ h/\\mathrm{Mpc}$ with minimal computational cost. This reconstruction approach generalizes the linear displacement theory to fully non-linear fields, potentially substantially expanding the BAO and RSD information content of dense large scale structure surveys, including for example SDSS main sample and 21cm intensity mapping.
Boyd, Robert W
2013-01-01
Nonlinear Optics is an advanced textbook for courses dealing with nonlinear optics, quantum electronics, laser physics, contemporary and quantum optics, and electrooptics. Its pedagogical emphasis is on fundamentals rather than particular, transitory applications. As a result, this textbook will have lasting appeal to a wide audience of electrical engineering, physics, and optics students, as well as those in related fields such as materials science and chemistry.Key Features* The origin of optical nonlinearities, including dependence on the polarization of light* A detailed treatment of the q
Bayesian target tracking based on particle filter
无
2005-01-01
For being able to deal with the nonlinear or non-Gaussian problems, particle filters have been studied by many researchers. Based on particle filter, the extended Kalman filter (EKF) proposal function is applied to Bayesian target tracking. Markov chain Monte Carlo (MCMC) method, the resampling step, etc novel techniques are also introduced into Bayesian target tracking. And the simulation results confirm the improved particle filter with these techniques outperforms the basic one.
A New Lyapunov Based Robust Control for Uncertain Mechanical Systems
ZHEN Sheng-Chao; ZHAO Han; CHEN Ye-Hwa; HUANG Kang
2014-01-01
We design a new robust controller for uncertain mechanical systems. The inertia matrix0s singularity and upper bound property are first analyzed. It is shown that the inertia matrix may be positive semi-definite due to over-simplified model. Further-more, the inertia matrix0s being uniformly bounded above is also limited. A robust controller is proposed to suppress the effect of uncertainty in mechanical systems with the assumption of uniform positive definiteness and upper bound of the inertia matrix. We theoretically prove that the robust control renders uniform boundedness and uniform ultimate boundedness. The size of the ultimate boundedness ball can be made arbitrarily small by the designer. Simulation results are presented and discussed.
Lyapunov-Based Control for Switched Power Converters
1990-06-01
up-down converter of Figure 2 which has a state- V( space averaged model of the form MWny stabilizing control schemes can be obtained by in- S= Az...straigL -forward to specify a globally stabilizing control law for performing the described measurement process, it is possible the mcdel (6) of the form
Bruun, Maja Hojer; Krause-Jensen, Jakob; Saltofte, Margit
2015-01-01
Anthropology attempts to gain insight into people's experiential life-worlds through long-term fieldwork. The quality of anthropological knowledge production, however, does not depend solely on the duration of the stay in the field, but also on a particular way of seeing social situations. The an...... the students followed the work of a group of porters. Drawing on anthropological concepts and research strategies the students gained crucial insights about the potential effects of using tracking technologies in the hospital....
Ruszczynski, Andrzej
2011-01-01
Optimization is one of the most important areas of modern applied mathematics, with applications in fields from engineering and economics to finance, statistics, management science, and medicine. While many books have addressed its various aspects, Nonlinear Optimization is the first comprehensive treatment that will allow graduate students and researchers to understand its modern ideas, principles, and methods within a reasonable time, but without sacrificing mathematical precision. Andrzej Ruszczynski, a leading expert in the optimization of nonlinear stochastic systems, integrates t
林小峰; 曹怒云; 宋绍剑
2014-01-01
针对实际工业常见的定点跟踪控制问题，通过数学变换，将原系统最优跟踪控制问题转化为新系统最优调节问题，以跟踪误差作为新系统的状态量，引入ε-自适应动态规划算法(ε-ADP)求解HJB方程，并以两个BP神经网络分别用于近似性能指标函数和最优控制，从而得到ε-最优跟踪控制。仿真实验表明，所设计的控制器可以在有限时间内将状态跟踪到目标值，并使得性能指标函数近似最优。%In order to deal with the common fix-point tracking control problems in actual industrial systems, a mathematical transformation is developed to change the original system optimal tracking control problem to an optimal regulator problem of a new system. The state variables of the new sys-tem are the tracking error. ε-adaptive dynamic programming (ε-ADP) is used to solve HJB equation while two BP neural networks are used to approximate the performance index function and optimal control. Thus ε-optimal tracking control is obtained. Simulation results show that the controller de-signed can track a state to the target and make the performance index function converges to optimal.
Bayesian estimation and tracking a practical guide
Haug, Anton J
2012-01-01
A practical approach to estimating and tracking dynamic systems in real-worl applications Much of the literature on performing estimation for non-Gaussian systems is short on practical methodology, while Gaussian methods often lack a cohesive derivation. Bayesian Estimation and Tracking addresses the gap in the field on both accounts, providing readers with a comprehensive overview of methods for estimating both linear and nonlinear dynamic systems driven by Gaussian and non-Gaussian noices. Featuring a unified approach to Bayesian estimation and tracking, the book emphasizes the derivation
In, Visarath; Longhini, Patrick; Kho, Andy; Neff, Joseph D.; Leung, Daniel; Liu, Norman; Meadows, Brian K.; Gordon, Frank; Bulsara, Adi R.; Palacios, Antonio
2012-12-01
The nonlinear channelizer is an integrated circuit made up of large parallel arrays of analog nonlinear oscillators, which, collectively, serve as a broad-spectrum analyzer with the ability to receive complex signals containing multiple frequencies and instantaneously lock-on or respond to a received signal in a few oscillation cycles. The concept is based on the generation of internal oscillations in coupled nonlinear systems that do not normally oscillate in the absence of coupling. In particular, the system consists of unidirectionally coupled bistable nonlinear elements, where the frequency and other dynamical characteristics of the emergent oscillations depend on the system's internal parameters and the received signal. These properties and characteristics are being employed to develop a system capable of locking onto any arbitrary input radio frequency signal. The system is efficient by eliminating the need for high-speed, high-accuracy analog-to-digital converters, and compact by making use of nonlinear coupled systems to act as a channelizer (frequency binning and channeling), a low noise amplifier, and a frequency down-converter in a single step which, in turn, will reduce the size, weight, power, and cost of the entire communication system. This paper covers the theory, numerical simulations, and some engineering details that validate the concept at the frequency band of 1-4 GHz.
Stastny, P.
2007-03-15
Many employees are now choosing to work from home using laptops and telephones. Employers in the oil and gas industry are now reaping a number of benefits from their telecommuting employees, including increased productivity; higher levels of employee satisfaction, and less absenteeism. Providing a telecommunication option can prove to be advantageous for employers wishing to hire or retain employees. Telecommuting may also help to reduce greenhouse gas (GHG) emissions. This article provided details of Teletrips Inc., a company that aids in the production of corporate social responsibility reports. Teletrips provides reports that document employee savings in time, vehicle depreciation maintenance, and gasoline costs. Teletrips currently tracks 12 companies in Calgary, and plans to grow through the development of key technology partnerships. The company is also working with the federal government to provide their clients with emission trading credits, and has forged a memorandum of understanding with the British Columbia government for tracking emissions. Calgary now openly supports telecommuting and is encouraging businesses in the city to adopt telecommuting on a larger scale. It was concluded that the expanding needs for road infrastructure and the energy used by cars to move workers in and out of the city are a massive burden to the city's tax base. 1 fig.
P. Sharp
The CMS Inner Tracking Detector continues to make good progress. The Objective for 2006 was to complete all of the CMS Tracker sub-detectors and to start the integration of the sub-detectors into the Tracker Support Tube (TST). The Objective for 2007 is to deliver to CMS a completed, installed, commissioned and calibrated Tracking System (Silicon Strip and Pixels) aligned to < 100µ in April 2008 ready for the first physics collisions at LHC. In November 2006 all of the sub-detectors had been delivered to the Tracker Integration facility (TIF) at CERN and the tests and QA procedures to be carried out on each sub-detector before integration had been established. In December 2006, TIB/TID+ was integrated into TOB+, TIB/TID- was being prepared for integration, and TEC+ was undergoing tests at the final tracker operating temperature (-100 C) in the Lyon cold room. In February 2007, TIB/TID- has been integrated into TOB-, and the installation of the pixel support tube and the services for TI...
Turchetti, G. (Bologna Univ. (Italy). Dipt. di Fisica)
1989-01-01
Research in nonlinear dynamics is rapidly expanding and its range of applications is extending beyond the traditional areas of science where it was first developed. Indeed while linear analysis and modelling, which has been very successful in mathematical physics and engineering, has become a mature science, many elementary phenomena of intrinsic nonlinear nature were recently experimentally detected and investigated, suggesting new theoretical work. Complex systems, as turbulent fluids, were known to be governed by intrinsically nonlinear laws since a long time ago, but received purely phenomenological descriptions. The pioneering works of Boltzmann and Poincare, probably because of their intrinsic difficulty, did not have a revolutionary impact at their time; it is only very recently that their message is reaching a significant number of mathematicians and physicists. Certainly the development of computers and computer graphics played an important role in developing geometric intuition of complex phenomena through simple numerical experiments, while a new mathematical framework to understand them was being developed.
Adaptive Output Tracking of Driven Oscillators
Lili Diao
2008-01-01
of the output tracking error to an adjustable neighborhood of the origin. In addition, good approximation of the unknown nonlinearities is also achieved by incorporating a persistent exciting signal in the parameter update law. The effectiveness of the proposed method is demonstrated by an application to a cardiac conduction system modelled by two coupled driven oscillators.
Mei, Jie; Ren, Wei; Li, Bing; Ma, Guangfu
2015-09-01
In this paper, we consider the distributed containment control problem for multiagent systems with unknown nonlinear dynamics. More specifically, we focus on multiple second-order nonlinear systems and networked Lagrangian systems. We first study the distributed containment control problem for multiple second-order nonlinear systems with multiple dynamic leaders in the presence of unknown nonlinearities and external disturbances under a general directed graph that characterizes the interaction among the leaders and the followers. A distributed adaptive control algorithm with an adaptive gain design based on the approximation capability of neural networks is proposed. We present a necessary and sufficient condition on the directed graph such that the containment error can be reduced as small as desired. As a byproduct, the leaderless consensus problem is solved with asymptotical convergence. Because relative velocity measurements between neighbors are generally more difficult to obtain than relative position measurements, we then propose a distributed containment control algorithm without using neighbors' velocity information. A two-step Lyapunov-based method is used to study the convergence of the closed-loop system. Next, we apply the ideas to deal with the containment control problem for networked unknown Lagrangian systems under a general directed graph. All the proposed algorithms are distributed and can be implemented using only local measurements in the absence of communication. Finally, simulation examples are provided to show the effectiveness of the proposed control algorithms.
Nonlinear Thermophoresis beyond Local Equilibrium Criterion
Duhr, Stefan; Braun, Dieter
2006-01-01
Thermophoresis (thermodiffusion, Soret effect) moves molecules along thermal gradients. We measure its phenomenological linear drift relation by single particle tracking in convection-free settings. For moderate thermal gradients, drift velocity depends linearly on the gradient. However, for strong thermal gradients, we find a nonlinear dependence of the drift on the applied gradient for large Soret coefficient and particle radius. Interestingly, the onset of the nonlinearity coincides with a...
Quasi self-adjoint nonlinear wave equations
Ibragimov, N H [Department of Mathematics and Science, Blekinge Institute of Technology, SE-371 79 Karlskrona (Sweden); Torrisi, M; Tracina, R, E-mail: nib@bth.s, E-mail: torrisi@dmi.unict.i, E-mail: tracina@dmi.unict.i [Dipartimento di Matematica e Informatica, University of Catania (Italy)
2010-11-05
In this paper we generalize the classification of self-adjoint second-order linear partial differential equation to a family of nonlinear wave equations with two independent variables. We find a class of quasi self-adjoint nonlinear equations which includes the self-adjoint linear equations as a particular case. The property of a differential equation to be quasi self-adjoint is important, e.g. for constructing conservation laws associated with symmetries of the differential equation. (fast track communication)
Seider, Warren D.; Ungar, Lyle H.
1987-01-01
Describes a course in nonlinear mathematics courses offered at the University of Pennsylvania which provides an opportunity for students to examine the complex solution spaces that chemical engineers encounter. Topics include modeling many chemical processes, especially those involving reaction and diffusion, auto catalytic reactions, phase…
Tracking control of chaotic dynamical systems with feedback linearization
QI Dong-lian; MA Guo-jin
2005-01-01
A new method was proposed for tracking the desired output of chaotic dynamical system using the feedback linearization and nonlinear extended statement observer method. The feedback linearization was used to convert the nonlinear chaotic system into linear system. The extended Luenberger-like statements observer was designed to reconstructing and observing the unmeasured statements when the tracking controller was designed. By this way, the chaotic system could be forced to track variable desired output, which could be a time variant function or an equilibrium points.Taken the Lorenz chaotic system as example, the simulation results show the validity of the conclusion and effectiveness of the algorithm.
H∞ control for path tracking of autonomous underwater vehicle motion
Lin-Lin Wang
2015-05-01
Full Text Available In order to simplify the design of path tracking controller and solve the problem relating to nonlinear dynamic model of autonomous underwater vehicle motion planning, feedback linearization method is first adopted to transform the nonlinear dynamic model into an equivalent pseudo-linear dynamic model in horizontal coordinates. Then considering wave disturbance effect, mixed-sensitivity method of H∞ robust control is applied to design state-feedback controller for this equivalent dynamic model. Finally, control law of pseudo-linear dynamic model is transformed into state (surge velocity and yaw angular rate tracking control law of nonlinear dynamic model through inverse coordinate transformation. Simulation indicates that autonomous underwater vehicle path tracking is successfully implemented with this proposed method, and the influence of parameter variation in autonomous underwater vehicle dynamic model on its tracking performance is reduced by H∞ controller. All the results show that the method proposed in this article is effective and feasible.
P. Sharp
The CMS Inner Tracking Detector continues to make good progress. The successful commissioning of ~ 25% of the Silicon Strip Tracker was completed in the Tracker Integration Facility (TIF) at CERN in July 2007 and the Tracker has since been prepared for moving and installation into CMS at P5. The Tracker was ready to move on schedule in September 2007. The Installation of the Tracker cooling pipes and LV cables between Patch Panel 1 (PP1) on the inside the CMS magnet cryostat, and the cooling plants and power system racks on the balconies has been completed. The optical fibres from PP1 to the readout FEDs in the USC have been installed, together with the Tracker cable channels, in parallel with the installation of the EB/HB services. All of the Tracker Safety, Power, DCS and the VME Readout Systems have been installed at P5 and are being tested and commissioned with CMS. It is planned to install the Tracker into CMS before Christmas. The Tracker will then be connected to the pre-installed services on Y...
P. Sharp
The CMS Inner Tracking Detector continues to make good progress. The successful commissioning of ~ 25% of the Silicon Strip Tracker was completed in the Tracker Integration Facility (TIF) at CERN on 18 July 2007 and the Tracker has since been prepared for moving and installation into CMS at P5. The Tracker will be ready to move on schedule in September 2007. The Installation of the Tracker cooling pipes and LV cables between Patch Panel 1 (PP1) on the inside the CMS magnet cryostat, and the cooling plants and power system racks on the balconies has been completed. The optical fibres from PP1 to the readout FEDs in the USC will be installed in parallel with the installation of the EB/HB services, and will be completed in October. It is planned to install the Tracker into CMS at the end of October, after the completion of the installation of the EB/HB services. The Tracker will then be connected to the pre-installed services on YB0 and commissioned with CMS in December. The FPix and BPix continue to make ...
Nonlinear self-adjointness and conservation laws
Ibragimov, N H, E-mail: nib@bth.se [Department of Mathematics and Science, Blekinge Institute of Technology, 371 79 Karlskrona (Sweden)
2011-10-28
The general concept of nonlinear self-adjointness of differential equations is introduced. It includes the linear self-adjointness as a particular case. Moreover, it embraces the strict self-adjointness (definition 1) and quasi-self-adjointness introduced earlier by the author. It is shown that the equations possessing nonlinear self-adjointness can be written equivalently in a strictly self-adjoint form by using appropriate multipliers. All linear equations possess the property of nonlinear self-adjointness, and hence can be rewritten in a nonlinear strictly self-adjoint form. For example, the heat equation u{sub t} - {Delta}u = 0 becomes strictly self-adjoint after multiplying by u{sup -1}. Conservation laws associated with symmetries are given in an explicit form for all nonlinearly self-adjoint partial differential equations and systems. (fast track communication)
2015-01-01
From the Back Cover: The emphasis throughout the present volume is on the practical application of theoretical mathematical models helping to unravel the underlying mechanisms involved in processes from mathematical physics and biosciences. It has been conceived as a unique collection of abstract methods dealing especially with nonlinear partial differential equations (either stationary or evolutionary) that are applied to understand concrete processes involving some important applications re...
Learning adaptive metric for robust visual tracking.
Jiang, Nan; Liu, Wenyu; Wu, Ying
2011-08-01
Matching the visual appearances of the target over consecutive image frames is the most critical issue in video-based object tracking. Choosing an appropriate distance metric for matching determines its accuracy and robustness, and thus significantly influences the tracking performance. Most existing tracking methods employ fixed pre-specified distance metrics. However, this simple treatment is problematic and limited in practice, because a pre-specified metric does not likely to guarantee the closest match to be the true target of interest. This paper presents a new tracking approach that incorporates adaptive metric learning into the framework of visual object tracking. Collecting a set of supervised training samples on-the-fly in the observed video, this new approach automatically learns the optimal distance metric for more accurate matching. The design of the learned metric ensures that the closest match is very likely to be the true target of interest based on the supervised training. Such a learned metric is discriminative and adaptive. This paper substantializes this new approach in a solid case study of adaptive-metric differential tracking, and obtains a closed-form analytical solution to motion estimation and visual tracking. Moreover, this paper extends the basic linear distance metric learning method to a more powerful nonlinear kernel metric learning method. Extensive experiments validate the effectiveness of the proposed approach, and demonstrate the improved performance of the proposed new tracking method.
Patient Treatment Tracking Chart
... ZIP code here Hepatitis C Treatment Tracking Chart Patient Treatment Tracking Chart Patient Treatment Tracking Chart Sample Chart This chart is ... this website Submit Share this page Related Resource Patient Treatment Tutorial return to top CONNECT Veterans Crisis ...
Nonlinear Control and Synchronization with Time Delays of Multiagent Robotic Systems
Yassine Bouteraa
2011-01-01
Full Text Available We investigate the cooperative control and global asymptotic synchronization Lagrangian system groups, such as industrial robots. The proposed control approach works to accomplish multirobot systems synchronization under an undirected connected communication topology. The control strategy is to synchronize each robot in position and velocity to others robots in the network with respect to the common desired trajectory. The cooperative robot network only requires local neighbor-to-neighbor information exchange between manipulators and does not assume the existence of an explicit leader in the team. It is assumed that network robots have the same number of joints and equivalent joint work spaces. A combination of the lyapunov-based technique and the cross-coupling method has been used to establish the multirobot system asymptotic stability. The developed control combines trajectory tracking and coordination algorithms. To address the time-delay problem in the cooperative network communication, the suggested synchronization control law is shown to synchronize multiple robots as well as to track given trajectory, taking into account the presence of the time delay. To this end, Krasovskii functional method has been used to deal with the delay-dependent stability problem.
Path tracking of underactuated ships with general form of dynamics
Li, Ji-Hong
2016-03-01
This article considers the path tracking problem for underactuated ships with general form of dynamics including uncertainties. By introducing certain two polar coordinate transformations, the ship's tracking kinematics and dynamics can be transformed into certain two-inputs-two-outputs nonlinear strict-feedback form. To avoid possible singularity problem in the backstepping control design, we introduce an asymptotic modification of orientation concept. Presented tracking scheme can guarantee the uniformly ultimately boundedness of closed-loop system in terms of polar coordinates. For the convenience of comparison with previous related works, where all tracking schemes were discussed in the Cartesian frame, we carry out some case studies to investigate the conditions under which the proposed tracking method can guarantee the same stability and convergence properties of tracking errors in the Cartesian frame. Numerical simulation studies are also carried out to demonstrate the effectiveness of presented tracking scheme.
Discrete-time inverse optimal control for nonlinear systems
Sanchez, Edgar N
2013-01-01
Discrete-Time Inverse Optimal Control for Nonlinear Systems proposes a novel inverse optimal control scheme for stabilization and trajectory tracking of discrete-time nonlinear systems. This avoids the need to solve the associated Hamilton-Jacobi-Bellman equation and minimizes a cost functional, resulting in a more efficient controller. Design More Efficient Controllers for Stabilization and Trajectory Tracking of Discrete-Time Nonlinear Systems The book presents two approaches for controller synthesis: the first based on passivity theory and the second on a control Lyapunov function (CLF). Th
Nonlinear Decoupling PID Control Using Neural Networks and Multiple Models
无
2006-01-01
For a class of complex industrial processes with strong nonlinearity, serious coupling and uncertainty, a nonlinear decoupling proportional-integral-differential (PID) controller is proposed, which consists of a traditional PID controller, a decoupling compensator and a feedforward compensator for the unmodeled dynamics. The parameters of such controller is selected based on the generalized minimum variance control law. The unmodeled dynamics is estimated and compensated by neural networks, a switching mechanism is introduced to improve tracking performance, then a nonlinear decoupling PID control algorithm is proposed. All signals in such switching system are globally bounded and the tracking error is convergent. Simulations show effectiveness of the algorithm.
3D Track-keeping Method for Autonomous Underwater Vehicle
WANG Wei; Bian Xin-Qian; Chang Zong-Hu
2002-01-01
In this paper, 3D track-keeping control method for autonomous underwater vehicle (AUV) with and without the influence of ocean current is investigated. Because the system to be controlled is highly nonlinear and strong coupled, an approach is used to divide it into two subsystems. One is to control the heading and the track error on the horizontal plane. The other is to control the pitch and the track error on the vertical plane. The results of computer simulation show that the autopilot works properly, it can capture the current waypoint and turns to track the next path automatically.
Okandan, Murat; Nielson, Gregory N.
2016-07-12
Solar tracking systems, as well as methods of using such solar tracking systems, are disclosed. More particularly, embodiments of the solar tracking systems include lateral supports horizontally positioned between uprights to support photovoltaic modules. The lateral supports may be raised and lowered along the uprights or translated to cause the photovoltaic modules to track the moving sun.
UWB Tracking System Design with TDOA Algorithm
Ni, Jianjun; Arndt, Dickey; Ngo, Phong; Phan, Chau; Gross, Julia; Dusl, John; Schwing, Alan
2006-01-01
This presentation discusses an ultra-wideband (UWB) tracking system design effort using a tracking algorithm TDOA (Time Difference of Arrival). UWB technology is exploited to implement the tracking system due to its properties, such as high data rate, fine time resolution, and low power spectral density. A system design using commercially available UWB products is proposed. A two-stage weighted least square method is chosen to solve the TDOA non-linear equations. Matlab simulations in both two-dimensional space and three-dimensional space show that the tracking algorithm can achieve fine tracking resolution with low noise TDOA data. The error analysis reveals various ways to improve the tracking resolution. Lab experiments demonstrate the UWBTDOA tracking capability with fine resolution. This research effort is motivated by a prototype development project Mini-AERCam (Autonomous Extra-vehicular Robotic Camera), a free-flying video camera system under development at NASA Johnson Space Center for aid in surveillance around the International Space Station (ISS).
Dominant Correlogram Based Particle Filter Tracking
MAO Yan-fen; SHI Peng-fei
2005-01-01
A novel dominant correlogram based particle filter was proposed for an object tracking in visual surveillance. Particle filter outperforms the Kalman filter in non-linear and non-Gaussian estimation problem. This paper proposed incorporating spatial information into visual feature, and yields a reliable likelihood description of the observation and prediction. A similarity-ratio is defined to evaluate the effectivity of different similarity measurements in weighing samples. The experimental results demonstrate the effective and robust performance compared with the histogram based tracking in traffic scenes.
Rajasekar, Shanmuganathan
2016-01-01
This introductory text presents the basic aspects and most important features of various types of resonances and anti-resonances in dynamical systems. In particular, for each resonance, it covers the theoretical concepts, illustrates them with case studies, and reviews the available information on mechanisms, characterization, numerical simulations, experimental realizations, possible quantum analogues, applications and significant advances made over the years. Resonances are one of the most fundamental phenomena exhibited by nonlinear systems and refer to specific realizations of maximum response of a system due to the ability of that system to store and transfer energy received from an external forcing source. Resonances are of particular importance in physical, engineering and biological systems - they can prove to be advantageous in many applications, while leading to instability and even disasters in others. The book is self-contained, providing the details of mathematical derivations and techniques invo...
1996-01-01
3.1 A Unified Nonlinear Feedback Functional Method for Study Both Control and Synchronization of Spatiotemporal Chaos Fang Jinqing Ali M. K. (Department of Physics, The University of Lethbridge,Lethbridge, Alberta T1K 3M4,Canada) Two fundamental questions dominate future chaos control theories.The first is the problem of controlling hyperchaos in higher dimensional systems.The second question has yet to be addressed:the problem of controlling spatiotemporal chaos in a spatiotemporal system.In recent years, control and synchronization of spatiotemporal chaos and hyperchaos have became a much more important and challenging subject. The reason for this is the control and synchronism of such behaviours have extensive and great potential of interdisciplinary applications, such as security communication, information processing, medicine and so on. However, this subject is not much known and remains an outstanding open.
Discrete time learning control in nonlinear systems
Longman, Richard W.; Chang, Chi-Kuang; Phan, Minh
1992-01-01
In this paper digital learning control methods are developed primarily for use in single-input, single-output nonlinear dynamic systems. Conditions for convergence of the basic form of learning control based on integral control concepts are given, and shown to be satisfied by a large class of nonlinear problems. It is shown that it is not the gross nonlinearities of the differential equations that matter in the convergence, but rather the much smaller nonlinearities that can manifest themselves during the short time interval of one sample time. New algorithms are developed that eliminate restrictions on the size of the learning gain, and on knowledge of the appropriate sign of the learning gain, for convergence to zero error in tracking a feasible desired output trajectory. It is shown that one of the new algorithms can give guaranteed convergence in the presence of actuator saturation constraints, and indicate when the requested trajectory is beyond the actuator capabilities.
Particle Filters for Positioning, Navigation and Tracking
Gustafsson, Fredrik; Gunnarsson, Fredrik; Bergman, Niclas; Forssell, Urban; Jansson, Jonas; Karlsson, Rickard; Nordlund, Per-Johan
2001-01-01
A framework for positioning, navigation and tracking problems using particle filters (sequential Monte Carlo methods) is developed. It consists of a class of motion models and a general non-linear measurement equation in position. A general algorithm is presented, which is parsimonious with the particle dimension. It is based on marginalization, enabling a Kalman filter to estimate all position derivatives, and the particle filter becomes low-dimensional. This is of utmost importance for high...
Bayesian Particle Tracking of Traffic Flows
2014-01-01
We develop a Bayesian particle filter for tracking traffic flows that is capable of capturing non-linearities and discontinuities present in flow dynamics. Our model includes a hidden state variable that captures sudden regime shifts between traffic free flow, breakdown and recovery. We develop an efficient particle learning algorithm for real time on-line inference of states and parameters. This requires a two step approach, first, resampling the current particles, with a mixture predictive ...
Nonlinear Materials Characterization Facility
Federal Laboratory Consortium — The Nonlinear Materials Characterization Facility conducts photophysical research and development of nonlinear materials operating in the visible spectrum to protect...
A STUDY ON THE WHEELSET/SLAB TRACK VERTICAL INTERACTION
Traian MAZILU
2012-05-01
Full Text Available This paper deals with the interaction between a moving wheelset and a slab track due to the short-pitch corrugated rail. The wheelset is modeled using a free-free Timoshenko beam with attached rigid bodies as the axle boxes, wheels and brake discs. The slab track model consists of elastically supported double Euler-Bernoulli beams. In fact, both wheelset and slab track are symmetric structures and the issue of the wheelset/slab track interaction is reduced to the wheel/rail interaction. The nonlinear equations of motion describing the wheelset/slab track interaction due to the short-pitch corrugated rail are solved using the time-domain Green’s functions method and the convolution theorem. The wheelset/slab track interaction due to the short-pitch corrugated rail exhibits a critical velocity when the vibration reaches the maximum level
Attitude tracking control for spacecraft formation with time-varying delays and switching topology
Yang, Hongjiu; You, Xiu; Hua, Changchun
2016-09-01
This paper investigates attitude dynamic tracking control for spacecraft formation in the presence of unmeasurable velocity information with time-varying delays and switching topology. Based on an extended state observer, a nonlinear attitude tracking control approach is developed for spacecraft attitude model formulated by Euler-Lagrangian equations. The attitude tracking controller allows for external disturbances and absence of angular velocity information. Both auto-stable region techniques and a Lyapunov function approach are developed to prove ultimately bounded tracking. Simulation results demonstrate effectiveness of the nonlinear control techniques proposed in this paper.
Disturbance observer based position tracking of electro-hydraulic actuator
国凯; 魏建华; 田启岩
2015-01-01
A nonlinear controller based on an extended second-order disturbance observer is presented to track desired position for an electro-hydraulic single-rod actuator in the presence of both external disturbances and parameter uncertainties. The proposed extended second-order disturbance observer deals with not only the external perturbations, but also parameter uncertainties which are commonly regarded as lumped disturbances in previous researches. Besides, the outer position tracking loop is designed with cylinder load pressure as output; and the inner pressure control loop provides the hydraulic actuator the characteristic of a force generator. The stability of the closed-loop system is provided based on Lyapunov theory. The performance of the controller is verified through simulations and experiments. The results demonstrate that the proposed nonlinear position tracking controller, together with the extended second-order disturbance observer, gives an excellent tracking performance in the presence of parameter uncertainties and external disturbance.
Nonlinear singular vectors and nonlinear singular values
无
2000-01-01
A novel concept of nonlinear singular vector and nonlinear singular value is introduced, which is a natural generalization of the classical linear singular vector and linear singular value to the nonlinear category. The optimization problem related to the determination of nonlinear singular vectors and singular values is formulated. The general idea of this approach is demonstrated by a simple two-dimensional quasigeostrophic model in the atmospheric and oceanic sciences. The advantage and its applications of the new method to the predictability, ensemble forecast and finite-time nonlinear instability are discussed. This paper makes a necessary preparation for further theoretical and numerical investigations.
Renewable Energy Tracking Systems
Renewable energy generation ownership can be accounted through tracking systems. Tracking systems are highly automated, contain specific information about each MWh, and are accessible over the internet to market participants.
Klaus Mönig
2007-11-01
Forward tracking is an essential part of a detector at the international linear collider (ILC). The requirements for forward tracking are explained and the proposed solutions in the detector concepts are shown.
Advanced nonlinear engine speed control systems
Vesterholm, Thomas; Hendricks, Elbert
1994-01-01
: accurately tracking of a desired engine speed in the presence of model uncertainties and severe load disturbances. This is accomplished by using advanced nonlinear control techniques such as input/output-linearization and sliding mode control. These techniques take advantage of a nonlinear model......Several subsidiary control problems have turned out to be important for improving driveability and fuel consumption in modern spark ignition (SI) engine cars. Among these are idle speed control and cruise control. In this paper the idle speed and cruise control problems will be treated as one...
Singular asymptotic expansions in nonlinear rotordynamics
Day, W. B.
1985-01-01
During hot firing ground testing of the Space shuttle's Main Engine, vibrations of the liquid oxygen pump occur at frequencies which cannot be explained by the linear Jeffcott model of the rotor. The model becomes nonlinear after accounting for deadband, side forces, and rubbing. Two phenomena present in the numerical solutions of the differential equations are unexpected periodic orbits of the rotor and tracking of the nonlinear frequency. A multiple scale asymptotic expansion of the differential equations is used to give an analytic explanation of these characteristics.
Sliding Mode Control for Trajectory Tracking of an Intelligent Wheelchair
Razvan SOLEA
2009-12-01
Full Text Available This paper deal with a robust sliding-mode trajectory tracking controller, fornonholonomic wheeled mobile robots and its experimental evaluation by theimplementation in an intelligent wheelchair (RobChair. The proposed control structureis based on two nonlinear sliding surfaces ensuring the tracking of the three outputvariables, with respect to the nonholonomic constraint. The performances of theproposed controller for the trajectory planning problem with comfort constraint areverified through the real time acceleration provided by an inertial measurement unit.
Roe, Shaun; The ATLAS collaboration
2017-01-01
Run-2 of the Large Hadron Collider (LHC) has provided new challenges to track and vertex reconstruction with higher centre-of-mass energies and luminosity leading to increasingly high-multiplicity envi-ronments. This talk provides an overview of the tracking performance, highlighting tracking improvements due to the Insertable B-Layer (IBL) and the introduction of time-dependent alignment.
3D Shape-Encoded Particle Filter for Object Tracking and Its Application to Human Body Tracking
Chellappa, R; H. Moon
2008-01-01
Abstract We present a nonlinear state estimation approach using particle filters, for tracking objects whose approximate 3D shapes are known. The unnormalized conditional density for the solution to the nonlinear filtering problem leads to the Zakai equation, and is realized by the weights of the particles. The weight of a particle represents its geometric and temporal fit, which is computed bottom-up from the raw image using a shape-encoded filter. The main contribution of the paper is the d...
Allmendinger, T.; Bhuyan, B.; Brown, D. N.; Choi, H.; Christ, S.; Covarelli, R.; Davier, M.; Denig, A. G.; Fritsch, M.; Hafner, A.; Kowalewski, R.; Long, O.; Lutz, A. M.; Martinelli, M.; Muller, D. R.; Nugent, I. M.; Lopes Pegna, D.; Purohit, M. V.; Prencipe, E.; Roney, J. M.; Simi, G.; Solodov, E. P.; Telnov, A. V.; Varnes, E.; Waldi, R.; Wang, W. F.; White, R. M.
2012-12-10
We describe several studies to measure the charged track reconstruction efficiency and asymmetry of the BaBar detector. The first two studies measure the tracking efficiency of a charged particle using τ and initial state radiation decays. The third uses the τ decays to study the asymmetry in tracking, the fourth measures the tracking efficiency for low momentum tracks, and the last measures the reconstruction efficiency of K$0\\atop{S}$ particles. The first section also examines the stability of the measurements vs. BaBar running periods.
The Dynamics of Nonlinear Inference
Kadakia, Nirag
The determination of the hidden states of coupled nonlinear systems is frustrated by the presence of high-dimensionality, chaos, and sparse observability. This problem resides naturally in a Bayesian context: an underlying physical process produces a data stream, which - though noisy and incomplete - can in principle be inverted to express the likelihood of the underlying process itself. A large class of well-developed methods treat this problem in a sequential predict-and-correct manner that alternates information from the presumed dynamical model with information from the data. One might instead formulate this problem in a temporally global, non-sequential manner, which suggests new avenues of approach within an optimization context, but also poses new challenges in numerical implementation. The variational annealing (VA) technique is proposed to address these problems by leveraging an inherent separability between the convex and nonconvex contributions of the resulting functional forms. VA is shown to reliably track unobservable states in sparsely observed chaotic systems, as well as in minimally-observed biophysical neural models. Second, this problem can be formally cast in continuous time as a Wiener path integral, which then suggests classical solutions derived from Hamilton's principle. These solutions come with their own difficulties in that they comprise an unstable boundary-value problem. Accordingly, a further technique called Hamiltonian variational annealing is proposed, which again exploits an existing separability of convexity and nonlinearity, this time in a an enlarged manifold constrained by underlying symmetries. A running theme in this thesis is that the optimal estimate of a nonlinear system is itself a dynamical system that lives in an unstable, symplectic manifold. When this system is recast in a variational context, instability is manifested as nonconvexity, the central idea being that when this nonconvexity is incorporated in a systematic
Jensen, Christian Søndergaard; Li, K.-J.; Pakalnis, Stardas
2005-01-01
With the continued advances in wireless communications, geo-location technologies, and consumer electronics, it is becoming possible to accurately track the time-varying location of each vehicle in a population of vehicles. This paper reports on ongoing research that has as it objective to develop...... efficient tracking techniques. More specifically, while almost all commercially available tracking solutions simply offer time-based sampling of positions, this paper's techniques aim to offer a guaranteed tracking accuracy for each vehicle at the lowest possible costs, in terms of network traffic...... and server-side updates. This is achieved by designing, prototyping, and testing novel tracking techniques that exploit knowledge of the road network and past movement. These resulting tracking techniques are to support mobile services that rely on the existence of a central server that continuously tracks...
Tracks: Nurses and the Tracking Network
2012-06-06
This podcast highlights the utility of the National Environmental Public Health Tracking Network for nurses in a variety of work settings. It features commentary from the American Nurses Association and includes stories from a public health nurse in Massachusetts. Created: 6/6/2012 by National Center for Environmental Health (NCEH)/Division of Environmental Hazards and Health Effects (DEHHE)/Environmental Health Tracking Branch (EHTB). Date Released: 6/6/2012.
NONLINEAR EXPECTATIONS AND NONLINEAR MARKOV CHAINS
PENG SHIGE
2005-01-01
This paper deals with nonlinear expectations. The author obtains a nonlinear generalization of the well-known Kolmogorov's consistent theorem and then use it to construct filtration-consistent nonlinear expectations via nonlinear Markov chains. Compared to the author's previous results, i.e., the theory of g-expectations introduced via BSDE on a probability space, the present framework is not based on a given probability measure. Many fully nonlinear and singular situations are covered. The induced topology is a natural generalization of Lp-norms and L∞-norm in linear situations.The author also obtains the existence and uniqueness result of BSDE under this new framework and develops a nonlinear type of von Neumann-Morgenstern representation theorem to utilities and present dynamic risk measures.
Wu, Li-Bing; Yang, Guang-Hong
2017-03-01
This paper investigates the problem of adaptive output neural network (NN) control for a class of stochastic nonaffine and nonlinear systems with actuator dead-zone inputs. First, based on the intermediate value theorem, a novel design scheme that converts the nonaffine system into the corresponding affine system is developed. In particular, the priori knowledge of the bound of the derivative of the nonaffine and nonlinear functions is removed; then, by employing NNs to approximate the appropriate nonlinear functions, the corresponding adaptive NN tracking controller with the adjustable parameter updated laws is designed through a backstepping technique. Furthermore, it is shown that all the closed-loop signals are bounded in probability, and the system output tracking error can converge to a small neighborhood in the sense of a mean quartic value. Finally, experimental simulations are provided to demonstrate the efficiency of the proposed adaptive NN tracking control method.
Space object tracking with delayed measurements
Chen, Huimin; Shen, Dan; Chen, Genshe; Blasch, Erik; Pham, Khanh
2010-04-01
This paper is concerned with the nonlinear filtering problem for tracking a space object with possibly delayed measurements. In a distributed dynamic sensing environment, due to limited communication bandwidth and long distances between the earth and the satellites, it is possible for sensor reports to be delayed when the tracking filter receives them. Such delays can be complete (the full observation vector is delayed) or partial (part of the observation vector is delayed), and with deterministic or random time lag. We propose an approximate approach to incorporate delayed measurements without reprocessing the old measurements at the tracking filter. We describe the optimal and suboptimal algorithms for filter update with delayed measurements in an orbital trajectory estimation problem without clutter. Then we extend the work to a single object tracking under clutter where probabilistic data association filter (PDAF) is used to replace the recursive linear minimum means square error (LMMSE) filter and delayed measurements with arbitrary lags are be handled without reprocessing the old measurements. Finally, we demonstrate the proposed algorithms in realistic space object tracking scenarios using the NASA General Mission Analysis Tool (GMAT).
Nonlinear and cooperative control of multiple hovercraft with input constraints
Dunbar, William B.; Olfati-Saber, Reza; Richard M Murray
2003-01-01
In this paper, we introduce an approach for distributed nonlinear control of multiple hovercraft-type underactuated vehicles with bounded and unidirectional inputs. First, a bounded nonlinear controller is given for stabilization and tracking of a single vehicle, using a cascade backstepping method. Then, this controller is combined with a distributed gradient-based control for multi-vehicle formation stabilization using formation potential functions previously constructed. The vehicles are u...
Research on Robust Control of Nonlinear Fuzzy VSS for Spacecraft
DONG Shou-quan; BI Kai-bo
2007-01-01
The nonlinear dynamic system of spacecraft with uncertainty and coupling is analyzed and its general dynamical equation is given. The decoupling-ability and controllability are proved. Aiming at this system, a new nonlinear decoupling controlling method is put forward by synthetically using the variable structure and fuzzy theory. The simulation results show that this method is effective in tracking performances under the existence of uncertainty and outer disturbance.
Exploration and extension of an improved Riemann track fitting algorithm
Strandlie, A.; Frühwirth, R.
2017-09-01
Recently, a new Riemann track fit which operates on translated and scaled measurements has been proposed. This study shows that the new Riemann fit is virtually as precise as popular approaches such as the Kalman filter or an iterative non-linear track fitting procedure, and significantly more precise than other, non-iterative circular track fitting approaches over a large range of measurement uncertainties. The fit is then extended in two directions: first, the measurements are allowed to lie on plane sensors of arbitrary orientation; second, the full error propagation from the measurements to the estimated circle parameters is computed. The covariance matrix of the estimated track parameters can therefore be computed without recourse to asymptotic properties, and is consequently valid for any number of observation. It does, however, assume normally distributed measurement errors. The calculations are validated on a simulated track sample and show excellent agreement with the theoretical expectations.
Analysis and design of nonlinear resonances via singularity theory
Cirillo, G I; Kerschen, G; Sepulchre, R
2016-01-01
Bifurcation theory and continuation methods are well-established tools for the analysis of nonlinear mechanical systems subject to periodic forcing. We illustrate the added value and the complementary information provided by singularity theory with one distinguished parameter. While tracking bifurcations reveals the qualitative changes in the behaviour, tracking singularities reveals how structural changes are themselves organised in parameter space. The complementarity of that information is demonstrated in the analysis of detached resonance curves in a two-degree-of-freedom system.
OUTPUT FEEDBACK CONTROL FOR MIMO NONLINEAR SYSTEMS WITH EXOGENOUS SIGNALS
Ying ZHOU; Yuqiang WU
2006-01-01
The paper addresses the global output tracking of a class of multi-input multi-output(MIMO) nonlinear systems affected by disturbances, which are generated by a known exosystem. An adaptive controller is designed based on the proposed observer and the backstepping approach to asymptotically track arbitrary reference signal and to guarantee the boundedness of all the signals in the closed loop system. Finally, the numerical simulation results illustrate the effectiveness of the proposed scheme.
Analysis and design of nonlinear resonances via singularity theory
Cirillo, G. I.; Habib, G.; Kerschen, G.; Sepulchre, R.
2017-03-01
Bifurcation theory and continuation methods are well-established tools for the analysis of nonlinear mechanical systems subject to periodic forcing. We illustrate the added value and the complementary information provided by singularity theory with one distinguished parameter. While tracking bifurcations reveals the qualitative changes in the behaviour, tracking singularities reveals how structural changes are themselves organised in parameter space. The complementarity of that information is demonstrated in the analysis of detached resonance curves in a two-degree-of-freedom system.
The maximal process of nonlinear shot noise
Eliazar, Iddo; Klafter, Joseph
2009-05-01
In the nonlinear shot noise system-model shots’ statistics are governed by general Poisson processes, and shots’ decay-dynamics are governed by general nonlinear differential equations. In this research we consider a nonlinear shot noise system and explore the process tracking, along time, the system’s maximal shot magnitude. This ‘maximal process’ is a stationary Markov process following a decay-surge evolution; it is highly robust, and it is capable of displaying both a wide spectrum of statistical behaviors and a rich variety of random decay-surge sample-path trajectories. A comprehensive analysis of the maximal process is conducted, including its Markovian structure, its decay-surge structure, and its correlation structure. All results are obtained analytically and in closed-form.
Tracking target signal strengths on a grid using sparsity
Farahmand, S.; Giannakis, G.B.; Leus, G.J.T.; Tian, Z.
2014-01-01
Multi-target tracking is mainly challenged by the nonlinearity present in the measurement equation and the difficulty in fast and accurate data association. To overcome these challenges, the present paper introduces a grid-based model in which the state captures target signal strengths on a known sp
Washburn, A.R.
1990-01-01
IEEE Transactions on Automatic Control, Vol. 35, 1990, pp. 852-855. This paper uses tracking time as an explicit objective in designing tracking algorithms that function in clutter. Implications of using "time to the first mistake" as a measure of tracking time are explored. An optimal tracker is derived for a special circukstance where there is clutter, but no measurement error, and is compared to a tracker based on the Maximum Likelihood principle.
An Adaptive Fuzzy Control Approach for the Robust Tracking of a MEMS Gyroscope Sensor
Juntao Fei
2011-11-01
Full Text Available In this paper, a direct adaptive fuzzy control using a supervisory compensator is designed for the robust tracking of a MEMS gyroscope sensor. The parameters of the membership functions are adjusted according to the designed adaptive law for the purpose of tracking a reference trajectory. A fuzzy controller that can approximate the unknown nonlinear function and compensate the system
Ad-hoc network DOA tracking via sequential Monte Carlo filtering
GUO Li; GUO Yan; LIN Jia-ru; LI Ning
2007-01-01
A novel sequential Monte Carlo (SMC) algorithm is provided for the multiple maneuvering Ad-hoc network terminals direction of arrival (DOA) tracking. A nonlinear mobility and observation model is adopted, which can describe the motion features of the Ad-hoc network terminal more practically. The algorithm does not need any additional measurement equipment. Simulation result shows its significant tracking accuracy.
Social Security Administration — DCS Budget Tracking System database contains budget information for the Information Technology budget and the 'Other Objects' budget. This data allows for monitoring...
Video Based Moving Object Tracking by Particle Filter
Md. Zahidul Islam
2009-03-01
Full Text Available Usually, the video based object tracking deal with non-stationary image stream that changes over time. Robust and Real time moving object tracking is a problematic issue in computer vision research area. Most of the existing algorithms are able to track only inpredefined and well controlled environment. Some cases, they don’t consider non-linearity problem. In our paper, we develop such a system which considers color information, distance transform (DT based shape information and also nonlinearity. Particle filtering has been proven very successful for non-gaussian and non-linear estimation problems. We examine the difficulties of video based tracking and step by step we analyze these issues. In our firstapproach, we develop the color based particle filter tracker that relies on the deterministic search of window, whose color content matches a reference histogram model. A simple HSV histogram-based color model is used to develop this observation system. Secondly, wedescribe a new approach for moving object tracking with particle filter by shape information. The shape similarity between a template and estimated regions in the video scene is measured by their normalized cross-correlation of distance transformed images. Our observation system of particle filter is based on shape from distance transformed edge features. Template is created instantly by selecting any object from the video scene by a rectangle. Finally, inthis paper we illustrate how our system is improved by using both these two cues with non linearity.
Multiple-Scale Interactions Affecting Tropical Cyclone Track Changes
Zhexian Luo
2011-01-01
Full Text Available Tropical Cyclone (TC track changes associated with Rossby wave energy dispersion are simulated in a shallow water primitive equation model with an initial field where a TC is located south of a subtropical high. An anticyclone east of the TC appears because of Rossby wave energy dispersion. The connection of the anticyclone with the subtropical high leads to a poleward TC track deflection. The TC eventually moves across the axis of the subtropical ridge. The formation of the track may be attributed to the nonlinear interaction between the subtropical high and the TC. This work validates the conceptual model proposed by previous observational research. The scenario of the nonlinear interaction between the TC and the subtropical high may also be modified through the influence of mesoscale vortices. The main modifications are (1 the anticyclone induced by energy dispersion of the TC weakens, (2 the connection between the anticyclone and the subtropical high is delayed, and (3 the TC shifts more westward and does not move across the ridge axis. We propose that some of the mesoscale vortices are axisymmetrized by the TC and results in an increase in TC size which modifies the properties of the energy dispersion. The phase and group speeds decrease and produce a simulated track deflection to the left compared to the simulation without mesoscale vortices. Our numerical results demonstrate that multiple scale nonlinear interactions have an essential role in influencing TC track changes.
Sequential nonlinear tracking filter without requirement of measurement decorrelation
Taifan Quan
2015-01-01
Sequential measurement processing is of benefit to both estimation accuracy and computational efficiency. When the noises are correlated across the measurement components, decorrelation based on covariance matrix factorization is required in the previous methods in order to perform sequential updates properly. A new sequential processing method, which carries out the sequential updates directly using the correlated measurement components, is proposed. And a typical sequential processing example is investigated, where the converted position measure-ments are used to estimate target states by standard Kalman filtering equations and the converted Doppler measurements are then incorporated into a minimum mean squared error (MMSE) estimator with the updated cross-covariance involved to account for the correlated errors. Numerical simulations demonstrate the superiority of the proposed new sequential processing in terms of better accuracy and consistency than the conventional sequential filter based on measurement decorrelation.
CWI at TREC 2012, KBA track and Session Track
Araújo, S.; Boscarino, C.; Gebremeskel, G.G.; He, J.; Vries, A.P. de; Voorhees, E.M.; Buckland, L. P.
2013-01-01
We participated in two tracks: Knowledge Base Acceleration (KBA) Track and Session Track. In the KBA track, we focused on experi- menting with different approaches as it is the first time the track is launched. We experimented with supervised and unsupervised re- trieval models. Our supervised appro
CWI at TREC 2012, KBA track and Session Track
S. Araújo (Samur); C. Boscarino (Corrado); G.G. Gebremeskel (Gebre); J. He (Jiyin); A.P. de Vries (Arjen)
2013-01-01
htmlabstractWe participated in two tracks: Knowledge Base Acceleration (KBA) Track and Session Track. In the KBA track, we focused on experi- menting with different approaches as it is the first time the track is launched. We experimented with supervised and unsupervised re- trieval models. Our supe
Chen, Xianfeng; Zeng, Heping; Guo, Qi; She, Weilong
2015-01-01
This book presents an overview of the state of the art of nonlinear optics from weak light nonlinear optics, ultrafast nonlinear optics to electro-optical theory and applications. Topics range from the fundamental studies of the interaction between matter and radiation to the development of devices, components, and systems of tremendous commercial interest for widespread applications in optical telecommunications, medicine, and biotechnology.
Distributed nonlinear optical response
Nikolov, Nikola Ivanov
2005-01-01
The purpose of the research presented here is to investigate basic physical properties in nonlinear optical materials with delayed or nonlocal nonlinearity. Soliton propagation, spectral broadening and the influence of the nonlocality or delay of the nonlinearity are the main focusses in the work...
Noncommutative Nonlinear Supersymmetry
Nishino, H; Nishino, Hitoshi; Rajpoot, Subhash
2002-01-01
We present noncommutative nonlinear supersymmetric theories. The first example is a non-polynomial Akulov-Volkov-type lagrangian with noncommutative nonlinear global supersymmetry in arbitrary space-time dimensions. The second example is the generalization of this lagrangian to Dirac-Born-Infeld lagrangian with nonlinear supersymmetry realized in dimensions D=2,3,4 and 6 (mod 8).
Fiber Nonlinearities: A Tutorial
Govind P. Agrawal
2003-01-01
Fiber nonlinearities have long been regarded as being mostly harmful for fiber-optic communication systems. Over the last few years, however, the nonlinear effects are increasingly being used for practical telecommunications applications,the Raman amplification being only one of the recent examples. In this tutorial I review the vario us nonlinear effects occurring in optical fibers from both standpoints..
Fiber Nonlinearities: A Tutorial
Govind; P.; Agrawal
2003-01-01
Fiber nonlinearities have long been regarded as being mostly harmful for fiber-optic communication systems. Over the last few years, however, the nonlinear effects are increasingly being used for practical telecommunications applications, the Raman amplification being only one of the recent examples. In this tutorial I review the various nonlinear effects occurring in optical fibers from both standpoints..
Nonlinear system identification and control based on modular neural networks.
Puscasu, Gheorghe; Codres, Bogdan
2011-08-01
A new approach for nonlinear system identification and control based on modular neural networks (MNN) is proposed in this paper. The computational complexity of neural identification can be greatly reduced if the whole system is decomposed into several subsystems. This is obtained using a partitioning algorithm. Each local nonlinear model is associated with a nonlinear controller. These are also implemented by neural networks. The switching between the neural controllers is done by a dynamical switcher, also implemented by neural networks, that tracks the different operating points. The proposed multiple modelling and control strategy has been successfully tested on simulated laboratory scale liquid-level system.
PBH tests for nonlinear systems
Kawano, Yu; Ohtsuka, Toshiyuki
2017-01-01
Recently, concepts of nonlinear eigenvalues and eigenvectors are introduced. In this paper, we establish connections between the nonlinear eigenvalues and nonlinear accessibility/observability. In particular, we provide a generalization of Popov- Belevitch-Hautus (PBH) test to nonlinear accessibilit
Gursky, Daniel
1990-01-01
Discusses problems with student tracking. Although supporters consider tracking the best way for teachers to handle classroom diversity, many minorities say that it condemns their children to an inferior education. Studies show that heterogeneous classes benefit all students if the teachers adopt flexible instructional methods to handle the…
Can Tracking Improve Learning?
Duflo, Esther; Dupas, Pascaline; Kremer, Michael
2009-01-01
Tracking students into different classrooms according to their prior academic performance is controversial among both scholars and policymakers. If teachers find it easier to teach a homogeneous group of students, tracking could enhance school effectiveness and raise test scores of both low- and high-ability students. If students benefit from…
Can Tracking Improve Learning?
Duflo, Esther; Dupas, Pascaline; Kremer, Michael
2009-01-01
Tracking students into different classrooms according to their prior academic performance is controversial among both scholars and policymakers. If teachers find it easier to teach a homogeneous group of students, tracking could enhance school effectiveness and raise test scores of both low- and high-ability students. If students benefit from…
Large scale tracking algorithms
Hansen, Ross L. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Love, Joshua Alan [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Melgaard, David Kennett [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Karelitz, David B. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Pitts, Todd Alan [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Zollweg, Joshua David [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Anderson, Dylan Z. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Nandy, Prabal [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Whitlow, Gary L. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Bender, Daniel A. [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Byrne, Raymond Harry [Sandia National Lab. (SNL-NM), Albuquerque, NM (United States)
2015-01-01
Low signal-to-noise data processing algorithms for improved detection, tracking, discrimination and situational threat assessment are a key research challenge. As sensor technologies progress, the number of pixels will increase signi cantly. This will result in increased resolution, which could improve object discrimination, but unfortunately, will also result in a significant increase in the number of potential targets to track. Many tracking techniques, like multi-hypothesis trackers, suffer from a combinatorial explosion as the number of potential targets increase. As the resolution increases, the phenomenology applied towards detection algorithms also changes. For low resolution sensors, "blob" tracking is the norm. For higher resolution data, additional information may be employed in the detection and classfication steps. The most challenging scenarios are those where the targets cannot be fully resolved, yet must be tracked and distinguished for neighboring closely spaced objects. Tracking vehicles in an urban environment is an example of such a challenging scenario. This report evaluates several potential tracking algorithms for large-scale tracking in an urban environment.
Incentives from Curriculum Tracking
Koerselman, Kristian
2013-01-01
Curriculum tracking creates incentives in the years before its start, and we should therefore expect test scores to be higher during those years. I find robust evidence for incentive effects of tracking in the UK based on the UK comprehensive school reform. Results from the Swedish comprehensive school reform are inconclusive. Internationally, I…
Bewegingsvolgsysteem = Monitor tracking system
Slycke, Per Johan; Veltink, Petrus Hermanus; Roetenberg, Daniel
2006-01-01
A motion tracking system for tracking an object composed of object parts in a three-dimensional space. The system comprises a number of magnetic field transmitters; a number of field receivers for receiving the magnetic fields of the field transmitters; a number of inertial measurement units for rec
Bewegingsvolgsysteem = Monitor tracking system
Slycke, Per Johan; Veltink, Petrus Hermanus; Roetenberg, Daniel
2007-01-01
A motion tracking system for tracking an object composed of object parts in a three-dimensional space. The system comprises a number of magnetic field transmitters; a number of field receivers for receiving the magnetic fields of the field transmitters; a number of inertial measurement units for rec
Gabriela GROSSECK
2006-01-01
Full Text Available Eye-tracking: one of the newest and most efficient methods of improving on-line marketing communication is called eye-tracking. Marketers have borrowed this technique, usually used in psychological and medical research, in order to study web users with the help of a video camera incorporated in the monitor.
Large scale tracking algorithms.
Hansen, Ross L.; Love, Joshua Alan; Melgaard, David Kennett; Karelitz, David B.; Pitts, Todd Alan; Zollweg, Joshua David; Anderson, Dylan Z.; Nandy, Prabal; Whitlow, Gary L.; Bender, Daniel A.; Byrne, Raymond Harry
2015-01-01
Low signal-to-noise data processing algorithms for improved detection, tracking, discrimination and situational threat assessment are a key research challenge. As sensor technologies progress, the number of pixels will increase signi cantly. This will result in increased resolution, which could improve object discrimination, but unfortunately, will also result in a significant increase in the number of potential targets to track. Many tracking techniques, like multi-hypothesis trackers, suffer from a combinatorial explosion as the number of potential targets increase. As the resolution increases, the phenomenology applied towards detection algorithms also changes. For low resolution sensors, "blob" tracking is the norm. For higher resolution data, additional information may be employed in the detection and classfication steps. The most challenging scenarios are those where the targets cannot be fully resolved, yet must be tracked and distinguished for neighboring closely spaced objects. Tracking vehicles in an urban environment is an example of such a challenging scenario. This report evaluates several potential tracking algorithms for large-scale tracking in an urban environment.
Zhang, Lihe; Lu, Huchuan; Du, Dandan; Liu, Luning
2016-02-01
In this paper, we propose a novel tracking framework based on a sparse and discriminative hashing method. Different from the previous work, we treat object tracking as an approximate nearest neighbor searching process in a binary space. Using the hash functions, the target templates and the candidates can be projected into the Hamming space, facilitating the distance calculation and tracking efficiency. First, we integrate both the inter-class and intra-class information to train multiple hash functions for better classification, while most classifiers in previous tracking methods usually neglect the inter-class correlation, which may cause the inaccuracy. Then, we introduce sparsity into the hash coefficient vectors for dynamic feature selection, which is crucial to select the discriminative and stable features to adapt to visual variations during the tracking process. Extensive experiments on various challenging sequences show that the proposed algorithm performs favorably against the state-of-the-art methods.
2007-05-08
Revision 75 of the Tracked Vehicle software is a soft real-time simulation of a differentially steered, tracked mobile robot, which, because of the track flippers, resembles the iRobot PackBot (http://www.irobot.com/). Open source libraries are used for the physics engine (http://www.ode.org/), the display and user interface (http://www.mathies.com/cpw/), and the program command line and configuration file parameters (http://www.boost.org/). The simulation can be controlled by a USB joystick or the keyboard. The configuration file contains demonstration model parameters of no particular vehicle. This simulation can be used as a starting point for those doing tracked vehicle simulations. This simulation software is essentially a research tool which can be modified and adapted for certain types of tracked vehicle research. An open source license allows an individual researchers to tailor the code to their specific research needs.
Nonlinear dynamics and complexity
Luo, Albert; Fu, Xilin
2014-01-01
This important collection presents recent advances in nonlinear dynamics including analytical solutions, chaos in Hamiltonian systems, time-delay, uncertainty, and bio-network dynamics. Nonlinear Dynamics and Complexity equips readers to appreciate this increasingly main-stream approach to understanding complex phenomena in nonlinear systems as they are examined in a broad array of disciplines. The book facilitates a better understanding of the mechanisms and phenomena in nonlinear dynamics and develops the corresponding mathematical theory to apply nonlinear design to practical engineering.
Miyamoto, Hiroyuki; Ohmori, Hiromitsu
This work considers an adaptive servosystem design for a class of nonlinear systems that can be transformed into a canonical form. Although our proposed compensator is based on nonlinear internal model principle, overall control system structure adopts plug-in manner, i.e. the compensator to achieve tracking and disturbance rejection is placed outside the existed feedback controller. Moreover such compensator can be designed by solving error feedback nonlinear regulation problem and by using recursive procedure. An adaptation mechanism is introduced to cope with the unknown parameters of exosystem.
Mueller, Matthias
2016-04-13
In this thesis, we propose a new aerial video dataset and benchmark for low altitude UAV target tracking, as well as, a photo-realistic UAV simulator that can be coupled with tracking methods. Our benchmark provides the rst evaluation of many state of-the-art and popular trackers on 123 new and fully annotated HD video sequences captured from a low-altitude aerial perspective. Among the compared trackers, we determine which ones are the most suitable for UAV tracking both in terms of tracking accuracy and run-time. We also present a simulator that can be used to evaluate tracking algorithms in real-time scenarios before they are deployed on a UAV "in the field", as well as, generate synthetic but photo-realistic tracking datasets with free ground truth annotations to easily extend existing real-world datasets. Both the benchmark and simulator will be made publicly available to the vision community to further research in the area of object tracking from UAVs. Additionally, we propose a persistent, robust and autonomous object tracking system for unmanned aerial vehicles (UAVs) called Persistent Aerial Tracking (PAT). A computer vision and control strategy is applied to a diverse set of moving objects (e.g. humans, animals, cars, boats, etc.) integrating multiple UAVs with a stabilized RGB camera. A novel strategy is employed to successfully track objects over a long period, by \\'handing over the camera\\' from one UAV to another. We integrate the complete system into an off-the-shelf UAV, and obtain promising results showing the robustness of our solution in real-world aerial scenarios.
MANEUVERING TARGET TRACKING USING FUZZY COMPENSATOR
1998-01-01
A new approach is provided to estimate the state of arbitrarily maneuvering target. In this approach a fuzzy compensator is used to tackle the uncertainty which results from the targets arbitrarily maneuvering. To design the observer of the nonlinear system, the fuzzy T-S model and the receding horizon control strategy are employed. Besides, the design depends on tracking the output error of the model. Compared with the technique used in other articles, the errors between the first estimated value and the true state value of the estimated variable are not strictly required. Numerical simulating results show that the proposed approach can estimate the states of the random maneuvering targets on-line so as to obtain the exact tracking of the target.
Passive target tracking using marginalized particle filter
无
2007-01-01
A marginalized particle filtering(MPF)approach is proposed for target tracking under the background of passive measurement.Essentially,the MPF is a combination of particle filtering technique and Kalman filter.By making full use of marginalization,the distributions of the tractable linear part of the total state variables are updated analytically using Kalman filter,and only the lower-dimensional nonlinear state variable needs to be dealt with using particle filter.Simulation studies are performed on an illustrative example,and the results show that the MPF method leads to a significant reduction of the tracking errors when compared with the direct particle implementation.Real data test results also validate the effectiveness of the presented method.
张利军; 赵杰梅; 齐雪
2012-01-01
Based on the sliding-mode predictive control (SMPC) technique,a controller for a class of discrete-time nonlinear uncertain single-input-single-output (SISO) systems with intemal dynamics is proposed.Due to the feedback correction and receding horizon optimization,the effect of uncertainty can be compensated in time,and the robustness to matched or unmatched uncertainties has been improved.The desired sliding-mode control law is obtained by using the receding horizon optimization subsequently.Especially,the chattering of sliding-mode control (SMC) can be eliminated by predictive control techniques.It is shown that all the signals of the closed-loop systems are bounded and the tracking error is robustly stable,without requiring the boundary knowledge of the uncertainty.Simulation result is given to demonstrate the advantages of the proposed method.%对于一类带有内动态的单输入-单输出不确定离散非线性系统,基于滑模预测控制技术设计了一个控制器.通过反馈校正和滚动优化技术,可以及时补偿不确定性的影响,提高了匹配和不匹配不确定项的鲁棒性.然后,通过滚动优化技术得到期望的滑模控制律.特别地,通过预测控制,滑模控制的抖振现象可以消除.最后,在不确定项的界未知的情况下,得到闭环系统的所有信号都是有界的,并且跟踪误差是鲁棒稳定的.仿真例子说明所提出控制方法的有效性.
Integral Terminal Sliding Mode Control for a Class of Nonaffine Nonlinear Systems with Uncertainty
Qiang Zhang; Hongliang Yu; Xiaohong Wang
2013-01-01
This paper is concerned with an integral terminal sliding mode tracking control for a class of uncertain nonaffine nonlinear systems. Firstly, the nonaffine nonlinear systems is approximated to facilitate the desired control design via a novel dynamic modeling technique. Next, for the unmeasured disturbance of nonlinear systems, integral terminal sliding mode disturbance observer is presented. The developed disturbance observer can guarantee the disturbance approximation error to converge to ...
Nonlinear Elliptic Differential Equations with Multivalued Nonlinearities
Antonella Fiacca; Nikolaos Matzakos; Nikolaos S Papageorgiou; Raffaella Servadei
2001-11-01
In this paper we study nonlinear elliptic boundary value problems with monotone and nonmonotone multivalued nonlinearities. First we consider the case of monotone nonlinearities. In the first result we assume that the multivalued nonlinearity is defined on all $\\mathbb{R}$. Assuming the existence of an upper and of a lower solution, we prove the existence of a solution between them. Also for a special version of the problem, we prove the existence of extremal solutions in the order interval formed by the upper and lower solutions. Then we drop the requirement that the monotone nonlinearity is defined on all of $\\mathbb{R}$. This case is important because it covers variational inequalities. Using the theory of operators of monotone type we show that the problem has a solution. Finally in the last part we consider an eigenvalue problem with a nonmonotone multivalued nonlinearity. Using the critical point theory for nonsmooth locally Lipschitz functionals we prove the existence of at least two nontrivial solutions (multiplicity theorem).
Control synthesis for a class of nonlinear systems based on partition of unity
Dongfang HAN; Yinhe WANG; Siying ZHANG
2007-01-01
A partition-of-unity-based approach is proposed to derive an approximate model for a class of nonlinear systems. The precision of the approximate model is analyzed by using the modulus of continuity of continuous functions.The system stability of the approximate model is analyzed by using Lyapunov stability theory. A design algorithm for constructing tracking controllers with tracking performance related to tracking error is given based on the approximate model and the partition of unity method.
Occlusion Handling in Videos Object Tracking: A Survey
Lee, B. Y.; Liew, L. H.; Cheah, W. S.; Wang, Y. C.
2014-02-01
Object tracking in video has been an active research since for decades. This interest is motivated by numerous applications, such as surveillance, human-computer interaction, and sports event monitoring. Many challenges related to tracking objects still remain, this can arise due to abrupt object motion, changing appearance patterns of objects and the scene, non-rigid object structures and most significant are occlusion of tracked object be it object-to-object or object-to-scene occlusions. Generally, occlusion in object tracking occur under three situations: self-occlusion, inter-object occlusion by background scene structure. Self-occlusion occurs most frequently while tracking articulated objects when one part of the object occludes another. Inter-object occlusion occurs when two objects being tracked occlude each other whereas occlusion by the background occurs when a structure in the background occludes the tracked objects. Typically, tracking methods handle occlusion by modelling the object motion using linear and non-linear dynamic models. The derived models will be used to continuously predicting the object location when a tracked object is occluded until the object reappears. Example of these method are Kalman filtering and Particle filtering trackers. Researchers have also utilised other features to resolved occlusion, for example, silhouette projections, colour histogram and optical flow. We will present some result from a previously conducted experiment when tracking single object using Kalman filter, Particle filter and Mean Shift trackers under various occlusion situation in this paper. We will also review various other occlusion handling methods that involved using multiple cameras. In a nutshell, the goal of this paper is to discuss in detail the problem of occlusion in object tracking and review the state of the art occlusion handling methods, classify them into different categories, and identify new trends. Moreover, we discuss the important
Passive Target Tracking Based on Current Statistical Model
DENG Xiao-long; XIE Jian-ying; YANG Yu-pu
2005-01-01
Bearing-only passive tracking is regarded as a nonlinear hard tracking problem. There are still no completely good solutions to this problem until now. Based on current statistical model, the novel solution to this problem utilizing particle filter (PF) and the unscented Kalman filter (UKF) is proposed. The new solution adopts data fusion from two observers to increase the observability of passive tracking. It applies the residual resampling step to reduce the degeneracy of PF and it introduces the Markov Chain Monte Carlo methods (MCMC) to reduce the effect of the "sample impoverish". Based on current statistical model, the EKF, the UKF and particle filter with various proposal distributions are compared in the passive tracking experiments with two observers. The simulation results demonstrate the good performance of the proposed new filtering methods with the novel techniques.
Development of target-tracking algorithms using neural network
Park, Dong Sun; Lee, Joon Whaoan; Yoon, Sook; Baek, Seong Hyun; Lee, Myung Jae [Chonbuk National University, Chonjoo (Korea)
1998-04-01
The utilization of remote-control robot system in atomic power plants or nuclear-related facilities grows rapidly, to protect workers form high radiation environments. Such applications require complete stability of the robot system, so that precisely tracking the robot is essential for the whole system. This research is to accomplish the goal by developing appropriate algorithms for remote-control robot systems. A neural network tracking system is designed and experimented to trace a robot Endpoint. This model is aimed to utilized the excellent capabilities of neural networks; nonlinear mapping between inputs and outputs, learning capability, and generalization capability. The neural tracker consists of two networks for position detection and prediction. Tracking algorithms are developed and experimented for the two models. Results of the experiments show that both models are promising as real-time target-tracking systems for remote-control robot systems. (author). 10 refs., 47 figs.
Department of Transportation — AVS is now required to collect, track, and report on data from the following Flight, Business and Workforce Plan. The Human Resource Management’s Performance Target...
Federal Laboratory Consortium — The TLV is designed to apply forces close to the strength limits of the rails and other track structure components, such as ties, rail fasteners, and ballast, while...
US Fish and Wildlife Service, Department of the Interior — The goal of St. Vincent National Wildlife Refuge's Track Count Protocol is to provide an index to the population size of game animals inhabiting St. Vincent Island.
National Archives and Records Administration — CATS tracks Public and Federal Agency Reference Requests for OPF (Official Personnel Folder) , EMF (Employee Medical Folder), and eOPF (electronic Official Personnel...
Financial Disclosure Tracking System
US Agency for International Development — USAID's FDTS identifies personal service contractors and local employees who should file disclosure reports. It tracks late filers and identifies those who must take...
Matter Tracking Information System -
Department of Transportation — The Matter Tracking Information System (MTIS) principle function is to streamline and integrate the workload and work activity generated or addressed by our 300 plus...
National Oceanic and Atmospheric Administration, Department of Commerce — The objectives of this project are to use novel satellite tracking methods to provide improved estimation of threats at foraging areas and along migration routes for...
2006-01-01
On 7 and 8 June 2006, the last large component of the LHCb experiment was lowered into the cavern. This 10-tonne, 18-metre long metal structure known as 'the bridge' will support the LHCb tracking system.
Patient Treatment Tracking Chart
... Treatment Tracking Chart Viral Hepatitis Menu Menu Viral Hepatitis Viral Hepatitis Home For Veterans and the Public Veterans ... can record dates of blood work, laboratory values, hepatitis C viral load levels, medication dosages, and side effects. You ...
Energy Tracking Software Platform
Ryan Davis; Nathan Bird; Rebecca Birx; Hal Knowles
2011-04-04
Acceleration has created an interactive energy tracking and visualization platform that supports decreasing electric, water, and gas usage. Homeowners have access to tools that allow them to gauge their use and track progress toward a smaller energy footprint. Real estate agents have access to consumption data, allowing for sharing a comparison with potential home buyers. Home builders have the opportunity to compare their neighborhood's energy efficiency with competitors. Home energy raters have a tool for gauging the progress of their clients after efficiency changes. And, social groups are able to help encourage members to reduce their energy bills and help their environment. EnergyIT.com is the business umbrella for all energy tracking solutions and is designed to provide information about our energy tracking software and promote sales. CompareAndConserve.com (Gainesville-Green.com) helps homeowners conserve energy through education and competition. ToolsForTenants.com helps renters factor energy usage into their housing decisions.
Wandernoth, S
2010-01-01
We present the tracking performance at LHCb by showing the mass resolution, impact parameter resolution and proper time resolution of the first data taken at LHCb. Furthermore several methods to estimate the tagging efficiency on data are presented.
Procurement Tracking System (PTS)
Office of Personnel Management — The Procurement Tracking System (PTS) is used solely by the procurement staff of the Office of the Inspector General (OIG) at the U.S. Office of Personnel Management...
LHCb VELO Tracking Resolutions
Alexander, Michael
2011-01-01
The excellent tracking performance of the Vertex Locator (VELO) at LHCb is presented. The resolutions it achieves on single hits, impact parameters, and primary vertex positions are shown, with particular attention paid to measurement of impact parameters.
Jarodzka, Halszka
2011-01-01
Jarodzka, H. (2010, 12 November). Applied eye tracking research. Presentation and Labtour for Vereniging Gewone Leden in oprichting (VGL i.o.), Heerlen, The Netherlands: Open University of the Netherlands.
Federal Laboratory Consortium — Located in Lakehurst, New Jersey, the Jet Car Track Site supports jet cars with J57 engines and has a maximum jet car thrust of 42,000 pounds with a maximum speed of...
Jarodzka, Halszka
2011-01-01
Jarodzka, H. (2010, 12 November). Applied eye tracking research. Presentation and Labtour for Vereniging Gewone Leden in oprichting (VGL i.o.), Heerlen, The Netherlands: Open University of the Netherlands.
Li, Zhaoying; Zhou, Wenjie; Liu, Hao
2016-09-01
This paper addresses the nonlinear robust tracking controller design problem for hypersonic vehicles. This problem is challenging due to strong coupling between the aerodynamics and the propulsion system, and the uncertainties involved in the vehicle dynamics including parametric uncertainties, unmodeled model uncertainties, and external disturbances. By utilizing the feedback linearization technique, a linear tracking error system is established with prescribed references. For the linear model, a robust controller is proposed based on the signal compensation theory to guarantee that the tracking error dynamics is robustly stable. Numerical simulation results are given to show the advantages of the proposed nonlinear robust control method, compared to the robust loop-shaping control approach.
Wei Khim Ng
2009-02-01
Full Text Available We construct nonlinear extensions of Dirac's relativistic electron equation that preserve its other desirable properties such as locality, separability, conservation of probability and Poincaré invariance. We determine the constraints that the nonlinear term must obey and classify the resultant non-polynomial nonlinearities in a double expansion in the degree of nonlinearity and number of derivatives. We give explicit examples of such nonlinear equations, studying their discrete symmetries and other properties. Motivated by some previously suggested applications we then consider nonlinear terms that simultaneously violate Lorentz covariance and again study various explicit examples. We contrast our equations and construction procedure with others in the literature and also show that our equations are not gauge equivalent to the linear Dirac equation. Finally we outline various physical applications for these equations.
Function integrated track system
Hohnecker, Eberhard
2010-01-01
The paper discusses a function integrated track system that focuses on the reduction of acoustic emissions from railway lines. It is shown that the combination of an embedded rail system (ERS), a sound absorbing track surface, and an integrated mini sound barrier has significant acoustic advantages compared to a standard ballast superstructure. The acoustic advantages of an embedded rail system are particularly pronounced in the case of railway bridges. Finally, it is shown that a...
Scorer, A. G.
1998-09-01
This paper covers the wide area and short range locational technologies that are available for vehicle tracking in particular and mobile user security in general. It also summarises the radio communications services that can deliver information to the user. It considers the use that can be made of these technologies, when combined with procedures for delivering a response, in the security field, notably in relation to personal security, high-value load protection and the after-theft tracking markets.
Provenance Tracking in UNICORE
Giesler, André; Hagemeier, Björn; Czekala, Myriam
2015-01-01
The automated tracking and storage of provenance information allows users of scientific workflow systems to validate and reproduce results of their experiments. Until now, UNICORE has not been providing comprehensive provenance features. For this reason, we plan to equip UNICORE with a flexible provenance tracking mechanism. Our goal is to ensure a suitable traceability of job and workflow processes into a description format supporting query capabilities and interoperability. In a first step,...
Low velocity tracking control-based ADRC for large-scale telescope system
Cai, Huaxiang; Huang, Yongmei; Du, Junfeng; Tang, Tao; Zuo, Dan
2015-10-01
In this paper, an improved Active Disturbance Rejection control (ADRC) method is proposed to enhance the tracking precision of telescope if the telescope runs in a low velocity. Low velocity telescope system usually suffers some obvious nonlinear disturbances, such as nonlinear friction and unknown external disturbance. Thereby, to ensure the tracking precision, multiple loops control structure is a common control method in telescope system, which includes current loop, velocity loop and position loop. The proposed control method is used in the velocity loop which consists of a PD controller and an Extend State Observer (ESO). The ESO is designed to estimate the disturbance involved in the telescope system. Besides, the PD controller is designed to stabilize the closed-loop system. Furthermore, this control method theoretically guarantees a prescribed tracking performance and final tracking accuracy. Finally, the experiment results show that the proposed control method has excellent performance for reducing the tracking error of low velocity.
MATERIAL TRACKING USING LANMAS
Armstrong, F.
2010-06-07
LANMAS is a transaction-based nuclear material accountability software product developed to replace outdated and legacy accountability systems throughout the DOE. The core underlying purpose of LANMAS is to track nuclear materials inventory and report transactions (movement, mixing, splitting, decay, etc.) to the Nuclear Materials Management and Safeguards System (NMMSS). While LANMAS performs those functions well, there are many additional functions provided by the software product. As a material is received onto a site or created at a site, its entire lifecycle can be tracked in LANMAS complete to its termination of safeguards. There are separate functions to track material movements between and within material balance areas (MBAs). The level of detail for movements within a MBA is configurable by each site and can be as high as a site designation or as detailed as building/room/rack/row/position. Functionality exists to track the processing of materials, either as individual items or by modeling a bulk process as an individual item to track inputs and outputs from the process. In cases where sites have specialized needs, the system is designed to be flexible so that site specific functionality can be integrated into the product. This paper will demonstrate how the software can be used to input material into an account and track it to its termination of safeguards.
Ionescu, Tudor C.; Scherpen, Jacquelien M. A.
We study the notion of cross Gramians for nonlinear gradient systems, using the characterization in terms of prolongation and gradient extension associated to the system. The cross Gramian is given for the variational system associated to the original nonlinear gradient system. We obtain linearization results that correspond to the notion of a cross Gramian for symmetric linear systems. Furthermore, first steps towards relations with the singular value functions of the nonlinear Hankel operator are studied and yield promising results.
W. L. Fouché
1983-03-01
Full Text Available In this article we discuss some aspects of nonlinear functional analysis. It included reviews of Banach’s contraction theorem, Schauder’s fixed point theorem, globalising techniques and applications of homotopy theory to nonlinear functional analysis. The author emphasises that fundamentally new ideas are required in order to achieve a better understanding of phenomena which contain both nonlinear and definite infinite dimensional features.
Nonlinear Electrodynamics and QED
2003-01-01
The limits of linear electrodynamics are reviewed, and possible directions of nonlinear extension are explored. The central theme is that the qualitative character of the empirical successes of quantum electrodynamics must be used as a guide for understanding the nature of the nonlinearity of electrodynamics at the subatomic level. Some established theories of nonlinear electrodynamics, namely, those of Mie, Born, and Infeld are presented in the language of the modern geometrical and topologi...
Kono, Mitsuo
2010-01-01
A nonlinearity is one of the most important notions in modern physics. A plasma is rich in nonlinearities and provides a variety of behaviors inherent to instabilities, coherent wave structures and turbulence. The book covers the basic concepts and mathematical methods, necessary to comprehend nonlinear problems widely encountered in contemporary plasmas, but also in other fields of physics and current research on self-organized structures and magnetized plasma turbulence. The analyses make use of strongly nonlinear models solved by analytical techniques backed by extensive simulations and available experiments. The text is written for senior undergraduates, graduate students, lecturers and researchers in laboratory, space and fusion plasmas.
Nonlinear magnetic metamaterials.
Shadrivov, Ilya V; Kozyrev, Alexander B; van der Weide, Daniel W; Kivshar, Yuri S
2008-12-08
We study experimentally nonlinear tunable magnetic metamaterials operating at microwave frequencies. We fabricate the nonlinear metamaterial composed of double split-ring resonators where a varactor diode is introduced into each resonator so that the magnetic resonance can be tuned dynamically by varying the input power. We demonstrate that at higher powers the transmission of the metamaterial becomes power-dependent and, as a result, such metamaterial can demonstrate various nonlinear properties. In particular, we study experimentally the power-dependent shift of the transmission band and demonstrate nonlinearity-induced enhancement (or suppression) of wave transmission. (c) 2008 Optical Society of America
Organic nonlinear optical materials
Umegaki, S.
1987-01-01
Recently, it became clear that organic compounds with delocalized pi electrons show a great nonlinear optical response. Especially, secondary nonlinear optical constants of more than 2 digits were often seen in the molecular level compared to the existing inorganic crystals such as LiNbO3. The crystallization was continuously tried. Organic nonlinear optical crystals have a new future as materials for use in the applied physics such as photomodulation, optical frequency transformation, opto-bistabilization, and phase conjugation optics. Organic nonlinear optical materials, e.g., urea, O2NC6H4NH2, I, II, are reviewed with 50 references.
Nonlinearity-reduced interferometer
Wu, Chien-ming
2007-12-01
Periodic nonlinearity is a systematic error limiting the accuracy of displacement measurements at the nanometer level. It results from many causes such as the frequency mixing, polarization mixing, polarization-frequency mixing, and the ghost reflections. An interferometer having accuracy in displacement measurement of less than one-nanometer is necessary in nanometrology. To meet the requirement, the periodic nonlinearity should be less than deep sub-nanometer. In this paper, a nonlinearity-reduced interferometry has been proposed. Both the linear- and straightness-interferometer were tested. The developed interferometer demonstrated of a residual nonlinearity less than 25 pm.
Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation
Zool H. Ismail
2013-01-01
Full Text Available A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances. In this paper, a robust technique is presented for an Autonomous Underwater Vehicle (AUV with region tracking function. Within this control scheme, nonlinear H∞ and region based control schemes are used. A Lyapunov-like function is presented for stability analysis of the proposed control law. Numerical simulations are presented to demonstrate the performance of the proposed tracking control of the AUV. It is shown that the proposed control law is robust against parameter uncertainties, external disturbances, and nonlinearities and it leads to uniform ultimate boundedness of the region tracking error.
Nonlinear control of marine vehicles using only position and attitude measurements
Paulsen, Marit Johanne
1996-12-31
This thesis presents new results on the design and analysis of nonlinear output feedback controllers for auto pilots and dynamic positioning systems for ships and underwater vehicles. Only position and attitude measurements of the vehicle are used in the control design. The underlying idea of the work is to use certain structural properties of the equations of motion in the controller design and analysis. New controllers for regulation and tracking have been developed and the stability of the resulting closed-loop systems has been rigorously established. The results are supported by simulations. The following problems have been investigated covering design of passive controller for regulation, comparison of two auto pilots, nonlinear damping compensation for tracking, tracking control for nonlinear ships, and output tracking control with wave filtering for multivariable models of possibly unstable vehicles. 97 refs., 32 figs.
Modified Extended Kalman Filtering for Tracking with Insufficient and Intermittent Observations
Pengpeng Chen
2015-01-01
Full Text Available This paper is concerned with the Kalman filtering problem for tracking a single target on the fixed-topology wireless sensor networks (WSNs. Both the insufficient anchor coverage and the packet dropouts have been taken into consideration in the filter design. The resulting tracking system is modeled as a multichannel nonlinear system with multiplicative noise. Noting that the channels may be correlated with each other, we use a general matrix to express the multiplicative noise. Then, a modified extended Kalman filtering algorithm is presented based on the obtained model to achieve high tracking accuracy. In particular, we evaluate the effect of various parameters on the tracking performance through simulation studies.
Adaptive trajectory tracking control of two-wheeled self-balance robot
Qin Yong; Zang Xizhe; Wang Xiaoyu; Li Tian; Zhao Jie
2009-01-01
Wheeled mobile robot is one of the well-known nonholonomic systems. A two-wheeled self-balance robot is taken as the research objective. This paper carried out a detailed force analysis of the robot and established a non-linear dynamics model. An adaptive tracking controller for the kinematic model of a nonholonomic mobile robot with unknown parameters is also proposed. Using control Lyapunov function (CLF), the controller's global asymptotic stability has been proven. The adaptive trajectory tracking controller decreases the disturbance in the course of tracking control and enhances the real-time control characteristics. The simulation result indicated that the wheeled mobile robot tracking can be effectively controlled.
Coordinated formation control of multiple nonlinear systems
Wei KANG; Ning XI; Jindong TAN; Yiwen ZHAO; Yuechao WANG
2005-01-01
A general method of controller design is developed for the purpose of formation keeping and reconfiguration of nonlinear systems with multiple subsystems,such as the formation of multiple aircraft,ground vehicles,or robot arms.The model consists of multiple nonlinear systems.Controllers are designed to keep the subsystems in a required formation and to coordinate the subsystems in the presence of environmental changes.A step-by-step algorithm of controller design is developed.Sufficient conditions for the stability of formation tracking are proved.Simulations and experiments are conducted to demonstrate some useful coordination strategies such as movement with a leader,simultaneous movement,series connection of formations,and human-machine interaction.
Feedforward Tracking Control of Flat Recurrent Fuzzy Systems
Gering, Stefan; Adamy, Jürgen
2014-12-01
Flatness based feedforward control has proven to be a feasible solution for the problem of tracking control, which may be applied to a broad class of nonlinear systems. If a flat output of the system is known, the control is often based on a feedforward controller generating a nominal input in combination with a linear controller stabilizing the linearized error dynamics around the trajectory. We show in this paper that the very same idea may be incorporated for tracking control of MIMO recurrent fuzzy systems. Their dynamics is given by means of linguistic differential equations but may be converted into a hybrid system representation, which then serves as the basis for controller synthesis.
Lasers for nonlinear microscopy.
Wise, Frank
2013-03-01
Various versions of nonlinear microscopy are revolutionizing the life sciences, almost all of which are made possible because of the development of ultrafast lasers. In this article, the main properties and technical features of short-pulse lasers used in nonlinear microscopy are summarized. Recent research results on fiber lasers that will impact future instruments are also discussed.
Eaton, D F
1991-07-19
The current state of materials development in nonlinear optics is summarized, and the promise of these materials is critically evaluated. Properties and important materials constants of current commercial materials and of new, promising, inorganic and organic molecular and polymeric materials with potential in second- and third-order nonlinear optical applications are presented.
Billings, S. A.
1988-03-01
Time and frequency domain identification methods for nonlinear systems are reviewed. Parametric methods, prediction error methods, structure detection, model validation, and experiment design are discussed. Identification of a liquid level system, a heat exchanger, and a turbocharge automotive diesel engine are illustrated. Rational models are introduced. Spectral analysis for nonlinear systems is treated. Recursive estimation is mentioned.
Ionescu, T. C.; Scherpen, J. M. A.; Korytowski, A; Malanowski, K; Mitkowski, W; Szymkat, M
2009-01-01
We study the notion of cross Gramians for nonlinear gradient systems, using the characterization in terms of prolongation and gradient extension associated to the system. The cross Gramian is given for the variational system associated to the original nonlinear gradient system. We obtain
Clausen, Carl A. Balslev; Christiansen, Peter Leth; Torner, L.
1999-01-01
We show that with the quasi-phase-matching technique it is possible to fabricate stripes of nonlinearity that trap and guide light like waveguides. We investigate an array of such stripes and find that when the stripes are sufficiently narrow, the beam dynamics is governed by a quadratic nonlinear...
Controllability in nonlinear systems
Hirschorn, R. M.
1975-01-01
An explicit expression for the reachable set is obtained for a class of nonlinear systems. This class is described by a chain condition on the Lie algebra of vector fields associated with each nonlinear system. These ideas are used to obtain a generalization of a controllability result for linear systems in the case where multiplicative controls are present.
Menon, P. K. A.; Badgett, M. E.; Walker, R. A.
1992-01-01
Trajectory-control laws based on singular-perturbation theory and nonlinear dynamical modeling. Nonlinear maneuver autopilot commands flight-test trajectories of F-15 airplane. Underlying theory of controller enables separation of variables processed in fast and slow control loops, reducing amount of computation required.
Hubbard, Mont
2012-01-01
Simple geometric models of ice surface shape and equations of motion of objects on these surfaces can be used to explain ejection of sliders from ice tracks. Simulations using these can be used to explain why certain design features can be viewed as proximate causes of ejection from the track and hence design flaws. This paper studies the interaction of a particle model for the luge sled (or its right runner) with the ice fillet commonly connecting inside vertical walls and the flat track bottom. A numerical example analyzes the 2010 luge accident at the Vancouver Olympics. It shows that this runner-fillet interaction, and specifically the fillet's positive curvature up the inside wall, can cause a vertical velocity more than sufficient to clear the outside exit wall. In addition its negative curvature along the track, together with large vertical velocity, explains loss of fillet or wall contact and slider ejection. This exposes the fillet along inside walls as a track design flaw. A more transparent design ...
2006-01-01
First cosmic ray tracks in the integrated ATLAS barrel SCT and TRT tracking detectors. A snap-shot of a cosmic ray event seen in the different layers of both the SCT and TRT detectors. The ATLAS Inner Detector Integration Team celebrated a major success recently, when clean tracks of cosmic rays were detected in the completed semiconductor tracker (SCT) and transition radiation tracker (TRT) barrels. These tracking tests come just months after the successful insertion of the SCT into the TRT (See Bulletin 09/2006). The cosmic ray test is important for the experiment because, after 15 years of hard work, it is the last test performed on the fully assembled barrel before lowering it into the ATLAS cavern. The two trackers work together to provide millions of channels so that particles' tracks can be identified and measured with great accuracy. According to the team, the preliminary results were very encouraging. After first checks of noise levels in the final detectors, a critical goal was to study their re...
Identification methods for nonlinear stochastic systems.
Fullana, Jose-Maria; Rossi, Maurice
2002-03-01
Model identifications based on orbit tracking methods are here extended to stochastic differential equations. In the present approach, deterministic and statistical features are introduced via the time evolution of ensemble averages and variances. The aforementioned quantities are shown to follow deterministic equations, which are explicitly written within a linear as well as a weakly nonlinear approximation. Based on such equations and the observed time series, a cost function is defined. Its minimization by simulated annealing or backpropagation algorithms then yields a set of best-fit parameters. This procedure is successfully applied for various sampling time intervals, on a stochastic Lorenz system.
Nonlinear optics and photonics
He, Guang S
2015-01-01
This book provides a comprehensive presentation on most of the major topics in nonlinear optics and photonics, with equal emphasis on principles, experiments, techniques, and applications. It covers many major new topics including optical solitons, multi-photon effects, nonlinear photoelectric effects, fast and slow light , and Terahertz photonics. Chapters 1-10 present the fundamentals of modern nonlinear optics, and could be used as a textbook with problems provided at the end of each chapter. Chapters 11-17 cover the more advanced topics of techniques and applications of nonlinear optics and photonics, serving as a highly informative reference for researchers and experts working in related areas. There are also 16 pages of color photographs to illustrate the visual appearances of some typical nonlinear optical effects and phenomena. The book could be adopted as a textbook for both undergraduates and graduate students, and serve as a useful reference work for researchers and experts in the fields of physics...
Lugiato, Luigi; Brambilla, Massimo
2015-01-01
Guiding graduate students and researchers through the complex world of laser physics and nonlinear optics, this book provides an in-depth exploration of the dynamics of lasers and other relevant optical systems, under the umbrella of a unitary spatio-temporal vision. Adopting a balanced approach, the book covers traditional as well as special topics in laser physics, quantum electronics and nonlinear optics, treating them from the viewpoint of nonlinear dynamical systems. These include laser emission, frequency generation, solitons, optically bistable systems, pulsations and chaos and optical pattern formation. It also provides a coherent and up-to-date treatment of the hierarchy of nonlinear optical models and of the rich variety of phenomena they describe, helping readers to understand the limits of validity of each model and the connections among the phenomena. It is ideal for graduate students and researchers in nonlinear optics, quantum electronics, laser physics and photonics.
Nonlinear Dynamic Characteristics of the Railway Vehicle
Uyulan, Çağlar; Gokasan, Metin
2017-06-01
The nonlinear dynamic characteristics of a railway vehicle are checked into thoroughly by applying two different wheel-rail contact model: a heuristic nonlinear friction creepage model derived by using Kalker 's theory and Polach model including dead-zone clearance. This two models are matched with the quasi-static form of the LuGre model to obtain more realistic wheel-rail contact model. LuGre model parameters are determined using nonlinear optimization method, which it's objective is to minimize the error between the output of the Polach and Kalker model and quasi-static LuGre model for specific operating conditions. The symmetric/asymmetric bifurcation attitude and stable/unstable motion of the railway vehicle in the presence of nonlinearities which are yaw damping forces in the longitudinal suspension system are analyzed in great detail by changing the vehicle speed. Phase portraits of the lateral displacement of the leading wheelset of the railway vehicle are drawn below and on the critical speeds, where sub-critical Hopf bifurcation take place, for two wheel-rail contact model. Asymmetric periodic motions have been observed during the simulation in the lateral displacement of the wheelset under different vehicle speed range. The coexistence of multiple steady states cause bounces in the amplitude of vibrations, resulting instability problems of the railway vehicle. By using Lyapunov's indirect method, the critical hunting speeds are calculated with respect to the radius of the curved track parameter changes. Hunting, which is defined as the oscillation of the lateral displacement of wheelset with a large domain, is described by a limit cycle-type oscillation nature. The evaluated accuracy of the LuGre model adopted from Kalker's model results for prediction of critical speed is higher than the results of the LuGre model adopted from Polach's model. From the results of the analysis, the critical hunting speed must be resolved by investigating the track tests
Front tracking for hyperbolic conservation laws
Holden, Helge
2002-01-01
Hyperbolic conservation laws are central in the theory of nonlinear partial differential equations and in science and technology. The reader is given a self-contained presentation using front tracking, which is also a numerical method. The multidimensional scalar case and the case of systems on the line are treated in detail. A chapter on finite differences is included. "It is already one of the few best digests on this topic. The present book is an excellent compromise between theory and practice. Students will appreciate the lively and accurate style." D. Serre, MathSciNet "I have read the book with great pleasure, and I can recommend it to experts as well as students. It can also be used for reliable and very exciting basis for a one-semester graduate course." S. Noelle, Book review, German Math. Soc. "Making it an ideal first book for the theory of nonlinear partial differential equations...an excellent reference for a graduate course on nonlinear conservation laws." M. Laforest, Comp. Phys. Comm.
Garon, Mathieu; Lalonde, Jean-Francois
2017-08-10
We present a temporal 6-DOF tracking method which leverages deep learning to achieve state-of-the-art performance on challenging datasets of real world capture. Our method is both more accurate and more robust to occlusions than the existing best performing approaches while maintaining real-time performance. To assess its efficacy, we evaluate our approach on several challenging RGBD sequences of real objects in a variety of conditions. Notably, we systematically evaluate robustness to occlusions through a series of sequences where the object to be tracked is increasingly occluded. Finally, our approach is purely data-driven and does not require any hand-designed features: robust tracking is automatically learned from data.
2017-01-01
This invention relates to a method of performing eye gaze tracking of at least one eye of a user, by determining the position of the center of the eye, said method comprising the steps of: detecting the position of at least three reflections on said eye, transforming said positions to spanning...... a normalized coordinate system spanning a frame of reference, wherein said transformation is performed based on a bilinear transformation or a non linear transformation e.g. a möbius transformation or a homographic transformation, detecting the position of said center of the eye relative to the position...... of said reflections and transforming this position to said normalized coordinate system, tracking the eye gaze by tracking the movement of said eye in said normalized coordinate system. Thereby calibration of a camera, such as knowledge of the exact position and zoom level of the camera, is avoided...
Sonne Damkjær, Maja; Albrechtslund, Anders; Bøge, Ask Risom
This presentation explores the question: What motivates the use of tracking technologies in families, and how does the use transform the relations between parent and child? The purpose is to investigate why tracking technologies are used in families and how these technologies potentially change...... the relation between parents and children. The use of tracking technologies in families implicate negotiations about the boundaries of trust and intimacy in parent-child relations which can lead to strategies of resistance or modification (Fotel and Thomsen, 2004; Rooney, 2010; Steeves and Jones, 2010......). In the presentation, we report from a qualitative study that focuses on intergenerational relations. The study draws on empirical data from workshops with Danish families as well as individual and group interviews. We aim to gain insights about the sharing habits and negotiations in intimate family relations...
2009-11-09
Cai, M. S. de Queiroz , and D. M. Dawson. Robust adaptive asymptotic tracking of nonlinear systems with additive disturbance. Technical Report ME-MS1...05, Louisiana State University, June 2005. [3] Z. Cai, M. S. de Queiroz , and D. M. Dawson. Robust adaptive asymptotic tracking of nonlinear systems...additive disturbance. In Proc. American Control Conf., pages 1197–1202, New York, NY, 2007. [20] B. Xian, D. M. Dawson, M. S. de Queiroz , and J. Chen. A
Adaptive control method for nonlinear time-delay processes
无
2007-01-01
Two complex properties,varying time-delay and block-oriented nonlinearity,are very common in chemical engineering processes and not easy to be controlled by routine control methods.Aimed at these two complex properties,a novel adaptive control algorithm the basis of nonlinear OFS(orthonormal functional series) model is proposed.First,the hybrid model which combines OFS and Volterra series is introduced.Then,a stable state feedback strategy is used to construct a nonlinear adaptive control algorithm that can guarantee the closed-loop stability and can track the set point curve without steady-state errors.Finally,control simulations and experiments on a nonlinear process with varying time-delay are presented.A number of experimental results validate the efficiency and superiority of this algorithm.
Distributed Adaptive Neural Control for Stochastic Nonlinear Multiagent Systems.
Wang, Fang; Chen, Bing; Lin, Chong; Li, Xuehua
2016-11-14
In this paper, a consensus tracking problem of nonlinear multiagent systems is investigated under a directed communication topology. All the followers are modeled by stochastic nonlinear systems in nonstrict feedback form, where nonlinearities and stochastic disturbance terms are totally unknown. Based on the structural characteristic of neural networks (in Lemma 4), a novel distributed adaptive neural control scheme is put forward. The raised control method not only effectively handles unknown nonlinearities in nonstrict feedback systems, but also copes with the interactions among agents and coupling terms. Based on the stochastic Lyapunov functional method, it is indicated that all the signals of the closed-loop system are bounded in probability and all followers' outputs are convergent to a neighborhood of the output of leader. At last, the efficiency of the control method is testified by a numerical example.
Tracking of deformable objects
Aswani, Parimal; Wong, K. K.; Chong, Man N.
2000-12-01
Tracking of moving-objects in image sequences is needed for several video processing applications such as content-based coding, object oriented compression, object recognition and more recently for video object plane extraction in MPEG-4 coding. Tracking is a natural follow-up of motion-based segmentation. It is a fast and efficient method to achieve coherent motion segments along the temporal axis. Segmenting out moving objects for each and every frame in a video sequence is a computationally expensive approach. Thus, for better performance, semi-automatic segmentation is an acceptable compromise as automatic segmentation approaches rely heavily on prior assumptions. In semi-automatic segmentation approaches, motion-segmentation is performed only on the initial frame and the moving object is tracked in subsequent frames using tracking algorithms. In this paper, a new model for object tracking is proposed, where the image features -- edges, intensity pattern, object motion and initial keyed-in contour (by the user) form the prior and likelihood model of a Markov Random Field (MRF) model. Iterated Conditional Mode (ICM) is used for the minimization of the global energy for the MRF model. The motion segment for each frame is initialized using the segment information from the previous frame. For the initial frame, the motion segment is obtained by manually keying in the object contour. The motion-segments obtained using the proposed model are coherent and accurate. Experimental results on tracking using the proposed algorithm for different sequences -- Bream, Alexis and Claire are presented in this paper. The results obtained are accurate and can be used for a variety of applications including MPEG-4 Video Object Plane (VOP) extraction.
Hennum, Kelly M
2011-01-01
This book provides you with the means to set development goals and to track your progress on achieving them. It can help you efficiently gather and make sense of information about your progress and avoid common pitfalls that can block your development. Tracking your development can be captures in a few steps: articulating your goal, creating an action plan, gathering information about your behavior, indentifying barriers and support, and revising your action plan. Taking these steps will greatly increase the likelihood of achieving your goals.
Joint Transform Correlation for face tracking: elderly fall detection application
Katz, Philippe; Aron, Michael; Alfalou, Ayman
2013-03-01
In this paper, an iterative tracking algorithm based on a non-linear JTC (Joint Transform Correlator) architecture and enhanced by a digital image processing method is proposed and validated. This algorithm is based on the computation of a correlation plane where the reference image is updated at each frame. For that purpose, we use the JTC technique in real time to track a patient (target image) in a room fitted with a video camera. The correlation plane is used to localize the target image in the current video frame (frame i). Then, the reference image to be exploited in the next frame (frame i+1) is updated according to the previous one (frame i). In an effort to validate our algorithm, our work is divided into two parts: (i) a large study based on different sequences with several situations and different JTC parameters is achieved in order to quantify their effects on the tracking performances (decimation, non-linearity coefficient, size of the correlation plane, size of the region of interest...). (ii) the tracking algorithm is integrated into an application of elderly fall detection. The first reference image is a face detected by means of Haar descriptors, and then localized into the new video image thanks to our tracking method. In order to avoid a bad update of the reference frame, a method based on a comparison of image intensity histograms is proposed and integrated in our algorithm. This step ensures a robust tracking of the reference frame. This article focuses on face tracking step optimisation and evalutation. A supplementary step of fall detection, based on vertical acceleration and position, will be added and studied in further work.
Nonlinear Resonance Islands and Modulational Effects in a Proton Synchrotron
Satogata, Todd Jeffrey [Northwestern Univ., Evanston, IL (United States)
1993-01-01
We examine both one-dimensional and two-dimensional nonlinear resonance islands created in the transverse phase space of a proton synchrotron by nonlinear magnets. We also examine application of the theoretical framework constructed to the phenomenon of modulational diffusion in a collider model of the Fermilab Tevatron. For the one-dimensional resonance island system, we examine the effects of two types of modulational perturbations on the stability of these resonance islands: tune modulation and beta function modulation. Hamiltonian models are presented which predict stability boundaries that depend on only three paramders: the strength and frequency of the modulation and the frequency of small oscillations inside the resonance island. These. models are compared to particle tracking with excellent agreement. The tune modulation model is also successfully tested in experiment, where frequency domain analysis coupled with tune modulation is demonstrated to be useful in measuring the strength of a nonlinear resonance. Nonlinear resonance islands are also examined in two transverse dimensions in the presence of coupling and linearly independent crossing resonances. We present a first-order Hamiltonian model which predicts fixed point locations, but does not reproduce small oscillation frequencies seen in tracking; therefore in this circumstance such a model is inadequate. Particle tracking is presented which shows evidence of two-dimensional persistent signals, and we make suggestions on methods for observing such signals in future experiment.
Tracking control of robot manipulators via output feedback linearization
FEI Yue-nong; Wu Qing-hua
2006-01-01
This paper presents a robot manipulator tracking controller based on output feedback linearization.A sliding mode perturbation observer (SPO) is designed to estimate unmeasurable states and system perturbations that involve system nonlinearities,disturbances and unmodelled dynamics.The use of SPO allows to input/output linearize and decouple the strongly coupled nonlinear robot manipulator system merely by the feedback of joint angles.The controller design does not need an accurate model of the robot manipulator.Simulation studies are undertaken based on a two-link robot manipulator to evaluate the proposed approach.The simulation results show that the proposed controller has more superior tracking control performance,with payload changing in a wide range,in comparison with a sliding mode controller (SMC) designed based on state feedback linearization with full states available.
Track Reconstruction Performance in CMS
Azzurri, Paolo
2008-01-01
The expected performance of track reconstruction with LHC events using the CMS silicon tracker is presented. Track finding and fitting is accomplished with Kalman Filter techniques that achieve efficiencies above 99\\% on single muons with $p_T >$1~GeV/c. Difficulties arise in the context of standard LHC events with a high density of charged particles, where the rate of fake combinatorial tracks is very large for low $p_T$ tracks, and nuclear interactions in the tracker material reduce the tracking efficiency for charged hadrons. Recent improvements with the CMS track reconstruction now allow to efficiently reconstruct charged tracks with $p_T$ down to few hundred MeV/c and as few as three crossed layers, with a very small fake fraction, by making use of an optimal rejection of fake tracks in conjunction with an iterative tracking procedure.
Performance, robustness and sensitivity analysis of the nonlinear tuned vibration absorber
Detroux, T.; Habib, G.; Masset, L.; Kerschen, G.
2015-08-01
The nonlinear tuned vibration absorber (NLTVA) is a recently developed nonlinear absorber which generalizes Den Hartog's equal peak method to nonlinear systems. If the purposeful introduction of nonlinearity can enhance system performance, it can also give rise to adverse dynamical phenomena, including detached resonance curves and quasiperiodic regimes of motion. Through the combination of numerical continuation of periodic solutions, bifurcation detection and tracking, and global analysis, the present study identifies boundaries in the NLTVA parameter space delimiting safe, unsafe and unacceptable operations. The sensitivity of these boundaries to uncertainty in the NLTVA parameters is also investigated.
Modeling and Non-Linear Self-Tuning Robust Trajectory Control of an Autonomous Underwater Vehicle
Thor Inge Fossen
1988-10-01
Full Text Available A non-linear self-tuning algorithm is demonstrated for an autonomous underwater vehicle. Tighter control is achieved by a non-linear parameter identification algorithm which reduces the parameter uncertainty bounds. Expensive hydrodynamic tests for parameter determination can thus be avoided. Excellent tracking performance and robustness to parameter uncertainty are guaranteed through a robust control strategy based on the estimated parameters. The nonlinear control law is highly robust for imprecise models and the neglected dynamics. The non-linear self-tuning control strategy is simulated for the horizontal positioning of an underwater vehicle.
Zweig, George
2016-05-01
An earlier paper characterizing the linear mechanical response of the organ of Corti [J. Acoust. Soc. Am. 138, 1102-1121 (2015)] is extended to the nonlinear domain. Assuming the existence of nonlinear oscillators nonlocally coupled through the pressure they help create, the oscillator equations are derived and examined when the stimuli are modulated tones and clicks. The nonlinearities are constrained by the requirements of oscillator stability and the invariance of zero crossings in the click response to changes in click amplitude. The nonlinear oscillator equations for tones are solved in terms of the fluid pressure that drives them, and its time derivative, presumably a proxy for forces created by outer hair cells. The pressure equation is reduced to quadrature, the integrand depending on the oscillators' responses. The resulting nonlocally coupled nonlinear equations for the pressure, and oscillator amplitudes and phases, are solved numerically in terms of the fluid pressure at the stapes. Methods for determining the nonlinear damping directly from measurements are described. Once the oscillators have been characterized from their tone and click responses, the mechanical response of the cochlea to natural sounds may be computed numerically. Signal processing inspired by cochlear mechanics opens up a new area of nonlocal nonlinear time-frequency analysis.
Agrawal, Govind P
2001-01-01
The Optical Society of America (OSA) and SPIE - The International Society for Optical Engineering have awarded Govind Agrawal with an honorable mention for the Joseph W. Goodman Book Writing Award for his work on Nonlinear Fiber Optics, 3rd edition.Nonlinear Fiber Optics, 3rd Edition, provides a comprehensive and up-to-date account of the nonlinear phenomena occurring inside optical fibers. It retains most of the material that appeared in the first edition, with the exception of Chapter 6, which is now devoted to the polarization effects relevant for light propagation in optical
Will Nonlinear Backcalculation Help?
Ullidtz, Per
2000-01-01
demonstrates, that treating the subgrade as a nonlinear elastic material, can result in more realistic moduli and a much better agreement between measured and calculated stresses and strains.The response of nonlinear elastic materials can be calculated using the Finite Element Method (FEM). A much simpler...... approach is to use the Method of Equivalent Thicknesses (MET), modified for a nonlinear subgrade. The paper includes an example where moduli backcalculated using FEM, linear elastic theory and MET are compared. Stresses and strains predicted by the three methods are also compared to measured values...
Nonlinear graphene metamaterial
Nikolaenko, Andrey E; Atmatzakis, Evangelos; Luo, Zhiqiang; Shen, Ze Xiang; De Angelis, Francesco; Boden, Stuart A; Di Fabrizio, Enzo; Zheludev, Nikolay I
2012-01-01
We demonstrate that the broadband nonlinear optical response of graphene can be resonantly enhanced by more than an order of magnitude through hybridization with a plasmonic metamaterial,while retaining an ultrafast nonlinear response time of ~1 ps. Transmission modulation close to ~1% is seen at a pump uence of ~0.03 mJ/cm^2 at the wavelength of ~1600 nm. This approach allows to engineer and enhance graphene's nonlinearity within a broad wavelength range enabling applications in optical switching, mode-locking and pulse shaping.
Tracking Speech Sound Acquisition
Powell, Thomas W.
2011-01-01
This article describes a procedure to aid in the clinical appraisal of child speech. The approach, based on the work by Dinnsen, Chin, Elbert, and Powell (1990; Some constraints on functionally disordered phonologies: Phonetic inventories and phonotactics. "Journal of Speech and Hearing Research", 33, 28-37), uses a railway idiom to track gains in…
Moreira, Silvio; Batista, David S.; Carvalho, Paula; Couto, Francisco M.; Silva, Mario J.
2013-01-01
Purpose: POWER is an ontology of political processes and entities. It is designed for tracking politicians, political organizations and elections, both in mainstream and social media. The aim of this paper is to propose a data model to describe political agents and their relations over time. Design/methodology/approach: The authors propose a data…
2008-01-01
China’s fast passenger tracks network consists of four parts:express rail- way with speeds between 300km/h and 350 kin/h,passenger rail lines with speeds between 200 km/h and 250 km/h,intercity high-speed railways that run
Pseudonoise code tracking loop
Laflame, D. T. (Inventor)
1980-01-01
A delay-locked loop is presented for tracking a pseudonoise (PN) reference code in an incoming communication signal. The loop is less sensitive to gain imbalances, which can otherwise introduce timing errors in the PN reference code formed by the loop.
Scherr, Rachel E.; Harrer, Benedikt W.; Close, Hunter G.; Daane, Abigail R.; DeWater, Lezlie S.; Robertson, Amy D.; Seeley, Lane; Vokos, Stamatis
2016-01-01
Energy is a crosscutting concept in science and features prominently in national science education documents. In the "Next Generation Science Standards," the primary conceptual learning goal is for learners to conserve energy as they "track" the transfers and transformations of energy within, into, or out of the system of…
Tracking Speech Sound Acquisition
Powell, Thomas W.
2011-01-01
This article describes a procedure to aid in the clinical appraisal of child speech. The approach, based on the work by Dinnsen, Chin, Elbert, and Powell (1990; Some constraints on functionally disordered phonologies: Phonetic inventories and phonotactics. "Journal of Speech and Hearing Research", 33, 28-37), uses a railway idiom to track gains in…
Attitude and position tracking
Candy, LP
2011-01-01
Full Text Available velocity data separately in a suitable frame. In this chapter we make the case for using bivectors as the attitude tracking method of choice since several features make their performance and flexibility superior to that of DCMs, Euler angles or even rotors...
Piersol, Laura
2010-01-01
In an effort to figure out what it means to educate "ecologically," I decided to track down some of the stories that I was living, telling and making as an educator. I ended up lost in the house of environmental education, stuck within the rooms of ecological science and political advocacy. Outside on the lawn sat the story of place based…
Taylor, L.H.; Mair, J.
1996-12-31
The decision by British Petroleum to develop offshore fields west of the Shetlands in water depths exceeding 500 meters within three and a half years of discovery posed a unique submarine pipeline installation challenge. This paper summarizes the salient features of a fast track program to install a diverless subsea pipeline system using rigid reeled pipe technology in an offshore frontier area.
Eye tracking social preferences
Jiang, Ting; Potters, Jan; Funaki, Yukihiko
We hypothesize that if people are motivated by a particular social preference, then choosing in accordance with this preference will lead to an identifiable pattern of eye movements. We track eye movements while subjects make choices in simple three-person distribution experiments. We characterize
2011-01-01
Apple Inc. is advising software de- velopers to stop using a feature in software for its iPhones and iPads .that has been linked to privacyconcerns, a move that would also take away a widely used tool for tracking users and their behavior. Developers who write programs for Apple＇s lOS operating system have been using a unique.
2008-01-01
As Global Positioning Satellite (GPS) applications become more prevalent for land- and air-based vehicles, GPS applications for space vehicles will also increase. The Applied Technology Directorate of Kennedy Space Center (KSC) has developed a lightweight, low-cost GPS Metric Tracking Unit (GMTU), the first of two steps in developing a lightweight, low-cost Space-Based Tracking and Command Subsystem (STACS) designed to meet Range Safety's link margin and latency requirements for vehicle command and telemetry data. The goals of STACS are to improve Range Safety operations and expand tracking capabilities for space vehicles. STACS will track the vehicle, receive commands, and send telemetry data through the space-based asset, which will dramatically reduce dependence on ground-based assets. The other step was the Low-Cost Tracking and Data Relay Satellite System (TDRSS) Transceiver (LCT2), developed by the Wallops Flight Facility (WFF), which allows the vehicle to communicate with a geosynchronous relay satellite. Although the GMTU and LCT2 were independently implemented and tested, the design collaboration of KSC and WFF engineers allowed GMTU and LCT2 to be integrated into one enclosure, leading to the final STACS. In operation, GMTU needs only a radio frequency (RF) input from a GPS antenna and outputs position and velocity data to the vehicle through a serial or pulse code modulation (PCM) interface. GMTU includes one commercial GPS receiver board and a custom board, the Command and Telemetry Processor (CTP) developed by KSC. The CTP design is based on a field-programmable gate array (FPGA) with embedded processors to support GPS functions.
Nonlinear State Space Modeling and System Identification for Electrohydraulic Control
Jun Yan
2013-01-01
Full Text Available The paper deals with nonlinear modeling and identification of an electrohydraulic control system for improving its tracking performance. We build the nonlinear state space model for analyzing the highly nonlinear system and then develop a Hammerstein-Wiener (H-W model which consists of a static input nonlinear block with two-segment polynomial nonlinearities, a linear time-invariant dynamic block, and a static output nonlinear block with single polynomial nonlinearity to describe it. We simplify the H-W model into a linear-in-parameters structure by using the key term separation principle and then use a modified recursive least square method with iterative estimation of internal variables to identify all the unknown parameters simultaneously. It is found that the proposed H-W model approximates the actual system better than the independent Hammerstein, Wiener, and ARX models. The prediction error of the H-W model is about 13%, 54%, and 58% less than the Hammerstein, Wiener, and ARX models, respectively.
Wang, Gang; Wang, Chaoli; Du, Qinghui; Cai, Xuan
2016-10-01
In this paper, we address the output consensus problem of tracking a desired trajectory for a group of second-order agents on a directed graph with a fixed topology. Each agent is modelled by a second-order non-linear system with unknown non-linear dynamics and unknown non-linear control gains. Only a subset of the agents is given access to the desired trajectory information directly. A distributed adaptive consensus protocol driving all agents to track the desired trajectory is presented using the backstepping technique and approximation technique of Fourier series (FSs). The FS structure is taken not only for tracking the non-linear dynamics but also the unknown portion in the controller design procedure, which can avoid virtual controllers containing the uncertain terms. Stability analysis and parameter convergence of the proposed algorithm are conducted based on the Lyapunov theory and the algebraic graph theory. It is also demonstrated that arbitrary small tracking errors can be achieved by appropriately choosing design parameters. Though the proposed work is applicable for second-order non-linear systems containing unknown non-linear control gains, the proposed controller design can be easily extended to higher-order non-linear systems containing unknown non-linear control gains. Simulation results show the effectiveness of the proposed schemes.
Multipolar nonlinear nanophotonics
Smirnova, Daria
2016-01-01
Nonlinear nanophotonics is a rapidly developing field with many useful applications for a design of nonlinear nanoantennas, light sources, nanolasers, sensors, and ultrafast miniature metadevices. A tight confinement of the local electromagnetic fields in resonant photonic nanostructures can boost nonlinear optical effects, thus offering versatile opportunities for subwavelength control of light. To achieve the desired functionalities, it is essential to gain flexible control over the near- and far-field properties of nanostructures. Thus, both modal and multipolar analyses are widely exploited for engineering nonlinear scattering from resonant nanoscale elements, in particular for enhancing the near-field interaction, tailoring the far-field multipolar interference, and optimization of the radiation directionality. Here, we review the recent advances in this recently emerged research field ranging from metallic structures exhibiting localized plasmonic resonances to hybrid metal-dielectric and all-dielectric...
Solitons in nonlinear lattices
Kartashov, Yaroslav V; Torner, Lluis
2010-01-01
This article offers a comprehensive survey of results obtained for solitons and complex nonlinear wave patterns supported by purely nonlinear lattices (NLs), which represent a spatially periodic modulation of the local strength and sign of the nonlinearity, and their combinations with linear lattices. A majority of the results obtained, thus far, in this field and reviewed in this article are theoretical. Nevertheless, relevant experimental settings are surveyed too, with emphasis on perspectives for implementation of the theoretical predictions in the experiment. Physical systems discussed in the review belong to the realms of nonlinear optics (including artificial optical media, such as photonic crystals, and plasmonics) and Bose-Einstein condensation (BEC). The solitons are considered in one, two, and three dimensions (1D, 2D, and 3D). Basic properties of the solitons presented in the review are their existence, stability, and mobility. Although the field is still far from completion, general conclusions c...
Shakeeb Bin Hasan
2014-12-01
Full Text Available Contrary to traditional optical elements, plasmonic antennas made from nanostructured metals permit the localization of electromagnetic fields on length scales much smaller than the wavelength of light. This results in huge amplitudes for the electromagnetic field close to the antenna being conducive for the observation of nonlinear effects already at moderate pump powers. Thus, these antennas exhibit a promising potential to achieve optical frequency conversion and all-optical control of light at the nano-scale. This opens unprecedented opportunities for ultrafast nonlinear spectroscopy, sensing devices, on-chip optical frequency conversion, nonlinear optical metamaterials, and novel photon sources. Here, we review some of the recent advances in exploiting the potential of plasmonic antennas to realize robust nonlinear applications.
Leburn, Christopher; Reid, Derryck
2013-01-01
The field of ultrafast nonlinear optics is broad and multidisciplinary, and encompasses areas concerned with both the generation and measurement of ultrashort pulses of light, as well as those concerned with the applications of such pulses. Ultrashort pulses are extreme events – both in terms of their durations, and also the high peak powers which their short durations can facilitate. These extreme properties make them powerful experiment tools. On one hand, their ultrashort durations facilitate the probing and manipulation of matter on incredibly short timescales. On the other, their ultrashort durations can facilitate high peak powers which can drive highly nonlinear light-matter interaction processes. Ultrafast Nonlinear Optics covers a complete range of topics, both applied and fundamental in nature, within the area of ultrafast nonlinear optics. Chapters 1 to 4 are concerned with the generation and measurement of ultrashort pulses. Chapters 5 to 7 are concerned with fundamental applications of ultrasho...
Nguyen-Duy, Khiem
and remains the prime source of energy in non-terrestrial applications such as those in sky-explorers. However, a renewable energy source is expensive, bulky, and its performance is weather dependent, which make testing of downstream converters very difficult. As a result, a nonlinear source emulator (NSE......) is a good solution to solve the problems associated with the use of real nonlinear sources in testing phases. However, a recent technical survey conducted during this work shows that most existing NSEs have only been concerned with simulating nonlinear systems in terrestrial applications. Furthermore......, their dynamic performance were not fast enough in order to imitate how a real nonlinear energy source would react under extreme conditions and operation modes. Particularly, a system in the sky can experience a step change of sunlight irradiation. Moreover, operation modes may include load step between nominal...
Introduction to nonlinear science
Nicolis, G
1995-01-01
One of the most unexpected results in science in recent years is that quite ordinary systems obeying simple laws can give rise to complex, nonlinear or chaotic, behavior. In this book, the author presents a unified treatment of the concepts and tools needed to analyze nonlinear phenomena and to outline some representative applications drawn from the physical, engineering, and biological sciences. Some of the interesting topics covered include: dynamical systems with a finite number of degrees of freedom, linear stability analysis of fixed points, nonlinear behavior of fixed points, bifurcation analysis, spatially distributed systems, broken symmetries, pattern formation, and chaotic dynamics. The author makes a special effort to provide a logical connection between ordinary dynamical systems and spatially extended systems, and to balance the emphasis on chaotic behavior and more classical nonlinear behavior. He also develops a statistical approach to complex systems and compares it to traditional deterministi...
Nonlinear magnetoinductive transmission lines
Lazarides, Nikos; Tsironis, G P
2011-01-01
Power transmission in one-dimensional nonlinear magnetic metamaterials driven at one end is investigated numerically and analytically in a wide frequency range. The nonlinear magnetic metamaterials are composed of varactor-loaded split-ring resonators which are coupled magnetically through their mutual inductances, forming thus a magnetoiductive transmission line. In the linear limit, significant power transmission along the array only appears for frequencies inside the linear magnetoinductive wave band. We present analytical, closed form solutions for the magnetoinductive waves transmitting the power in this regime, and their discrete frequency dispersion. When nonlinearity is important, more frequency bands with significant power transmission along the array may appear. In the equivalent circuit picture, the nonlinear magnetoiductive transmission line driven at one end by a relatively weak electromotive force, can be modeled by coupled resistive-inductive-capacitive (RLC) circuits with voltage-dependent cap...
Optimization under Nonlinear Constraints
1982-01-01
In this paper a timesaving method is proposed for maximizing likelihood functions when the parameter space is subject to nonlinear constraints, expressible as second order polynomials. The suggested approach is especially attractive when dealing with systems with many parameters.
Nonlinearity in nanomechanical cantilevers
Villanueva Torrijo, Luis Guillermo; Karabalin, R. B.; Matheny, M. H.
2013-01-01
Euler-Bernoulli beam theory is widely used to successfully predict the linear dynamics of micro-and nanocantilever beams. However, its capacity to characterize the nonlinear dynamics of these devices has not yet been rigorously assessed, despite its use in nanoelectromechanical systems development....... These findings underscore the delicate balance between inertial and geometric nonlinear effects in the fundamental mode, and strongly motivate further work to develop theories beyond the Euler-Bernoulli approximation. DOI: 10.1103/PhysRevB.87.024304....... In this article, we report the first highly controlled measurements of the nonlinear response of nanomechanical cantilevers using an ultralinear detection system. This is performed for an extensive range of devices to probe the validity of Euler-Bernoulli theory in the nonlinear regime. We find that its...
Nonlinear Stokes Mueller Polarimetry
Samim, Masood; Barzda, Virginijus
2015-01-01
The Stokes Mueller polarimetry is generalized to include nonlinear optical processes such as second- and third-harmonic generation, sum- and difference-frequency generations. The overall algebraic form of the polarimetry is preserved, where the incoming and outgoing radiations are represented by column vectors and the intervening medium is represented by a matrix. Expressions for the generalized nonlinear Stokes vector and the Mueller matrix are provided in terms of coherency and correlation matrices, expanded by higher-dimensional analogues of Pauli matrices. In all cases, the outgoing radiation is represented by the conventional $4\\times 1$ Stokes vector, while dimensions of the incoming radiation Stokes vector and Mueller matrix depend on the order of the process being examined. In addition, relation between nonlinear susceptibilities and the measured Mueller matrices are explicitly provided. Finally, the approach of combining linear and nonlinear optical elements is discussed within the context of polarim...
Robust Adaptive Fuzzy Output Tracking Control for a Class of Twin-Roll Strip Casting Systems
Yu-Jun Zhang
2017-01-01
Full Text Available This paper is concerned with the adaptive fuzzy control problem for a class of twin-roll strip casting systems. By using fuzzy logic systems (FLSs to approximate the compounded nonlinear functions, a novel robust output tracking controller with adaptation laws is designed based on the high gain observer. First, the nonlinear dynamic equations for the roll gap and the molten steel level are constructed, respectively. Then, the mean value theorem is employed to transform the nonaffine nonlinear systems to the corresponding affine nonlinear systems. Moreover, it is also proved that all the closed-loop signals are bounded and the systems output tracking errors can converge to the desired neighborhoods of the origin via the Lyapunov stability analysis. Finally, simulation results, based on semiexperimental system dynamic model and parameters, are worked out to show the effectiveness of the proposed adaptive fuzzy design method.
Passive Target Tracking in Non-cooperative Radar System Based on Particle Filtering
LI Shuo; TAO Ran
2006-01-01
We propose a target tracking method based on particle filtering(PF) to solve the nonlinear non-Gaussian target-tracking problem in the bistatic radar systems using external radiation sources. Traditional nonlinear state estimation method is extended Kalman filtering (EKF), which is to do the first level Taylor series extension. It will cause an inaccuracy or even a scatter estimation result on condition that there is either a highly nonlinear target or a large noise square-error. Besides, Kalman filtering is the optimal resolution under a Gaussian noise assumption, and is not suitable to the non-Gaussian condition. PF is a sort of statistic filtering based on Monte Carlo simulation that is using some random samples (particles) to simulate the posterior probability density of system random variables. This method can be used in any nonlinear random system. It can be concluded through simulation that PF can achieve higher accuracy than the traditional EKF.
Sequential stratified sampling belief propagation for multiple targets tracking
无
2006-01-01
Rather than the difficulties of highly non-linear and non-Gaussian observation process and the state distribution in single target tracking, the presence of a large, varying number of targets and their interactions place more challenge on visual tracking. To overcome these difficulties, we formulate multiple targets tracking problem in a dynamic Markov network which consists of three coupled Markov random fields that model the following: a field for joint state of multi-target, one binary process for existence of individual target, and another binary process for occlusion of dual adjacent targets. By introducing two robust functions, we eliminate the two binary processes, and then apply a novel version of belief propagation called sequential stratified sampling belief propagation algorithm to obtain the maximum a posteriori (MAP) estimation in the dynamic Markov network. By using stratified sampler, we incorporate bottom-up information provided by a learned detector (e.g. SVM classifier) and belief information for the messages updating. Other low-level visual cues (e.g. color and shape) can be easily incorporated in our multi-target tracking model to obtain better tracking results. Experimental results suggest that our method is comparable to the state-of-the-art multiple targets tracking methods in several test cases.
Interaction of railway vehicles with track in cross-winds
Xu, Y. L.; Ding, Q. S.
2006-04-01
This paper presents a framework for simulating railway vehicle and track interaction in cross-wind. Each 4-axle vehicle in a train is modeled by a 27-degree-of-freedom dynamic system. Two parallel rails of a track are modeled as two continuous beams supported by a discrete-elastic foundation of three layers with sleepers and ballasts included. The vehicle subsystem and the track subsystem are coupled through contacts between wheels and rails based on contact theory. Vertical and lateral rail irregularities simulated using an inverse Fourier transform are also taken into consideration. The simulation of steady and unsteady aerodynamic forces on a moving railway vehicle in cross-wind is then discussed in the time domain. The Hilber Hughes Taylor α-method is employed to solve the nonlinear equations of motion of coupled vehicle and track systems in cross-wind. The proposed framework is finally applied to a railway vehicle running on a straight track substructure in cross-wind. The safety and comfort performance of the moving vehicle in cross-wind are discussed. The results demonstrate that the proposed framework and the associated computer program can be used to investigate interaction problems of railway vehicles with track in cross-wind.
Leader-Based Consensus of Heterogeneous Nonlinear Multiagent Systems
Tairen Sun
2014-01-01
Full Text Available This paper considers the leader-based consensus of heterogeneous multiple agents with nonlinear uncertain systems. Based on the information obtained from the following agents’ neighbors, leader observers are designed by the following agents to estimate the leader’s states and nonlinear dynamics. Then, to achieve leader-based consensus, adaptive distributed controllers are designed for the following agents to track the designed corresponding leader observers. The effectiveness of the leader observers and distributed consensus controllers are illustrated by formal proof and simulation results.
Weakly Nonlinear Geometric Optics for Hyperbolic Systems of Conservation Laws
Chen, Gui-Qiang; Zhang, Yongqian
2012-01-01
We establish an $L^1$-estimate to validate the weakly nonlinear geometric optics for entropy solutions of nonlinear hyperbolic systems of conservation laws with arbitrary initial data of small bounded variation. This implies that the simpler geometric optics expansion function can be employed to study the properties of general entropy solutions to hyperbolic systems of conservation laws. Our analysis involves new techniques which rely on the structure of the approximate equations, besides the properties of the wave-front tracking algorithm and the standard semigroup estimates.
Maximum power point tracking of a photovoltaic energy system using neural fuzzy techniques
LI Chun-hua; ZHU Xin-jian; SUI Sheng; HU Wan-qi
2009-01-01
In order to improve the output efficiency of a photovoltaic (PV) energy system, the real-time maximum power point (MPP) of the PV array should be tracked closely. The non-linear and time-variant characteristics of the photovoltaic array and the non-linear and non-minimum phase characteristics of a boost converter make it difficult to track the MPP as in traditional control strategies. A neural fuzzy controller (NFC) in conjunction with the reasoning capability of fuzzy logical systems and the learning capability of neural networks is proposed to track the MPP in this paper. A gradient estimator based on a radial basis function neural network is developed to provide the reference information to the NFC. With a derived learning algorithm, the parameters of the NFC are updated adaptively. Experimental results show that, compared with the fuzzy logic control algorithm, the proposed control algorithm provides much better tracking performance.
Adaptive and Nonlinear Control
1992-02-29
in [22], we also applied the concept of zero dynamics to the problem of exact linearization of a nonlinear control system by dynamic feedback. Exact ...nonlinear systems, although it was well-known that the conditions for exact linearization are very stringent and consequently do not apply to a broad...29th IEEE Conference n Decision and Control, Invited Paper delivered by Dr. Gilliam. Exact Linearization of Zero Dynamics, 29th IEEE Conference on
Nonlinear Optics and Turbulence
1992-10-01
currently at Queen Mary College, London Patrick Dunne, (Ph.D., 1987, M.I.T., Hydrodynamic Stability, Nonlinear Waves), 1987-1988. Alecsander Dyachenko...U I I I U I I 3 9 3 V. BIOGRAPHIES A. FACULTY BRUCE BAYLY, 31, Ph.D. 1986, Princeton University. Postdoctoral visiting member 1986-88 at Courant...Caputo, A. C. Newell, and M. Shelley , "Nonlinear Wave Propagation Through a Random Medium and Soliton Tunneling", Integrable Systems and
Tracking breather dynamics in irregular sea state conditions
Chabchoub, A
2016-01-01
Breather solutions of the nonlinear Schr\\"odinger equation (NLSE) are known to be considered as backbone models for extreme events in the ocean as well as in Kerr media. These exact determinisitic rogue wave (RW) prototypes on a regular background describe a wide-range of modulation instability configurations. Alternatively, oceanic or electromagnetic wave fields can be of chaotic nature and it is known that RWs may develop in such conditions as well. We report an experimental study confirming that extreme localizations in an irregular oceanic JONSWAP wave field can be tracked back to originate from exact NLSE breather solutions, such as the Peregrine breather. Numerical NLSE as well as modified NLSE simulations are both in good agreement with laboratory experiments and highlight the significance of universal weakly nonlinear evolution equations in the emergence as well as prediction of extreme events in nonlinear dispersive media.
Nonlinear control techniques for an atomic force microscope system
Yongchun FANG; Matthew FEEMSTER; Darren DAWSON; Nader M.JALILI
2005-01-01
Two nonlinear control techniques are proposed for an atomic force microscope system.Initially,a learning-based control algorithm is developed for the microcantilever-sample system that achieves asymptotic cantilever tip tracking for periodic trajectories.Specifically,the control approach utilizes a learning-based feedforward term to compensate for periodic dynamics and high-gain terms to account for non-periodic dynamics.An adaptive control algorithm is then developed to achieve asymptotic cantilever tip tracking for bounded tip trajectories despite uncertainty throughout the system parameters.Simulation results are provided to illustrate the efficacy and performance of the control strategies.
Vibration suppression of speed-controlled robots with nonlinear control
Boscariol, Paolo; Gasparetto, Alessandro
2016-06-01
In this paper, a simple nonlinear control strategy for the simultaneous position tracking and vibration damping of robots is presented. The control is developed for devices actuated by speed-controlled servo drives. The conditions for the asymptotic stability of the closed-loop system are derived by ensuring its passivity. The capability of achieving improved trajectory tracking and vibration suppression is shown through experimental tests conducted on a three-axis Cartesian robot. The control is aimed to be compatible with most industrial applications given the simplicity of implementation, the reduced computational requirements, and the use of joint position as the only measured signal.
Boundary control of nonlinear coupled heat systems using backstepping
Bendevis, Paul
2016-10-20
A state feedback boundary controller is designed for a 2D coupled PDE system modelling heat transfer in a membrane distillation system for water desalination. Fluid is separated into two compartments with nonlinear coupling at a membrane boundary. The controller sets the temperature on one boundary in order to track a temperature difference across the membrane boundary. The control objective is achieved by an extension of backstepping methods to these coupled equations. Stability of the target system via Lyapunov like methods, and the invertibility of the integral transformation are used to show the stability of the tracking error.
Quality Assurance Training Tracking (QATTS)
U.S. Environmental Protection Agency — This is metadata documentation for the Quality Assurance Training Tracking System (QATTS) which tracks Quality Assurace training given by R7 QA staff to in-house...
Yang, Qianli; Pitkow, Xaq
2015-03-01
Most interesting natural sensory stimuli are encoded in the brain in a form that can only be decoded nonlinearly. But despite being a core function of the brain, nonlinear population codes are rarely studied and poorly understood. Interestingly, the few existing models of nonlinear codes are inconsistent with known architectural features of the brain. In particular, these codes have information content that scales with the size of the cortical population, even if that violates the data processing inequality by exceeding the amount of information entering the sensory system. Here we provide a valid theory of nonlinear population codes by generalizing recent work on information-limiting correlations in linear population codes. Although these generalized, nonlinear information-limiting correlations bound the performance of any decoder, they also make decoding more robust to suboptimal computation, allowing many suboptimal decoders to achieve nearly the same efficiency as an optimal decoder. Although these correlations are extremely difficult to measure directly, particularly for nonlinear codes, we provide a simple, practical test by which one can use choice-related activity in small populations of neurons to determine whether decoding is suboptimal or optimal and limited by correlated noise. We conclude by describing an example computation in the vestibular system where this theory applies. QY and XP was supported by a grant from the McNair foundation.
Nonlinear Multiantenna Detection Methods
Chen Sheng
2004-01-01
Full Text Available A nonlinear detection technique designed for multiple-antenna assisted receivers employed in space-division multiple-access systems is investigated. We derive the optimal solution of the nonlinear spatial-processing assisted receiver for binary phase shift keying signalling, which we refer to as the Bayesian detector. It is shown that this optimal Bayesian receiver significantly outperforms the standard linear beamforming assisted receiver in terms of a reduced bit error rate, at the expense of an increased complexity, while the achievable system capacity is substantially enhanced with the advent of employing nonlinear detection. Specifically, when the spatial separation expressed in terms of the angle of arrival between the desired and interfering signals is below a certain threshold, a linear beamformer would fail to separate them, while a nonlinear detection assisted receiver is still capable of performing adequately. The adaptive implementation of the optimal Bayesian detector can be realized using a radial basis function network. Two techniques are presented for constructing block-data-based adaptive nonlinear multiple-antenna assisted receivers. One of them is based on the relevance vector machine invoked for classification, while the other on the orthogonal forward selection procedure combined with the Fisher ratio class-separability measure. A recursive sample-by-sample adaptation procedure is also proposed for training nonlinear detectors based on an amalgam of enhanced -means clustering techniques and the recursive least squares algorithm.
Nonlinear systems in medicine.
Higgins, John P
2002-01-01
Many achievements in medicine have come from applying linear theory to problems. Most current methods of data analysis use linear models, which are based on proportionality between two variables and/or relationships described by linear differential equations. However, nonlinear behavior commonly occurs within human systems due to their complex dynamic nature; this cannot be described adequately by linear models. Nonlinear thinking has grown among physiologists and physicians over the past century, and non-linear system theories are beginning to be applied to assist in interpreting, explaining, and predicting biological phenomena. Chaos theory describes elements manifesting behavior that is extremely sensitive to initial conditions, does not repeat itself and yet is deterministic. Complexity theory goes one step beyond chaos and is attempting to explain complex behavior that emerges within dynamic nonlinear systems. Nonlinear modeling still has not been able to explain all of the complexity present in human systems, and further models still need to be refined and developed. However, nonlinear modeling is helping to explain some system behaviors that linear systems cannot and thus will augment our understanding of the nature of complex dynamic systems within the human body in health and in disease states.
Alpha particles energy estimation from track diameter development in a CR-39 detector.
Azooz, Aassim A; Al-Jubbori, Mushtaq A
2016-09-01
The slight nonlinearity in temporal development of tracks diameter in CR-39 nuclear track detectors is examined with the aim of attempting to find if such nonlinearity can be directly related to the charged particle energy. Narrowly spaced etching time-diameter experimental data for alpha particles at five energy values and for one additional energy value etched at five different temperatures are obtained. Initial results show good indication that measuring such time-diameter relationship can form a useful energy estimation tool. Good consistency with other independent published results is obtained.
Maolin Jin
2011-09-01
Full Text Available A time delay estimation based general framework for trajectory tracking control of robot manipulators is presented. The controller consists of three elements: a time‐delay‐estimation element that cancels continuous nonlinearities of robot dynamics, an injecting element that endows desired error dynamics, and a correcting element that suppresses residual time delay estimation error caused by discontinuous nonlinearities. Terminal sliding mode is used for the correcting element to pursue fast convergence of the time delay estimation error. Implementation of proposed control is easy because calculation of robot dynamics including friction is not required. Experimental results verify high‐accuracy trajectory tracking of industrial robot manipulators.
Tracking stochastic resonance curves using an assisted reference model
Calderón Ramírez, Mario; Rico Martínez, Ramiro [Departamento de Ingeniería Química, Instituto Tecnológico de Celaya, Av. Tecnológico y A. García Cubas S/N, Celaya, Guanajuato, 38010 (Mexico); Ramírez Álvarez, Elizeth [Nonequilibrium Chemical Physics, Physik-Department, TU-München, James-Franck-Str. 1, 85748 Garching bei München (Germany); Parmananda, P. [Department of Physics, Indian Institute of Technology Bombay, Powai, Mumbai 400 076 (India)
2015-06-15
The optimal noise amplitude for Stochastic Resonance (SR) is located employing an Artificial Neural Network (ANN) reference model with a nonlinear predictive capability. A modified Kalman Filter (KF) was coupled to this reference model in order to compensate for semi-quantitative forecast errors. Three manifestations of stochastic resonance, namely, Periodic Stochastic Resonance (PSR), Aperiodic Stochastic Resonance (ASR), and finally Coherence Resonance (CR) were considered. Using noise amplitude as the control parameter, for the case of PSR and ASR, the cross-correlation curve between the sub-threshold input signal and the system response is tracked. However, using the same parameter the Normalized Variance curve is tracked for the case of CR. The goal of the present work is to track these curves and converge to their respective extremal points. The ANN reference model strategy captures and subsequently predicts the nonlinear features of the model system while the KF compensates for the perturbations inherent to the superimposed noise. This technique, implemented in the FitzHugh-Nagumo model, enabled us to track the resonance curves and eventually locate their optimal (extremal) values. This would yield the optimal value of noise for the three manifestations of the SR phenomena.
Geometric Tracking Control of a Quadrotor UAV on SE(3)
Lee, Taeyoung; McClamroch, N Harris
2010-01-01
This paper provides new results for the tracking control of a quadrotor unmanned aerial vehicle (UAV). The UAV has four input degrees of freedom, namely the magnitudes of the four rotor thrusts, that are used to control the six translational and rotational degrees of freedom, and to achieve asymptotic tracking of four outputs, namely, three position variables for the vehicle center of mass and the direction of one vehicle body-fixed axis. A globally defined model of the quadrotor UAV rigid body dynamics is introduced as a basis for the analysis. A nonlinear tracking controller is developed on the special Euclidean group SE(3) and it is shown to have desirable closed loop properties that are almost global. Several numerical examples, including an example in which the quadrotor recovers from being initially upside down, illustrate the versatility of the controller.
Switching Tracking Control for Planar Systems with Transient Performance Constraints
SU Qing-Yu; SUN Xi-Ming; ZHAO Jun
2013-01-01
This paper studies the output tracking problem for a class of planar systems with some given transient performance constraints which are determined by the overshoot and the settling time.The problem of switched static output feedback tracking with output constraints (SSOFTOC) is proposed and solved for the first time.The static output feedback controllers and a so-called conic switching law are designed under which the output of the closed-loop switched system can track the step signal asymptotically without violating the transient performance constraints.Furthermore,an optimal weighted transient performance is obtained by.solving a nonlinear programming problem.Finally,a numerical example and an application to aircraft turbofan engine are given to illustrate the effectiveness and the applicability of the proposed method.
Track Irregularity Time Series Analysis and Trend Forecasting
Jia Chaolong
2012-01-01
Full Text Available The combination of linear and nonlinear methods is widely used in the prediction of time series data. This paper analyzes track irregularity time series data by using gray incidence degree models and methods of data transformation, trying to find the connotative relationship between the time series data. In this paper, GM (1,1 is based on first-order, single variable linear differential equations; after an adaptive improvement and error correction, it is used to predict the long-term changing trend of track irregularity at a fixed measuring point; the stochastic linear AR, Kalman filtering model, and artificial neural network model are applied to predict the short-term changing trend of track irregularity at unit section. Both long-term and short-term changes prove that the model is effective and can achieve the expected accuracy.
Handbook of nonlinear optical crystals
Dmitriev, Valentin G; Nikogosyan, David N
1991-01-01
This Handbook of Nonlinear Optical Crystals provides a complete description of the properties and applications of nonlinear crystals In addition, it presents the most important equations for calculating the main parameters of nonlinear frequency converters This comprehensive reference work will be of great value to all scientists and engineers working in nonlinear optics, quantum electronics and laser physics
Thermal Tracking of Sports Players
Gade, Rikke; Moeslund, Thomas B.
2014-01-01
We present here a real-time tracking algorithm for thermal video from a sports game. Robust detection of people includes routines for handling occlusions and noise before tracking each detected person with a Kalman filter. This online tracking algorithm is compared with a state-of-the-art offline...... approach. Furthermore, the combined detection and tracking algorithm runs in real time at 33 fps, even with large image sizes of 1920 × 480 pixels....
Bayesian Train Localization with Particle Filter, Loosely Coupled GNSS, IMU, and a Track Map
Oliver Heirich
2016-01-01
Full Text Available Train localization is safety-critical and therefore the approach requires a continuous availability and a track-selective accuracy. A probabilistic approach is followed up in order to cope with multiple sensors, measurement errors, imprecise information, and hidden variables as the topological position within the track network. The nonlinear estimation of the train localization posterior is addressed with a novel Rao-Blackwellized particle filter (RBPF approach. There, embedded Kalman filters estimate certain linear state variables while the particle distribution can cope with the nonlinear cases of parallel tracks and switch scenarios. The train localization algorithm is further based on a track map and measurements from a Global Navigation Satellite System (GNSS receiver and an inertial measurement unit (IMU. The GNSS integration is loosely coupled and the IMU integration is achieved without the common strapdown approach and suitable for low-cost IMUs. The implementation is evaluated with real measurements from a regional train at regular passenger service over 230 km of tracks with 107 split switches and parallel track scenarios of 58.5 km. The approach is analyzed with labeled data by means of ground truth of the traveled switch way. Track selectivity results reach 99.3% over parallel track scenarios and 97.2% of correctly resolved switch ways.
Neural adaptive sliding mode speed tracking control of a DC motor
刘子龙; 刘国忠; 刘洁
2004-01-01
We propose a BPNN based adaptive sliding mode control scheme for speed tracking of a DC motor with unknown system nonlinearities. The input-output linearization technique is used to cancel the nonlinearities, and output of the BPNN is incorporated into the controller in the proposed scheme. It is shown that the rotor speed of a DC motor can follow any arbitrarily selected trajectories under variable load torque. Then the application of the approach is tested via some simulations.
Track Initiation for Electro-Optical Tracking of Space Objects
Xu, Z. W.; Wang, X.
2016-03-01
Aimed at the track initiation for the electro-optical tracking of space objects, and based on modified Hough transformation, a track initiation algorithm without prior information is proposed to realize the fully robotic identification and tracking of moving objects. The method is valid for the tracking of multi-target as well as with a non-continuous sequence. Simulation shows that the method is effective and applicable for operational usage, and is especially good for the search and discovery of new objects.
Nonlinear Approaches in Engineering Applications
Jazar, Reza
2012-01-01
Nonlinear Approaches in Engineering Applications focuses on nonlinear phenomena that are common in the engineering field. The nonlinear approaches described in this book provide a sound theoretical base and practical tools to design and analyze engineering systems with high efficiency and accuracy and with less energy and downtime. Presented here are nonlinear approaches in areas such as dynamic systems, optimal control and approaches in nonlinear dynamics and acoustics. Coverage encompasses a wide range of applications and fields including mathematical modeling and nonlinear behavior as applied to microresonators, nanotechnologies, nonlinear behavior in soil erosion,nonlinear population dynamics, and optimization in reducing vibration and noise as well as vibration in triple-walled carbon nanotubes. This book also: Provides a complete introduction to nonlinear behavior of systems and the advantages of nonlinearity as a tool for solving engineering problems Includes applications and examples drawn from the el...
Waheed, A. [British Institute of Technology and E-Commerce, London E7 9HZ (United Kingdom); Physics Department, University of Reading, Reading RG6 6AF (United Kingdom); Forsyth, D., E-mail: dforsyth@bite.ac.u [British Institute of Technology and E-Commerce, London E7 9HZ (United Kingdom); Watts, A. [Department of Physics, UCL, London Centre of Nanotechnology (LCN), 17-19 Gordon Street, London WC1H OAH (United Kingdom); Saad, A.F. [Physics Department, Faculty of Science, Garyounis University, Benghazi (Libyan Arab Jamahiriya); Mitchell, G.R. [British Institute of Technology and E-Commerce, London E7 9HZ (United Kingdom); Physics Department, University of Reading, Reading RG6 6AF (United Kingdom); Farmer, M. [British Institute of Technology and E-Commerce, London E7 9HZ (United Kingdom); Harris, P.J.F. [Physics Department, University of Reading, Reading RG6 6AF (United Kingdom)
2009-10-15
The discipline now called Solid State Nuclear Track Detection (SSNTD) dates back to 1958 and has its roots in the United Kingdom. Its strength stems chiefly from factors such as its simplicity, small geometry, permanent maintenance of the nuclear record and other diversified applications. A very important field with exciting applications reported recently in conjuction with the nuclear track technique is nanotechnology, which has applications in biology, chemistry, industry, medicare and health, information technology, biotechnology, and metallurgical and chemical technologies. Nanotechnology requires material design followed by the study of the quantum effects for final produced applications in sensors, medical diagnosis, information technology to name a few. We, in this article, present a review of past and present applications of SSNTD suggesting ways to apply the technique in nanotechnology, with special reference to development of nanostructure for applications utilising nanowires, nanofilters and sensors.
,
2011-01-01
Landsat satellites capture images of Earth from space-and have since 1972! These images provide a long-term record of natural and human-induced changes on the global landscape. Comparing images from multiple years reveals slow and subtle changes as well as rapid and devastating ones. Landsat images are available over the Internet at no charge. Using the free software MultiSpec, students can track changes to the landscape over time-just like remote sensing scientists do! The objective of the Tracking Change Over Time lesson plan is to get students excited about studying the changing Earth. Intended for students in grades 5-8, the lesson plan is flexible and may be used as a student self-guided tutorial or as a teacher-led class lesson. Enhance students' learning of geography, map reading, earth science, and problem solving by seeing landscape changes from space.
Willemoes, Mikkel
and many experiments are only becoming possible with the current development of tracking technologies. During this thesis work I have been tracking the poorly known movements of several species of long-distance migrants and document highly complex migration patterns. In three manuscripts these movements......Migratory movements of birds has always fascinated man and led to many questions concerning the ecological drivers behind, the necessary adaptations and the navigational abilities required. However, especially for the long-distance migrants, basic descriptions of their movements are still lacking...... habitats with those in rural habitats. Some species have decreased the frequency of migrants and migration distance in urban environments, and others have not. The other manuscript describes the small scale movements of three different Palaearctic migrants during winter in Africa in a farmland habitat...
Zhang, Tianzhu
2015-06-01
Sparse representation has been applied to visual tracking by finding the best target candidate with minimal reconstruction error by use of target templates. However, most sparse representation based trackers only consider holistic or local representations and do not make full use of the intrinsic structure among and inside target candidates, thereby making the representation less effective when similar objects appear or under occlusion. In this paper, we propose a novel Structural Sparse Tracking (SST) algorithm, which not only exploits the intrinsic relationship among target candidates and their local patches to learn their sparse representations jointly, but also preserves the spatial layout structure among the local patches inside each target candidate. We show that our SST algorithm accommodates most existing sparse trackers with the respective merits. Both qualitative and quantitative evaluations on challenging benchmark image sequences demonstrate that the proposed SST algorithm performs favorably against several state-of-the-art methods.
2010-05-01
the CUSUM (Page) test yields the quickest detection of a change of distribution for the case of i.i.d. observations [3]. In fact, in a (highly...11. Autocorrelation of the CUSUM increments, sn, under H1 (target present). Issues in Target Tracking RTO-EN-SET-157(2010...restrictive condition that the increments of the cumulative sum, sn, be i.i.d. [3], [22]. Fig. 11 plots the autocorrelation of the CUSUM increments as a
Qi, Man; Edgar-Nevill, Denis; Wang, Yongquan; Xu, Rongsheng
Traceability is a key to the investigation of the internet criminal and a cornerstone of internet research. It is impossible to prevent all internet misuse but may be possible to identify and trace the users, and then take appropriate action. This paper presents the value of traceability within the email/-newsposting utilities, the technologies being using to hide identities, the difficulties in locating the traceable data and the challenges in tracking online trails.
Tracking theories of knowledge
Adams, Fred
2005-01-01
Full Text Available As teorias epistemológicas do rastreamento sustentam que o conhecimento é uma relação real entre o agente cognitivo e seu ambiente. Os estados cognitivos de um agente epistêmico fazem o rastreamento da verdade das proposições que são objeto de conhecimento ao embasarem a crença em indicadores confiáveis da verdade (evidência, razões, ou métodos de formação de crença. A novidade nessa abordagem é que se dá pouca ênfase no tipo de justificação epistêmica voltada ao fornecimento de procedimentos de decisão doxástica ou regras de responsabilidade epistêmica. Este artigo oferece um pouco da história das teorias de rastreamento e, então, defende-as contra muitas objeções que se pretendem (equivocadamente refutadoras dessas teorias. Tracking theories of knowledge maintain that knowledge is a real relation between cognitive agent and environment. Cognitive states of a knower track the truth of known propositions by basing belief on reliable indicators of truth (evidence, reasons, or belief forming methods. The novelty of this approach is that it places little emphasis on epistemic justification of a kind that aims at guiding epistemic agents by giving doxastic decision procedures or rules of epistemic responsibility. This paper gives some of the history of tracking theories, and then defends them against many of the objections most often judged (mistakenly to refute tracking theories.
Registration and Tracking Report
2006-02-01
the layer ownership probabilities are maximized. Isard and MacCormick [71] propose joint modelling of the background and foreground regions for...gradients. Isard et. al [71] define the object state in terms of spline shape parameters and affine motion parameters. The measurements consist of image...Conference on Automatic Face and Gesture Recognition May 17 - 19, 2004 Seoul, Korea 86 [7] Michael Isard , Andrew Blake, ”Condensation Tracking By
WANG Ji-Ke; MAO Ze-Pu; BIAN Jian-Ming; CAO Guo-Fu; CAO Xue-Xiang; CHEN Shen-Jian; DENG Zi-Yan; FU Cheng-Dong; GAO Yuan-Ning; HE Kang-Lin; HE Miao; HUA Chun-Fei; HUANG Bin; HUANG Xing-Tao; JI Xiao-Sin; LI Fei; LI Hai-Bo; LI Wei-Dong; LIANG Yu-Tie; LIU Chun-Xiu; LIU Huai-Min; LIU Suo; LIU Ying-Jie; MA Qiu-Mei; MA Xiang; MAO Ya-Jun; MO Xiao-Hu; PAN Ming-Hua; PANG Cai-Ying; PING Rong-Gang; QIN Ya-Hong; QIU Jin-Fa; SUN Sheng-Sen; SUN Yong-Zhao; WANG Liang-Liang; WEN Shuo-Pin; WU Ling-Hui; XIE Yu-Guang; XU Min; YAN Liang; YOU Zheng-Yun; YUAN Chang-Zheng; YUAN Ye; ZHANG Bing-Yun; ZHANG Chang-Chun; ZHANG Jian-Yong; ZHANG Xue-Yao; ZHANG Yao; ZHENG Yang-Heng; ZHU Ke-Jun; ZHU Yong-Sheng; ZHU Zhi-Li; ZOU Jia-Heng
2009-01-01
A track fitting algorithm based on the Kalman filter method has been developed for BESⅢ of BEPCⅡ.The effects of multiple scattering and energy loss when the charged particles go through the detector,non-uniformity of magnetic field (NUMF) and wire sag, etc., have been carefully handled.This algorithm works well and the performance satisfies the physical requirements tested by the simulation data.
Scherr, Rachel E.; Harrer, Benedikt W.; Close, Hunter G.; Daane, Abigail R.; DeWater, Lezlie S.; Robertson, Amy D.; Seeley, Lane; Vokos, Stamatis
2016-02-01
Energy is a crosscutting concept in science and features prominently in national science education documents. In the Next Generation Science Standards, the primary conceptual learning goal is for learners to conserve energy as they track the transfers and transformations of energy within, into, or out of the system of interest in complex physical processes. As part of tracking energy transfers among objects, learners should (i) distinguish energy from matter, including recognizing that energy flow does not uniformly align with the movement of matter, and should (ii) identify specific mechanisms by which energy is transferred among objects, such as mechanical work and thermal conduction. As part of tracking energy transformations within objects, learners should (iii) associate specific forms with specific models and indicators (e.g., kinetic energy with speed and/or coordinated motion of molecules, thermal energy with random molecular motion and/or temperature) and (iv) identify specific mechanisms by which energy is converted from one form to another, such as incandescence and metabolism. Eventually, we may hope for learners to be able to optimize systems to maximize some energy transfers and transformations and minimize others, subject to constraints based in both imputed mechanism (e.g., objects must have motion energy in order for gravitational energy to change) and the second law of thermodynamics (e.g., heating is irreversible). We hypothesize that a subsequent goal of energy learning—innovating to meet socially relevant needs—depends crucially on the extent to which these goals have been met.
A Robust Output-Feedback Controller for a Class of Uncertain Nonlinear Systems
LIU Xiao-hua; WANG Xiu-hong; FEN En-min
2002-01-01
A robust output-feedback controller is designed by using observer plus backstepping procedure to solve the tracking problems of a class of nonlinear uncertain systems. To make the design procedure and to generate the normalization signal and a group of positive nonlinear functions used in the nonlinear damping terms are all chosen properly. The assumption made on the reference signals is much weaker than existing schemes, therefore the designed controller can be applied to track much broader classes of reference signals.The global boundness of all closed-loop signals can be guaranteed and the output tracking error can be made as small as possible if the design constants are chosen large enough.
Shallow water modal evolution due to nonlinear internal waves
Badiey, Mohsen; Wan, Lin; Luo, Jing
2017-09-01
Acoustic modal behavior is reported for an L-shape hydrophone array during the passage of a strong nonlinear internal wave packet. Acoustic track is nearly parallel to the front of nonlinear internal waves. Through modal decomposition at the vertical array, acoustic modes are identified. Modal evolution along the horizontal array then is examined during a passing internal wave. Strong intensity fluctuations of individual modes are observed before and during the internal waves packet passes the fixed acoustic track showing a detailed evolution of the waveguide modal behavior. Acoustic refraction created either uneven distribution of modal energy over the horizontal array or additional returns observable at the entire L-shape array. Acoustic ray-mode simulations are used to phenomenologically explain the observed modal behavior.
Chaos Control in Nonlinear Systems Using the Generalized Backstopping Method
A. R. Sahab
2008-01-01
Full Text Available One of the most important nonlinear systems for checking the abilities of control methods is chaos. In this study chaos in Lorenz system was used for checking abilities of new control method. This new method to control nonlinear systems was called Generalized Backstepping method because of its similarity to Backstepping but its abilities to control more systems than Backstepping. This new method was applied to Lorenz system in three ways: 1.Stabilized states of equations. 2. Track step response. 3. Track sinusoidal response. In every way, simulations proved abilities of method. Comparing this new method with Backstepping showed that in this method, states stabilize at zero in shorter time than Backstepping and input control is more limited. So new method not only is used in more systems but also has better response.
Improvements in the Placet tracking code
Latina, A; Dalena, B; Schulte, D; Snuverink, J
2012-01-01
The tracking code PLACET simulates beam transport and orbit corrections in linear accelerators. It incorporates single- and multi-bunch effects, static and dynamic imperfections. It has an interface based on both Tcl/Tk and Octave to provide maximum flexibility and easy programming of complex scenarios. Recently, new functionalities have been added to expand its simulation and tuning capabilities, such as: tools to perform beam-based alignment of non-linear optical systems, higher order imperfections in magnets, better tools for integrated feedback loops. Moreover, self-contained frameworks have been created to ease the simulation of CLIC Drive Beam, CLIC Main Beam, and other existing electron machines such as CTF3 and FACET.
2005-01-01
A new all-electronic Particle Image Velocimetry technique that can efficiently map high speed gas flows has been developed in-house at the NASA Lewis Research Center. Particle Image Velocimetry is an optical technique for measuring the instantaneous two component velocity field across a planar region of a seeded flow field. A pulsed laser light sheet is used to illuminate the seed particles entrained in the flow field at two instances in time. One or more charged coupled device (CCD) cameras can be used to record the instantaneous positions of particles. Using the time between light sheet pulses and determining either the individual particle displacements or the average displacement of particles over a small subregion of the recorded image enables the calculation of the fluid velocity. Fuzzy logic minimizes the required operator intervention in identifying particles and computing velocity. Using two cameras that have the same view of the illumination plane yields two single exposure image frames. Two competing techniques that yield unambiguous velocity vector direction information have been widely used for reducing the single-exposure, multiple image frame data: (1) cross-correlation and (2) particle tracking. Correlation techniques yield averaged velocity estimates over subregions of the flow, whereas particle tracking techniques give individual particle velocity estimates. For the correlation technique, the correlation peak corresponding to the average displacement of particles across the subregion must be identified. Noise on the images and particle dropout result in misidentification of the true correlation peak. The subsequent velocity vector maps contain spurious vectors where the displacement peaks have been improperly identified. Typically these spurious vectors are replaced by a weighted average of the neighboring vectors, thereby decreasing the independence of the measurements. In this work, fuzzy logic techniques are used to determine the true
Davis, C.G.
1990-01-01
The advent of nonlinear pulsation theory really coincides with the development of the large computers after the second world war. Christy and Stobbie were the first to make use of finite difference techniques on computers to model the bumps'' observed in the classical Cepheid light and velocity curves, the so-called Hertzsprung'' sequence. Following this work a more sophisticated analysis of the light and velocity curves from the models was made by Simon and Davis using Fourier techniques. Recently a simpler amplitude equation formalism has been developed that helps explain this resonance mechanism. The determination of Population I Cepheid masses by nonlinear methods will be discussed. For the lower mass objects, such as RR Lyrae and BL Her. stars, we find general agreement using evolutionary masses and nonlinear pulsation theory. An apparent difficulty of nonlinear pulsation theory occurs in the understanding of double'' mode pulsation, which will also be discussed. Recent studies in nonlinear pulsation theory have dealt with the question of mode selection, period doubling and the trends towards chaotic behavior such as is observed in the transition from W Virginis to RV Tauri-like stars. 10 refs., 1 fig., 2 tabs.
Thermal Tracking of Sports Players
Rikke Gade
2014-07-01
Full Text Available We present here a real-time tracking algorithm for thermal video from a sports game. Robust detection of people includes routines for handling occlusions and noise before tracking each detected person with a Kalman filter. This online tracking algorithm is compared with a state-of-the-art offline multi-target tracking algorithm. Experiments are performed on a manually annotated 2-minutes video sequence of a real soccer game. The Kalman filter shows a very promising result on this rather challenging sequence with a tracking accuracy above 70% and is superior compared with the offline tracking approach. Furthermore, the combined detection and tracking algorithm runs in real time at 33 fps, even with large image sizes of 1920 × 480 pixels.
Grid-connected of photovoltaic module using nonlinear control
El Fadil, H.; Giri, F.; Guerrero, Josep M.
2012-01-01
The problem of controlling single-phase grid connected photovoltaic (PV) system is considered. The control objective is fourfold: (i) asymptotic stability of the closed loop system, (ii) maximum power point tracking (MPPT) of PV module (iii) tight regulation of the DC bus voltage, and (iv) unity......, for the nonlinear characteristic of PV panel. It is formally shown, through theoretical analysis and simulation results, that the proposed controller does achieve its objectives....
Track Processing Approach for Bearing-Only Target Tracking
Hui Chen
2009-10-01
Full Text Available This paper mainly studies angle-measurement based track processing approach to overcome the existing problems in the applications of traditional approaches for bearing-only target locating and tracking system. First, this paper gives suited data association algorithms including track initiation and point-track association. Moreover, a new tracking filtering association gate method is presented through analysis of the target motion characteristics in polar coordinates for improving bearing-only measurement confirming efficiency of real target and limiting false track overextension with the dense clutter. Then, by analyzing the feasibility of using multi-model technology, the IMM is adopt as filtering algorithm to solve existing problem in bearing-only tracking for complicated target motion in two dimensional angle plane. As the results, the two dimensional bearing-only tracking accuracy of real target is improved and false tracking is greatly limited. Moreover, computation cost of IMM is analyzed in view of the real-time demand of bearing-only tracking. Finally, this paper gives some concrete summary of multi-model choosing principle. The application of the proposed approach in a simulation system proves its effectiveness and practicability.
Data-based identification and control of nonlinear systems via piecewise affine approximation.
Lai, Chow Yin; Xiang, Cheng; Lee, Tong Heng
2011-12-01
The piecewise affine (PWA) model represents an attractive model structure for approximating nonlinear systems. In this paper, a procedure for obtaining the PWA autoregressive exogenous (ARX) (autoregressive systems with exogenous inputs) models of nonlinear systems is proposed. Two key parameters defining a PWARX model, namely, the parameters of locally affine subsystems and the partition of the regressor space, are estimated, the former through a least-squares-based identification method using multiple models, and the latter using standard procedures such as neural network classifier or support vector machine classifier. Having obtained the PWARX model of the nonlinear system, a controller is then derived to control the system for reference tracking. Both simulation and experimental studies show that the proposed algorithm can indeed provide accurate PWA approximation of nonlinear systems, and the designed controller provides good tracking performance.
Nonlinear elastic waves in materials
Rushchitsky, Jeremiah J
2014-01-01
The main goal of the book is a coherent treatment of the theory of propagation in materials of nonlinearly elastic waves of displacements, which corresponds to one modern line of development of the nonlinear theory of elastic waves. The book is divided on five basic parts: the necessary information on waves and materials; the necessary information on nonlinear theory of elasticity and elastic materials; analysis of one-dimensional nonlinear elastic waves of displacement – longitudinal, vertically and horizontally polarized transverse plane nonlinear elastic waves of displacement; analysis of one-dimensional nonlinear elastic waves of displacement – cylindrical and torsional nonlinear elastic waves of displacement; analysis of two-dimensional nonlinear elastic waves of displacement – Rayleigh and Love nonlinear elastic surface waves. The book is addressed first of all to people working in solid mechanics – from the students at an advanced undergraduate and graduate level to the scientists, professional...
Switched adaptive tracking control of robot manipulators with friction and changing loads
Wang, Xia; Zhao, Jun
2015-04-01
A switched adaptive controller is designed for robot manipulators with friction and changing loads. The nonlinear friction is depicted by a nonlinear friction model, and a switched nonlinear system is used to model the parameter jump caused by load change. Hyperstability theory is used in the designing procedure, which provides more options for adaptive laws than Lyapunov theory. In the presence of friction and changing loads, asymptotic tracking is achieved under arbitrary switching, which is not able to accomplish by a non-switched adaptive controller. The proposed method is validated by a simulation of a 2 degree of freedom manipulator.
Nonlinear Dynamic Force Spectroscopy
Björnham, Oscar
2016-01-01
Dynamic force spectroscopy (DFS) is an experimental technique that is commonly used to assess information of the strength, energy landscape, and lifetime of noncovalent bio-molecular interactions. DFS traditionally requires an applied force that increases linearly with time so that the bio-complex under investigation is exposed to a constant loading rate. However, tethers or polymers can modulate the applied force in a nonlinear regime. For example, bacterial adhesion pili and polymers with worm-like chain properties are examples of structures that show nonlinear force responses. In these situations, the theory for traditional DFS cannot be readily applied. In this work we expand the theory for DFS to also include nonlinear external forces while still maintaining compatibility with the linear DFS theory. To validate the theory we modeled a bio-complex expressed on a stiff, an elastic and a worm-like chain polymer, using Monte Carlo methods, and assessed the corresponding rupture force spectra. It was found th...
Nonlinear optomechanical paddle nanocavities
Kaviani, Hamidreza; Wu, Marcelo; Ghobadi, Roohollah; Barclay, Paul E
2014-01-01
A photonic crystal optomechanical system combining strong nonlinear optomechanical coupling, low effective mass and large optical mode spacing is introduced. This nanoscale "paddle nanocavity" device supports mechanical resonances with effective mass of 300--600 fg which couple nonlinearly to co-localized optical modes with a quadratic optomechanical coupling coefficient $g^{(2)} > 2\\pi\\times400$ MHz/nm$^2$, and a two phonon to single photon optomechanical coupling rate $\\Delta \\omega_0 > 2\\pi\\times 16$ Hz. This coupling relies on strong phonon-photon interactions in a structure whose optical mode spectrum is highly non--degenerate. Simulations indicate that nonlinear optomechanical readout of thermally driven motion in these devices should be observable for T $> 50 $ mK, and that measurement of phonon shot noise is achievable.
Nonlinear dynamics of structures
Oller, Sergio
2014-01-01
This book lays the foundation of knowledge that will allow a better understanding of nonlinear phenomena that occur in structural dynamics. This work is intended for graduate engineering students who want to expand their knowledge on the dynamic behavior of structures, specifically in the nonlinear field, by presenting the basis of dynamic balance in non‐linear behavior structures due to the material and kinematics mechanical effects. Particularly, this publication shows the solution of the equation of dynamic equilibrium for structure with nonlinear time‐independent materials (plasticity, damage and frequencies evolution), as well as those time dependent non‐linear behavior materials (viscoelasticity and viscoplasticity). The convergence conditions for the non‐linear dynamic structure solution are studied, and the theoretical concepts and its programming algorithms are presented.
Nonlinear Photonic Crystal Fibers
Hansen, Kim Per
2004-01-01
, leading to reduced mode confinement and dispersion flexibility. In this thesis, we treat the nonlinear photonic crystal fiber – a special sub-class of photonic crystal fibers, the core of which has a diameter comparable to the wavelength of the light guided in the fiber. The small core results in a large...... nonlinear coefficient and in various applications, it is therefore possible to reduce the required fiber lengths quite dramatically, leading to increased stability and efficiency. Furthermore, it is possible to design these fibers with zero-dispersion at previously unreachable wavelengths, paving the way...... for completely new applications, especially in and near the visible wavelength region. One such application is supercontinuum generation. Supercontinuum generation is extreme broadening of pulses in a nonlinear medium (in this case a small-core fiber), and depending on the dispersion of the fiber, it is possible...
Schmidt, Bruno E; Ernotte, Guilmot; Clerici, Matteo; Morandotti, Roberto; Ibrahim, Heide; Legare, Francois
2016-01-01
In the framework of linear optics, light fields do not interact with each other in a medium. Yet, when their field amplitude becomes comparable to the electron binding energies of matter, the nonlinear motion of these electrons emits new dipole radiation whose amplitude, frequency and phase differ from the incoming fields. Such high fields are typically achieved with ultra-short, femtosecond (1fs = 10-15 sec.) laser pulses containing very broad frequency spectra. Here, the matter not only couples incoming and outgoing fields but also causes different spectral components to interact and mix through a convolution process. In this contribution, we describe how frequency domain nonlinear optics overcomes the shortcomings arising from this convolution in conventional time domain nonlinear optics1. We generate light fields with previously inaccessible properties because the uncontrolled coupling of amplitudes and phases is turned off. For example, arbitrary phase functions are transferred linearly to the second har...
Nonlinear optomechanics with graphene
Shaffer, Airlia; Patil, Yogesh Sharad; Cheung, Hil F. H.; Wang, Ke; Vengalattore, Mukund
2016-05-01
To date, studies of cavity optomechanics have been limited to exploiting the linear interactions between the light and mechanics. However, investigations of quantum signal transduction, quantum enhanced metrology and manybody physics with optomechanics each require strong, nonlinear interactions. Graphene nanomembranes are an exciting prospect for realizing such studies due to their inherently nonlinear nature and low mass. We fabricate large graphene nanomembranes and study their mechanical and optical properties. By using dark ground imaging techniques, we correlate their eigenmode shapes with the measured dissipation. We study their hysteretic response present even at low driving amplitudes, and their nonlinear dissipation. Finally, we discuss ongoing efforts to use these resonators for studies of quantum optomechanics and force sensing. This work is supported by the DARPA QuASAR program through a Grant from the ARO.
Nonlinear Analysis of Buckling
Psotný Martin
2014-06-01
Full Text Available The stability analysis of slender web loaded in compression was presented. To solve this problem, a specialized computer program based on FEM was created. The nonlinear finite element method equations were derived from the variational principle of minimum of potential energy. To obtain the nonlinear equilibrium paths, the Newton-Raphson iteration algorithm was used. Corresponding levels of the total potential energy were defined. The peculiarities of the effects of the initial imperfections were investigated. Special attention was focused on the influence of imperfections on the post-critical buckling mode. The stable and unstable paths of the nonlinear solution were separated. Obtained results were compared with those gained using ANSYS system.
Nonlinear Metamaterials for Holography
Almeida, Euclides; Prior, Yehiam
2015-01-01
A hologram is an optical element storing phase and possibly amplitude information enabling the reconstruction of a three dimensional image of an object by illumination and scattering of a coherent beam of light, and the image is generated at the same wavelength as the input laser beam. In recent years it was shown that information can be stored in nanometric antennas giving rise to ultrathin components. Here we demonstrate nonlinear multi-layer metamaterial holograms where by the nonlinear process of Third Harmonic Generation, a background free image is formed at a new frequency which is the third harmonic of the illuminating beam. Using e-beam lithography of multilayer plasmonic nanoantennas, we fabricate polarization-sensitive nonlinear elements such as blazed gratings, lenses and other computer-generated holograms. These holograms are analyzed and prospects for future device applications are discussed.
Multidimensional nonlinear descriptive analysis
Nishisato, Shizuhiko
2006-01-01
Quantification of categorical, or non-numerical, data is a problem that scientists face across a wide range of disciplines. Exploring data analysis in various areas of research, such as the social sciences and biology, Multidimensional Nonlinear Descriptive Analysis presents methods for analyzing categorical data that are not necessarily sampled randomly from a normal population and often involve nonlinear relations. This reference not only provides an overview of multidimensional nonlinear descriptive analysis (MUNDA) of discrete data, it also offers new results in a variety of fields. The first part of the book covers conceptual and technical preliminaries needed to understand the data analysis in subsequent chapters. The next two parts contain applications of MUNDA to diverse data types, with each chapter devoted to one type of categorical data, a brief historical comment, and basic skills peculiar to the data types. The final part examines several problems and then concludes with suggestions for futu...
On intrinsic nonlinear particle motion in compact synchrotrons
Hwang, Kyung Ryun
Due to the low energy and small curvature characteristics of compact synchrotrons, there can be unexpected features that were not present or negligible in high energy accelerators. Nonlinear kinetics, fringe field effect, and space charge effect are those features which become important for low energy and small curvature accelerators. Nonlinear kinematics can limit the dynamics aperture for compact machine even if it consists of all linear elements. The contribution of the nonlinear kinematics on nonlinear optics parameters are first derived. As the dipole bending radius become smaller, the dipole fringe field effect become stronger. Calculation of the Lie map generator and corresponding mapping equation of dipole fringe field is presented. It is found that the higher order nonlinear potential is inverse proportional to powers of fringe field extent and correction to focusing and low order nonlinear potential is proportional to powers of fringe field extent. The fringe field also found to cause large closed orbit deviation for compact synchrotrons. The 2:1 and 4:1 space charge resonances are known to cause beam loss, emittance growth and halo formation for low energy high intensity beams. By numerical simulations, we observe a higher order 6:2 space charge resonance, which can successfully be understood by the concatenation of 2:1 and 4:1 resonances via canonical perturbation. We also develop an explicit symplectic tracking method for compact electrostatic storage rings and explore the feasibility of electric dipole moment (EDM) measurements.
Nonlinear airship aeroelasticity
Bessert, N.; Frederich, O.
2005-12-01
The aeroelastic derivatives for today's aircraft are calculated in the concept phase using a standard procedure. This scheme has to be extended for large airships, due to various nonlinearities in structural and aerodynamic behaviour. In general, the structural model of an airship is physically as well as geometrically nonlinear. The main sources of nonlinearity are large deformations and the nonlinear material behaviour of membranes. The aerodynamic solution is also included in the nonlinear problem, because the deformed airship influences the surrounding flow. Due to these nonlinearities, the aeroelastic problem for airships can only be solved by an iterative procedure. As one possibility, the coupled aerodynamic and structural dynamic problem was handled using linked standard solvers. On the structural side, the Finite-Element program package ABAQUS was extended with an interface to the aerodynamic solver VSAERO. VSAERO is based on the aerodynamic panel method using potential flow theory. The equilibrium of the internal structural and the external aerodynamic forces leads to the structural response and a trimmed flight state for the specified flight conditions (e.g. speed, altitude). The application of small perturbations around a trimmed state produces reaction forces and moments. These constraint forces are then transferred into translational and rotational acceleration fields by performing an inertia relief analysis of the disturbed structural model. The change between the trimmed flight state and the disturbed one yields the respective aeroelastic derivatives. By including the calculated derivatives in the linearised equation of motion system, it is possible to judge the stability and controllability of the investigated airship.
49 CFR 213.63 - Track surface.
2010-10-01
... 49 Transportation 4 2010-10-01 2010-10-01 false Track surface. 213.63 Section 213.63..., DEPARTMENT OF TRANSPORTATION TRACK SAFETY STANDARDS Track Geometry § 213.63 Track surface. Each owner of the track to which this part applies shall maintain the surface of its track within the limits prescribed...
Output tracking control of mobile manipulators based on dynamical sliding-mode control
WU Yuxiang; FENG Ying; HU Yueming
2007-01-01
A dynamical sliding-mode controller is devised to track the output of mobile manipulators. During the investi- gation, firstly a reduced dynamic model considering the dynamics of the driving motor is developed for mobile manipulators. Then, the system is decomposed into four lower-dimensional subsystems by means of diffeomorphism and nonlinear input transformation. Moreover, a design method of the dynamical sliding-mode controller that is applied to the output tracking of mobile manipulators is proposed. The simulation results indicate that the dynamical sliding-mode controller can not only track the given trajec- tory correctly but also reduce the chattering of sliding-mode control system considerably.
钟元
2002-01-01
An objective analogue prediction model for tropical cyclone (TC) track is put forward that comprehensively assesses the environmental field. With the parameters of the tropical cyclone and environmental field at initial and future time, objective analogue criteria are set up in the model. Analogous samples are recognized by comprehensive assessment of historical TC cases for similarity with multivariate criteria, using non-linear analogue indexes especially defined for the purpose. When the historical tracks are coordinateconverted and weighted with reference to analogue indexes, forecast tracks are determined. As shown in model verification and forecast experiments, the model has forecasting skill.
Connectivity and Set Tracking of Multi-agent Systems Guided by Multiple Moving Leaders
Shi, Guodong; Johansson, K H
2011-01-01
In this paper, we investigate distributed multi-agent tracking of a convex set specified by multiple moving leaders with unmeasurable velocities. Various jointly-connected interaction topologies of the follower agents with uncertainties are considered in the study of set tracking. Based on the connectivity of the time-varying multi-agent system, necessary and sufficient conditions are obtained for set input-to-state stability and set integral input-to-state stability for a nonlinear neighbor-based coordination rule with switching directed topologies. Conditions for asymptotic set tracking are also proposed with respect to the polytope spanned by the leaders.
Agrawal, Govind
2012-01-01
Since the 4e appeared, a fast evolution of the field has occurred. The 5e of this classic work provides an up-to-date account of the nonlinear phenomena occurring inside optical fibers, the basis of all our telecommunications infastructure as well as being used in the medical field. Reflecting the big developments in research, this new edition includes major new content: slow light effects, which offers a reduction in noise and power consumption and more ordered network traffic-stimulated Brillouin scattering; vectorial treatment of highly nonlinear fibers; and a brand new chapter o
Mosegaard, Klaus
2012-01-01
For non-linear inverse problems, the mathematical structure of the mapping from model parameters to data is usually unknown or partly unknown. Absence of information about the mathematical structure of this function prevents us from presenting an analytical solution, so our solution depends on our......-heuristics are inefficient for large-scale, non-linear inverse problems, and that the 'no-free-lunch' theorem holds. We discuss typical objections to the relevance of this theorem. A consequence of the no-free-lunch theorem is that algorithms adapted to the mathematical structure of the problem perform more efficiently than...
Fundamentals of nonlinear optics
Powers, Peter E
2011-01-01
Peter Powers's rigorous but simple description of a difficult field keeps the reader's attention throughout. … All chapters contain a list of references and large numbers of practice examples to be worked through. … By carefully working through the proposed problems, students will develop a sound understanding of the fundamental principles and applications. … the book serves perfectly for an introductory-level course for second- and third-order nonlinear optical phenomena. The author's writing style is refreshing and original. I expect that Fundamentals of Nonlinear Optics will fast become pop
Tunable nonlinear graphene metasurfaces
Smirnova, Daria A; Kivshar, Yuri S; Khanikaev, Alexander B
2015-01-01
We introduce the concept of nonlinear graphene metasurfaces employing the controllable interaction between a graphene layer and a planar metamaterial. Such hybrid metasurfaces support two types of subradiant resonant modes, asymmetric modes of structured metamaterial elements ("metamolecules") and graphene plasmons exhibiting strong mutual coupling and avoided dispersion crossing. High tunability of graphene plasmons facilitates strong interaction between the subradiant modes, modifying the spectral position and lifetime of the associated Fano resonances. We demonstrate that strong resonant interaction, combined with the subwavelength localization of plasmons, leads to the enhanced nonlinear response and high efficiency of the second-harmonic generation.
Esfandiari, Kasra; Abdollahi, Farzaneh; Talebi, Heidar Ali
2015-10-01
This paper presents a tracking control methodology for a class of uncertain nonlinear systems subject to input saturation constraint and external disturbances. Unlike most previous approaches on saturated systems, which assumed affine nonlinear systems, in this paper, tracking control problem is solved for uncertain nonaffine nonlinear systems with input saturation. To deal with the saturation constraint, an auxiliary system is constructed and a modified tracking error is defined. Then, by employing implicit function theorem, mean value theorem, and modified tracking error, updating rules are derived based on the well-known back-propagation (BP) algorithm, which has been proven to be the most relevant updating rule to control problems. However, most of the previous approaches on BP algorithm suffer from lack of stability analysis. By injecting a damping term to the standard BP algorithm, uniformly ultimately boundedness of all the signals of the closed-loop system is ensured via Lyapunov's direct method. Furthermore, the presented approach employs nonlinear in parameter neural networks. Hence, the proposed scheme is applicable to systems with higher degrees of nonlinearity. Using a high-gain observer to reconstruct the states of the system, an output feedback controller is also presented. Finally, the simulation results performed on a Duffing-Holmes chaotic system, a generalized pendulum-type system, and a numerical system are presented to demonstrate the effectiveness of the suggested state and output feedback control schemes.
2015-01-01
In this paper, the problem of robust control of nonlinear fractional-order systems in the presence of uncertainties and external disturbance is investigated. Fuzzy logic systems are used for estimating the unknown nonlinear functions. Based on the fractional Lyapunov direct method and some proposed Lemmas, an adaptive fuzzy controller is designed. The proposed method can guarantee all the signals in the closed-loop systems remain bounded and the tracking errors converge to an arbitrary small ...
Nonlinear effects in optical fibers
Ferreira, Mario F
2011-01-01
Cutting-edge coverage of nonlinear phenomena occurring inside optical fibers Nonlinear fiber optics is a specialized part of fiber optics dealing with optical nonlinearities and their applications. As fiber-optic communication systems have become more advanced and complex, the nonlinear effects in optical fibers have increased in importance, as they adversely affect system performance. Paradoxically, the same nonlinear phenomena also offer the promise of addressing the bandwidth bottleneck for signal processing for future ultra-high speed optical networks. Nonlinear Effects in Optical Fiber
Nguyen, Nam
2016-01-01
The goal of this thesis was to develop a laboratory prototype of a solar tracking system, which is able to enhance the performance of the photovoltaic modules in a solar energy system. The operating principle of the device is to keep the photovoltaic modules constantly aligned with the sunbeams, which maximises the exposure of solar panel to the Sun’s radiation. As a result, more output power can be produced by the solar panel. The work of the project included hardware design and implemen...
Nguyen, Nam
2016-01-01
The goal of this thesis was to develop a laboratory prototype of a solar tracking system, which is able to enhance the performance of the photovoltaic modules in a solar energy system. The operating principle of the device is to keep the photovoltaic modules constantly aligned with the sunbeams, which maximises the exposure of solar panel to the Sun’s radiation. As a result, more output power can be produced by the solar panel. The work of the project included hardware design and implemen...
LAMDA at TREC CDS track 2015: Clinical Decision Support Track
2015-11-20
biomedical literature retrieval for clinical cases: a survey of the TREC 2014 CDS track," Information Retrieval Journal , pp. 1-36. [2] M. S. Simpson and...LAMDA at TREC CDS track 2015 Clinical Decision Support Track Moon Soo Cha, Woo-Jin Han, Garam Lee, Minsung Kim, Kyung-Ah Sohn* Department of...Information and Computer Engineering Ajou University Suwon, Republic of Korea (ckanstnzja; data; piratekl; kimmsql; kasohn)@ajou.ac.kr Abstract
Nonlinear control for a class of hydraulic servo system
余宏; 冯正进; 王旭永
2004-01-01
The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening, friction, etc. Aside from the nonlinear nature of hydraulic dynamics, hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues, a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well, and all signals in the closed-loop system remain bounded. Moreover, a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers, this paper's robust controller based on backstepping recursive design method is easier to design, and is more suitable for implementation.
Nonlinear control for a class of hydraulic servo system
余宏; 冯正进; 王旭永
2004-01-01
The dynamics of hydraulic systems are highly nonlinear and the system may be subjected to non-smooth and discontinuous nonlinearities due to directional change of valve opening,friction,etc. Aside from the nonlinear nature of hydraulic dynamics,hydraulic servo systems also have large extent of model uncertainties. To address these challenging issues,a robust state-feedback controller is designed by employing backstepping design technique such that the system output tracks a given signal arbitrarily well,and all signals in the closed-loop system remain bounded. Moreover,a relevant disturbance attenuation inequality is satisfied by the closed-loop signals. Compared with previously proposed robust controllers,this paper's robust controller based on backstepping recursive design method is easier to design,and is more suitable for implementation.
Adaptive Observer-Based Fault Estimate for Nonlinear Systems
ZONG Qun; LIU Wenjing; LIU Li
2006-01-01
An approach for adaptive observer-based fault estimate for nonlinear system is proposed.H-infinity theory is applied to analyzing the design method and stable conditions of the adaptive observer,from which both system state and fault can be estimated.It is proved that the fault estimate error is related to the given H-infinity track performance indexes,as well as to the changing rate of the fault and the Lipschitz constant of the nonlinear item.The design steps of the adaptive observer are proposed.The simulation results show that the observer has good performance for fault estimate even when the system includes nonlinear terms,which confirms the effectiveness of the method.
Implementing Nonlinear Feedback Controllers Using DNA Strand Displacement Reactions.
Sawlekar, Rucha; Montefusco, Francesco; Kulkarni, Vishwesh V; Bates, Declan G
2016-07-01
We show how an important class of nonlinear feedback controllers can be designed using idealized abstract chemical reactions and implemented via DNA strand displacement (DSD) reactions. Exploiting chemical reaction networks (CRNs) as a programming language for the design of complex circuits and networks, we show how a set of unimolecular and bimolecular reactions can be used to realize input-output dynamics that produce a nonlinear quasi sliding mode (QSM) feedback controller. The kinetics of the required chemical reactions can then be implemented as enzyme-free, enthalpy/entropy driven DNA reactions using a toehold mediated strand displacement mechanism via Watson-Crick base pairing and branch migration. We demonstrate that the closed loop response of the nonlinear QSM controller outperforms a traditional linear controller by facilitating much faster tracking response dynamics without introducing overshoots in the transient response. The resulting controller is highly modular and is less affected by retroactivity effects than standard linear designs.
Aircraft nonlinear optimal control using fuzzy gain scheduling
Nusyirwan, I. F.; Kung, Z. Y.
2016-10-01
Fuzzy gain scheduling is a common solution for nonlinear flight control. The highly nonlinear region of flight dynamics is determined throughout the examination of eigenvalues and the irregular pattern of root locus plots that show the nonlinear characteristic. By using the optimal control for command tracking, the pitch rate stability augmented system is constructed and the longitudinal flight control system is established. The outputs of optimal control for 21 linear systems are fed into the fuzzy gain scheduler. This research explores the capability in using both optimal control and fuzzy gain scheduling to improve the efficiency in finding the optimal control gains and to achieve Level 1 flying qualities. The numerical simulation work is carried out to determine the effectiveness and performance of the entire flight control system. The simulation results show that the fuzzy gain scheduling technique is able to perform in real time to find near optimal control law in various flying conditions.
Robust adaptive output feedback control of nonlinearly parameterized systems
LIU Yusheng; LI Xingyuan
2007-01-01
The ideas of adaptive nonlinear damping and changing supply functions were used to counteract the effects of parameter and nonlinear uncertainties,unmodeled dynamics and unknown bounded disturbances.The high-gain observer was used to estimate the state of the system.A robust adaptive output feedback control scheme was proposed for nonlinearly parameterized systems represented by inputoutput models.The scheme does not need to estimate the unknown parameters nor add a dynamical signal to dominate the effects of unmodeled dynamics.It is proven that the proposed control scheme guarantees that all the variables in the closed-loop system are bounded and the mean-square tracking error can be made arbitrarily small by choosing some design parameters appropriately.Simulation results have illustrated the effectiveness of the proposed robust adaptive control scheme.
Nonlinear numerical simulation on extreme-wave kinematics
NING Dezhi; TENG Bin; LIU Shuxue
2009-01-01
A fully nonlinear numerical model based on a time-domain higher-order boundary element method (HOBEM) is founded to simulate the kinematics of extreme waves. In the model, the fully nonlinear free surface boundary conditions are satisfied and a semi-mixed Euler-Lagrange method is used to track free surface; a fourth-order Runga-Kutta technique is "adopted to refresh the wave elevation and velocity potential on the free surface at each time step; an image Green function is used in the numerical wave tank so that the integrations on the lateral surfaces and bottom are excluded. The extreme waves are generated by the method of wave focusing. The physical experiments are carried out in a wave flume. On the horizontal velocity of the measured point, numerical solutions agree well with experimental results. The characteristics of the nonlinear extreme-wave kinematics and the velocity distribution are studied here.
陈英龙; 周华; 赵勇刚; 侯交义
2014-01-01
A fuzzy robust path tracking strategy of an active pelagic trawl system with ship and winch regulation is proposed. First, nonlinear mathematic model of the pelagic trawl system was derived using Lagrange equation and further simplified as a low order model for the convenience of controller design. Then, an active path tracking strategy of pelagic trawl system was investigated to improve the catching efficiency of the target fish near the sea bottom. By means of the active tracking control, the pelagic trawl net can be positioned dynamically to follow a specified trajectory via the coordinated winch and ship regulation. In addition, considering the system nonlinearities, modeling uncertainties and the unknown exogenous disturbance of the trawl system model, a nonlinear robust H2/H∞controller based on Takagi-Sugeno (T-S) fuzzy model was presented, and the simulation comparison with linear robust H2/H∞controller and PID method was conducted for the validation of the nonlinear fuzzy robust controller. The nonlinear simulation results show that the average tracking error is 0.4 m for the fuzzy robust H2/H∞control and 125.8 m for the vertical and horizontal displacement, respectively, which is much smaller than linear H2/H∞ controller and the PID controller. The investigation results illustrate that the fuzzy robust controller is effective for the active path tracking control of the pelagic trawl system.
Finite-Time Control for Robust Tracking Consensus in MASs With an Uncertain Leader.
Lu, Xiaoqing; Wang, Yaonan; Yu, Xinghuo; Lai, Jingang
2016-03-31
This paper investigates the finite-time control for robust tracking consensus problems of multiagent systems with an uncertain leader for situations where the state of the considered active leader may not be measured and the directed network topology is time-varying. Based on the neighbor-based state-estimation rule and a new Lyapunov stability analysis method, a continuous and nonlinear distributed tracking protocol using only relative position information is designed, under which each agent can follow the leader in finite time if the input (acceleration) of the leader is known, and the tracking errors can converge to a bounded region in finite time if the input of the leader is unknown. In particular, a special continuous distributed tracking protocol with bounded control inputs is introduced to track the active leader in finite time. Numerical simulations are also given to illustrate the effectiveness of the theoretic results.
Petrov, Romain G; Boskri, Abdelkarim; Folcher, Jean-Pierre; Lagarde, Stephane; Bresson, Yves; Benkhaldoum, Zouhair; Lazrek, Mohamed; Rakshit, Suvendu
2014-01-01
The limiting magnitude is a key issue for optical interferometry. Pairwise fringe trackers based on the integrated optics concepts used for example in GRAVITY seem limited to about K=10.5 with the 8m Unit Telescopes of the VLTI, and there is a general "common sense" statement that the efficiency of fringe tracking, and hence the sensitivity of optical interferometry, must decrease as the number of apertures increases, at least in the near infrared where we are still limited by detector readout noise. Here we present a Hierarchical Fringe Tracking (HFT) concept with sensitivity at least equal to this of a two apertures fringe trackers. HFT is based of the combination of the apertures in pairs, then in pairs of pairs then in pairs of groups. The key HFT module is a device that behaves like a spatial filter for two telescopes (2TSF) and transmits all or most of the flux of a cophased pair in a single mode beam. We give an example of such an achromatic 2TSF, based on very broadband dispersed fringes analyzed by g...
Reiss, Dennis; Fenton, Lori; Neakrase, Lynn; Zimmerman, Michael; Statella, Thiago; Whelley, Patrick; Rossi, Angelo Pio; Balme, Matthew
2016-11-01
Dust devils that leave dark- or light-toned tracks are common on Mars and they can also be found on the Earth's surface. Dust devil tracks (hereinafter DDTs) are ephemeral surface features with mostly sub-annual lifetimes. Regarding their size, DDT widths can range between ˜1 m and ˜1 km, depending on the diameter of dust devil that created the track, and DDT lengths range from a few tens of meters to several kilometers, limited by the duration and horizontal ground speed of dust devils. DDTs can be classified into three main types based on their morphology and albedo in contrast to their surroundings; all are found on both planets: (a) dark continuous DDTs, (b) dark cycloidal DDTs, and (c) bright DDTs. Dark continuous DDTs are the most common type on Mars. They are characterized by their relatively homogenous and continuous low albedo surface tracks. Based on terrestrial and martian in situ studies, these DDTs most likely form when surficial dust layers are removed to expose larger-grained substrate material (coarse sands of ≥500 μm in diameter). The exposure of larger-grained materials changes the photometric properties of the surface; hence leading to lower albedo tracks because grain size is photometrically inversely proportional to the surface reflectance. However, although not observed so far, compositional differences (i.e., color differences) might also lead to albedo contrasts when dust is removed to expose substrate materials with mineralogical differences. For dark continuous DDTs, albedo drop measurements are around 2.5 % in the wavelength range of 550-850 nm on Mars and around 0.5 % in the wavelength range from 300-1100 nm on Earth. The removal of an equivalent layer thickness around 1 μm is sufficient for the formation of visible dark continuous DDTs on Mars and Earth. The next type of DDTs, dark cycloidal DDTs, are characterized by their low albedo pattern of overlapping scallops. Terrestrial in situ studies imply that they are formed when sand
A Lyapunov-Based Extension to Particle Swarm Dynamics for Continuous Function Optimization
Bhattacharya, Sayantani; Konar, Amit; Das, Swagatam; Han, Sang Yong
2009-01-01
The paper proposes three alternative extensions to the classical global-best particle swarm optimization dynamics, and compares their relative performance with the standard particle swarm algorithm. The first extension, which readily follows from the well-known Lyapunov's stability theorem, provides a mathematical basis of the particle dynamics with a guaranteed convergence at an optimum. The inclusion of local and global attractors to this dynamics leads to faster convergence speed and better accuracy than the classical one. The second extension augments the velocity adaptation equation by a negative randomly weighted positional term of individual particle, while the third extension considers the negative positional term in place of the inertial term. Computer simulations further reveal that the last two extensions outperform both the classical and the first extension in terms of convergence speed and accuracy. PMID:22303158
Lyapunov-Based Feedback Preparation of GHZ Entanglement of N-Qubit Systems.
Liu, Yanan; Kuang, Sen; Cong, Shuang
2016-07-09
The Greenberger-Horne-Zeilinger (GHZ) entangled states are a typical class of entangled states in multiparticle systems and play an important role in the applications of quantum communication and quantum computation. For a general quantum system of N qubits, degenerate measurement operators are often met, which cause the convergence obstacle in the state preparation or stabilization problem. This paper first generalizes the traditional quantum state continuous reduction theory to the case of a degenerate measurement operator and chooses a measurement operator for an arbitrarily given target GHZ entangled state, then presents a state stabilization control strategy based on the Lyapunov method and achieves the feedback preparation of the target GHZ state. In our stabilization strategy, we separate the target GHZ state and all the other GHZ states that often form the equilibrium points of the closed-loop system by dividing the state space into several different regions; and formally design a switching control law between the regions, which contains the control Hamiltonians to be constructed. By analyzing the stability of the closed-loop system in the different regions, we propose a systematic method for constructing the control Hamiltonians and solve the convergence problem caused by the degenerate measurement operator. The global stability of the whole closed-loop stochastic system is strictly proved. Also, we perform some simulation experiments on a three-qubit system and prepare a three-qubit GHZ entangled state. At the same time, the simulation results show the effectiveness of the switching control law and the construction method for the control Hamiltonians proposed in this paper.
Lyapunov-Based Control for Suppression of Wind-Induced Galloping in Suspension Bridges
Naif B. Almutairi
2011-01-01
Full Text Available This paper investigates the suppression of galloping in a suspension bridge due to wind loads. The galloping phenomenon can be destructive due to the high-amplitude oscillations of the structure. Two controllers are proposed to generate the control force needed to suppress the vertical galloping in the suspended cables and in the bridge deck. SIMULINK software is used to simulate the controlled system. The simulation results indicate that the proposed controllers work well. In addition, the performance of the system with the proposed controllers is compared to the performance of the system controlled with a tuned mass damper.
Nonlinear elliptic systems with exponential nonlinearities
Said El Manouni
2002-12-01
Full Text Available In this paper we investigate the existence of solutions for {gather*} -mathop{m div}( a(| abla u | ^N| abla u |^{N-2}u = f(x,u,v quad mbox{in } Omega -mathop{m div}(a(| abla v| ^N| abla v |^{N-2}v = g(x,u,v quad mbox{in } Omega u(x = v(x = 0 quad mbox{on }partial Omega. end{gather*} Where $Omega$ is a bounded domain in ${mathbb{R}}^N$, $Ngeq 2$, $f$ and $g$ are nonlinearities having an exponential growth on $Omega$ and $a$ is a continuous function satisfying some conditions which ensure the existence of solutions.
Nonlinearity and disorder: Classification and stability of nonlinear impurity modes
Sukhorukov, Andrey A.; Kivshar, Yuri S.; Bang, Ole
2001-01-01
We study the effects produced by competition of two physical mechanisms of energy localization in inhomogeneous nonlinear systems. As an example, we analyze spatially localized modes supported by a nonlinear impurity in the generalized nonlinear Schrödinger equation and describe three types of no...
Generalized Nonlinear Yule Models
Lansky, Petr; Polito, Federico; Sacerdote, Laura
2016-10-01
With the aim of considering models related to random graphs growth exhibiting persistent memory, we propose a fractional nonlinear modification of the classical Yule model often studied in the context of macroevolution. Here the model is analyzed and interpreted in the framework of the development of networks such as the World Wide Web. Nonlinearity is introduced by replacing the linear birth process governing the growth of the in-links of each specific webpage with a fractional nonlinear birth process with completely general birth rates. Among the main results we derive the explicit distribution of the number of in-links of a webpage chosen uniformly at random recognizing the contribution to the asymptotics and the finite time correction. The mean value of the latter distribution is also calculated explicitly in the most general case. Furthermore, in order to show the usefulness of our results, we particularize them in the case of specific birth rates giving rise to a saturating behaviour, a property that is often observed in nature. The further specialization to the non-fractional case allows us to extend the Yule model accounting for a nonlinear growth.
Ritz, Christian; Parmigiani, Giovanni
2009-01-01
R is a rapidly evolving lingua franca of graphical display and statistical analysis of experiments from the applied sciences. This book provides a coherent treatment of nonlinear regression with R by means of examples from a diversity of applied sciences such as biology, chemistry, engineering, medicine and toxicology.
Gorban, A. N.; Karlin, I.V.
2003-01-01
Nonlinear kinetic equations are reviewed for a wide audience of specialists and postgraduate students in physics, mathematical physics, material science, chemical engineering and interdisciplinary research. Contents: The Boltzmann equation, Phenomenology and Quasi-chemical representation of the Boltzmann equation, Kinetic models, Discrete velocity models, Direct simulation, Lattice Gas and Lattice Boltzmann models, Minimal Boltzmann models for flows at low Knudsen number, Other kinetic equati...
Intramolecular and nonlinear dynamics
Davis, M.J. [Argonne National Laboratory, IL (United States)
1993-12-01
Research in this program focuses on three interconnected areas. The first involves the study of intramolecular dynamics, particularly of highly excited systems. The second area involves the use of nonlinear dynamics as a tool for the study of molecular dynamics and complex kinetics. The third area is the study of the classical/quantum correspondence for highly excited systems, particularly systems exhibiting classical chaos.
Jørgensen, Michael Finn
1995-01-01
It is generally very difficult to solve nonlinear systems, and such systems often possess chaotic solutions. In the rare event that a system is completely solvable, it is said to integrable. Such systems never have chaotic solutions. Using the Inverse Scattering Transform Method (ISTM) two...
Nonlinear phased array imaging
Croxford, Anthony J.; Cheng, Jingwei; Potter, Jack N.
2016-04-01
A technique is presented for imaging acoustic nonlinearity within a specimen using ultrasonic phased arrays. Acoustic nonlinearity is measured by evaluating the difference in energy of the transmission bandwidth within the diffuse field produced through different focusing modes. The two different modes being classical beam forming, where delays are applied to different element of a phased array to physically focus the energy at a single location (parallel firing) and focusing in post processing, whereby one element at a time is fired and a focused image produced in post processing (sequential firing). Although these two approaches are linearly equivalent the difference in physical displacement within the specimen leads to differences in nonlinear effects. These differences are localized to the areas where the amplitude is different, essentially confining the differences to the focal point. Direct measurement at the focal point are however difficult to make. In order to measure this the diffuse field is used. It is a statistical property of the diffuse field that it represents the total energy in the system. If the energy in the diffuse field for both the sequential and parallel firing case is measured then the difference between these, within the input signal bandwidth, is largely due to differences at the focal spot. This difference therefore gives a localized measurement of where energy is moving out of the transmission bandwidth due to nonlinear effects. This technique is used to image fatigue cracks and other damage types undetectable with conventional linear ultrasonic measurements.
Generalized Nonlinear Yule Models
Lansky, Petr; Polito, Federico; Sacerdote, Laura
2016-11-01
With the aim of considering models related to random graphs growth exhibiting persistent memory, we propose a fractional nonlinear modification of the classical Yule model often studied in the context of macroevolution. Here the model is analyzed and interpreted in the framework of the development of networks such as the World Wide Web. Nonlinearity is introduced by replacing the linear birth process governing the growth of the in-links of each specific webpage with a fractional nonlinear birth process with completely general birth rates. Among the main results we derive the explicit distribution of the number of in-links of a webpage chosen uniformly at random recognizing the contribution to the asymptotics and the finite time correction. The mean value of the latter distribution is also calculated explicitly in the most general case. Furthermore, in order to show the usefulness of our results, we particularize them in the case of specific birth rates giving rise to a saturating behaviour, a property that is often observed in nature. The further specialization to the non-fractional case allows us to extend the Yule model accounting for a nonlinear growth.
Trirefringence in nonlinear metamaterials
De Lorenci, Vitorio A
2012-01-01
We study the propagation of electromagnetic waves in the limit of geometrical optics for a class of nearly transparent nonlinear uniaxial metamaterials for which their permittivity tensors present a negative principal component. Their permeability are assumed positive and dependent on the electric field. We show that light waves experience triple refraction -- trirefringence. Additionally to the ordinary wave, two extraordinary waves propagate in such media.
Borghi, M.; Castellan, C.; Signorini, S.; Trenti, A.; Pavesi, L.
2017-09-01
Silicon photonics is a technology based on fabricating integrated optical circuits by using the same paradigms as the dominant electronics industry. After twenty years of fervid development, silicon photonics is entering the market with low cost, high performance and mass-manufacturable optical devices. Until now, most silicon photonic devices have been based on linear optical effects, despite the many phenomenologies associated with nonlinear optics in both bulk materials and integrated waveguides. Silicon and silicon-based materials have strong optical nonlinearities which are enhanced in integrated devices by the small cross-section of the high-index contrast silicon waveguides or photonic crystals. Here the photons are made to strongly interact with the medium where they propagate. This is the central argument of nonlinear silicon photonics. It is the aim of this review to describe the state-of-the-art in the field. Starting from the basic nonlinearities in a silicon waveguide or in optical resonator geometries, many phenomena and applications are described—including frequency generation, frequency conversion, frequency-comb generation, supercontinuum generation, soliton formation, temporal imaging and time lensing, Raman lasing, and comb spectroscopy. Emerging quantum photonics applications, such as entangled photon sources, heralded single-photon sources and integrated quantum photonic circuits are also addressed at the end of this review.
Nonlinear fibre optics overview
Travers, J. C.; Frosz, Michael Henoch; Dudley, J. M.
2010-01-01
, provides a background to the associated nonlinear optical processes, treats the generation mechanisms from continuous wave to femtosecond pulse pump regimes and highlights the diverse applications. A full discussion of numerical methods and comprehensive computer code are also provided, enabling readers...
Tsia, Kevin K.; Jalali, Bahram
2010-05-01
An intriguing optical property of silicon is that it exhibits a large third-order optical nonlinearity, with orders-ofmagnitude larger than that of silica glass in the telecommunication band. This allows efficient nonlinear optical interaction at relatively low power levels in a small footprint. Indeed, we have witnessed a stunning progress in harnessing the Raman and Kerr effects in silicon as the mechanisms for enabling chip-scale optical amplification, lasing, and wavelength conversion - functions that until recently were perceived to be beyond the reach of silicon. With all the continuous efforts developing novel techniques, nonlinear silicon photonics is expected to be able to reach even beyond the prior achievements. Instead of providing a comprehensive overview of this field, this manuscript highlights a number of new branches of nonlinear silicon photonics, which have not been fully recognized in the past. In particular, they are two-photon photovoltaic effect, mid-wave infrared (MWIR) silicon photonics, broadband Raman effects, inverse Raman scattering, and periodically-poled silicon (PePSi). These novel effects and techniques could create a new paradigm for silicon photonics and extend its utility beyond the traditionally anticipated applications.
Leitao, J C; Gerlach, M; Altmann, E G
2016-01-01
One of the most celebrated findings in complex systems in the last decade is that different indexes y (e.g., patents) scale nonlinearly with the population~x of the cities in which they appear, i.e., $y\\sim x^\\beta, \\beta \
Nonlinear Gravitational Lagrangians revisited
Magnano, Guido
2016-01-01
The Legendre transformation method, applied in 1987 to deal with purely metric gravitational Lagrangians with nonlinear dependence on the Ricci tensor, is extended to metric-affine models and is shown to provide a concise and insightful comparison of the dynamical content of the two variational frameworks.
Nonlinearities in Microwave Superconductivity
Ledenyov, Dimitri O.; Ledenyov, Viktor O.
2012-01-01
The research is focused on the modeling of nonlinear properties of High Temperature Superconducting (HTS) thin films, using Bardeen, Cooper, Schrieffer and Lumped Element Circuit theories, with purpose to enhance microwave power handling capabilities of microwave filters and optimize design of microwave circuits in micro- and nano- electronics.
Nonlinear tsunami generation mechanism
M. A. Nosov
2001-01-01
Full Text Available The nonlinear mechanism of long gravitational surface water wave generation by high-frequency bottom oscillations in a water layer of constant depth is investigated analytically. The connection between the surface wave amplitude and the parameters of bottom oscillations and source length is investigated.
Mosekilde, Erik
Through a significant number of detailed and realistic examples this book illustrates how the insights gained over the past couple of decades in the fields of nonlinear dynamics and chaos theory can be applied in practice. Aomng the topics considered are microbiological reaction systems, ecological...
Terahertz semiconductor nonlinear optics
Turchinovich, Dmitry; Hvam, Jørn Märcher; Hoffmann, Matthias
2013-01-01
nonlinearity in doped semiconductors originates from the near-instantaneous heating of free electrons in the ponderomotive potential created by electric field of the THz pulse, leading to ultrafast increase of electron effective mass by intervalley scattering. Modification of effective mass in turn leads...
Errouissi, Rachid; Yang, Jun; Chen, Wen-Hua; Al-Durra, Ahmed
2016-08-01
In this paper, a robust nonlinear generalised predictive control (GPC) method is proposed by combining an integral sliding mode approach. The composite controller can guarantee zero steady-state error for a class of uncertain nonlinear systems in the presence of both matched and unmatched disturbances. Indeed, it is well known that the traditional GPC based on Taylor series expansion cannot completely reject unknown disturbance and achieve offset-free tracking performance. To deal with this problem, the existing approaches are enhanced by avoiding the use of the disturbance observer and modifying the gain function of the nonlinear integral sliding surface. This modified strategy appears to be more capable of achieving both the disturbance rejection and the nominal prescribed specifications for matched disturbance. Simulation results demonstrate the effectiveness of the proposed approach.
Nonlinear Optical Terahertz Technology Project
National Aeronautics and Space Administration — Our approach is based on high-Q optical WGM resonators made with a nonlinear crystal. Such resonators have been demonstrated to dramatically enhance nonlinear...
Phase retrieval using nonlinear diversity.
Lu, Chien-Hung; Barsi, Christopher; Williams, Matthew O; Kutz, J Nathan; Fleischer, Jason W
2013-04-01
We extend the Gerchberg-Saxton algorithm to phase retrieval in a nonlinear system. Using a tunable photorefractive crystal, we experimentally demonstrate the noninterferometric technique by reconstructing an unknown phase object from optical intensity measurements taken at different nonlinear strengths.