Adaptive Gimbal Control Approach to Account for Power Consumption and Landmark Tracking Quality

2016 ◽  
Author(s):  
Akin Tatoglu ◽  
Claudio Campana
Keyword(s):  
Power Consumption ◽  
Input Signal ◽  
Feature Detection ◽  
Oscillation Amplitude ◽  
System Response ◽  
Indoor Environments ◽  
Tracking Accuracy ◽  
Visual Sensor ◽  
Control Approach ◽  
Landmark Tracking

Unmanned Aerial Vehicles (UAV) are commonly used for robotics research and industrial purposes. Most of the autonomous applications use visual sensors and inertial measurement units for localization. Design constraints of such systems are defined considering smooth operation requirements such as indoor environments without external forces where input tracking signal is constant during an operation. In this research paper, we simultaneously investigate and compare stability, power consumption and landmark tracking quality of a visual sensor mounted gimbal specifically for rapid UAV motion requirements where input signal continuously varies such as at obstacle rich environments. We not only attempt to find efficient control parameters but also compare these settings with power consumption and landmark tracking quality metric which are vital for mobile robots and localization algorithms. Efficiency of the system response is analyzed with rise and settling time as well as oscillation amplitude and frequencies. These parameters are tested and benchmarked with various voltage and current limitations. In addition to that, different response behaviors were investigated considering landmark tracking quality metrics including feature detection and image blur. We have shown that gimbal stabilization controller under continuously varying input signal requires less responsive behavior to keep landmark tracking accuracy stable. Initial simulation results, system development and experimental setup procedure are explained and behavior plots for each topic are listed and analyzed.

scholarly journals Preview Control with Dynamic Constraints for Autonomous Vehicles

Sensors ◽  
2021 ◽  
Vol 21 (15) ◽  
pp. 5155
Author(s):  
Rui Li ◽  
Qi Ouyang ◽  
Yue Cui ◽  
Yang Jin
Keyword(s):  
Autonomous Vehicles ◽  
Lyapunov Theory ◽  
System Stability ◽  
System Response ◽  
Control Law ◽  
Steering Control ◽  
Tracking Accuracy ◽  
Closed Loop System ◽  
Control Approach ◽  
Dynamic Constraints

In this paper, a preview theory-based steering control approach considering vehicle dynamic constraints is presented. The constrained variables are predicted by an error states system and utilized to adjust the control law once the established dynamic constraints are violated. The simulated annealing optimization algorithm for preview length is conducted to improve the adaptability of the controller to varying velocities and road adhesion coefficients. The theoretical stability of a closed-loop system is guaranteed using Lyapunov theory, and further analysis of the system response in time domain and frequency domain is discussed. The results of simulations implemented on Carsim–Simulink demonstrate the favorable performance of the proposed control in tracking accuracy and system stability under extreme conditions.

A Power-Efficient Noise Canceling Technique Using Signal-Suppression Feed-Forward for Wideband LNAs

2015 ◽  
Vol 643 ◽  
pp. 109-116
Author(s):  
Daiki Oki ◽  
Satoru Kawauchi ◽  
Cong Bing Li ◽  
Masataka Kamiyama ◽  
Seiichi Banba ◽  
...  
Keyword(s):  
Power Consumption ◽  
Input Signal ◽  
Noise Figure ◽  
Wide Band ◽  
Noise Cancellation ◽  
Cmos Process ◽  
Feed Forward ◽  
Power Efficient ◽  
Signal Suppression ◽  
Noise Canceling

This paper presents a power-efficient noise-canceling technique based on the feed-forward amplifiers, considering a fundamental tradeoff between noise figure (NF) and power consumption in the design of wide-band amplifiers. By suppressing the input signal of the noise cancellation amplifier, the nonlinear effect on the amplifier can be reduced, as well as the power consumption can be smaller. Furthermore, as a lower gain of the noise-canceling sub-amplifier can be achieved simultaneously, further reduction of the power consumption becomes possible. The verification of the proposed technique is conducted with Spectre simulation using 90nm CMOS process.

Modeling and trajectory tracking control of a two-wheeled mobile robot: Gibbs–Appell and prediction-based approaches

Robotica ◽  
2018 ◽  
Vol 36 (10) ◽  
pp. 1551-1570 ◽  
Author(s):  
Hossein Mirzaeinejad ◽  
Ali Mohammad Shafei
Keyword(s):  
Trajectory Tracking ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Tracking Accuracy ◽  
Wheeled Mobile Robots ◽  
Tracking Errors ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Control Approach ◽  
Prediction Time

SUMMARYThis study deals with the problem of trajectory tracking of wheeled mobile robots (WMR's) under non-holonomic constraints and in the presence of model uncertainties. To solve this problem, the kinematic and dynamic models of a WMR are first derived by applying the recursive Gibbs–Appell method. Then, new kinematics- and dynamics-based multivariable controllers are analytically developed by using the predictive control approach. The control laws are optimally derived by minimizing a pointwise quadratic cost function for the predicted tracking errors of the WMR. The main feature of the obtained closed-form control laws is that online optimization is not needed for their implementation. The prediction time, as a free parameter in the control laws, makes it possible to achieve a compromise between tracking accuracy and implementable control inputs. Finally, the performance of the proposed controller is compared with that of a sliding mode controller, reported in the literature, through simulations of some trajectory tracking maneuvers.

scholarly journals A Unified Multimode Control of a DC–DC Interlinking Converter Integrated into a Hybrid Microgrid

Electronics ◽  
2019 ◽  
Vol 8 (11) ◽  
pp. 1314 ◽  
Author(s):  
Oswaldo López-Santos ◽  
Yeison Alejandro Aldana-Rodríguez ◽  
Germain Garcia ◽  
Luis Martínez-Salamero
Keyword(s):  
Energy Exchange ◽  
Low Voltage ◽  
Voltage Regulation ◽  
The Other ◽  
Theoretical Development ◽  
System Response ◽  
Control Approach ◽  
Uniform System ◽  
Hybrid Microgrid ◽  
Control Scheme

DC–DC interlinking converters (ILCs) allow bidirectional energy exchange between DC buses of different voltage levels in microgrids. This paper introduces a multimode control approach of a half-bridge DC–DC converter interlinking an extra-low-voltage DC (ELVDC) bus of 48 VDC and a low-voltage DC (LVDC) bus of 240 VDC within a hybrid microgrid. By using the proposed control, the converter can transfer power between the buses when the other converters regulate them, or it can ensure the voltage regulation of one of the buses, this originating from its three operation modes. The proposed control scheme is very simple and provides a uniform system response despite the dependence of the converter dynamic on the operating point and the selected mode. Simulation and experimental results validated the theoretical development and demonstrated the usefulness of the proposed scheme.

scholarly journals EXPLOITING INDOOR MOBILE LASER SCANNER TRAJECTORIES FOR SEMANTIC INTERPRETATION OF POINT CLOUDS

2017 ◽  
Vol IV-2/W4 ◽  
pp. 355-362 ◽  
Author(s):  
S. Nikoohemat ◽  
M. Peter ◽  
S. Oude Elberink ◽  
G. Vosselman
Keyword(s):  
Data Collection ◽  
Feature Detection ◽  
Laser Scanner ◽  
Point Clouds ◽  
Semantic Interpretation ◽  
Indoor Environments ◽  
Valuable Source ◽  
Laser Scanners ◽  
Occlusion Reasoning

The use of Indoor Mobile Laser Scanners (IMLS) for data collection in indoor environments has been increasing in the recent years. These systems, unlike Terrestrial Laser Scanners (TLS), collect data along a trajectory instead of at discrete scanner positions. In this research, we propose several methods to exploit the trajectories of IMLS systems for the interpretation of point clouds. By means of occlusion reasoning and use of trajectory as a set of scanner positions, we are capable of detecting openings in cluttered indoor environments. In order to provide information about both the partitioning of the space and the navigable space, we use the voxel concept for point clouds. Furthermore, to reconstruct walls, floor and ceiling we exploit the indoor topology and plane primitives. The results show that the trajectory is a valuable source of data for feature detection and understanding of indoor MLS point clouds.

scholarly journals Low Complexity Non Maximally Coefficient Symmetry Multi Rate Filter Bank for Wideband Channelization

2021 ◽  
Author(s):  
Kirti Samir Vaidya ◽  
Dethe C.G ◽  
S. G. Akojwar
Keyword(s):  
Wireless Communication ◽  
Power Consumption ◽  
Input Signal ◽  
Filter Bank ◽  
Software Radio ◽  
Low Complexity ◽  
Polyphase Filter ◽  
The Individual ◽  
Hardware Efficiency ◽  
Communication Standard

Abstract For extracting the individual channels from input signal of wideband, Software Radio Channelizer was often used on multi-standard wireless communication. Despite the effective channelizer design that decreases the complexity of computational, delay and power consumption is challenging. Thus, to promote the effectiveness of the channelizer, we have provided the Non-Maximally Coefficient Symmetry Multirate Filter Bank. For this, a sharp wideband channelizer is designed to be using the latest class of masking responses with Non-maximally Decimated Polyphase Filter. Moreover, coefficient symmetry is incorporated into the Non-Maximally Coefficient Symmetry Multirate Filter Bank to improve the hardware efficiency and functionality of the proposed schemes. To prove the complexity enhancement of the proposed system, the design is analyzed with communication standard with existing methods.

scholarly journals A Multi-Slope Sliding-Mode Control Approach for Single-Phase Inverters under Different Loads

2016 ◽  
Author(s):  
Ghazanfar Shahgholian ◽  
Babk Khajeh Shalaly
Keyword(s):  
Sliding Mode Control ◽  
Single Phase ◽  
Sliding Mode ◽  
Main Idea ◽  
Sliding Surface ◽  
Tracking Accuracy ◽  
Control Approach ◽  
Mode Control ◽  
Non Linear ◽  
Slope Function

In this paper, a new approach to the sliding-mode control of single-phase inverters under linear and non-linear loads is introduced. The main idea behind this approach is to utilize a non-linear, flexible and multi-slope function in controller structure. This non-linear function makes the controller possible to control the inverter by a non-linear multi-slope sliding surface. In general, this sliding surface has two parts with different slopes in each part and the flexibility of the sliding surface makes the multi-slope sliding-mode controller (MSSMC) possible to reduce the total harmonic distortion, to improve the tracking accuracy, and to prevent overshoots leading to undesirable transient-states in output voltage which are occurred when the load current sharply rises. In order to improve the tracking accuracy and to reduce the steady-state error, an integral term of the multi-slope function is also added to the sliding surface. The improved performance of the proposed controller is confirmed by simulations and finally, the results of the proposed approach are compared with a conventional SMC and a SRFPI controller.

scholarly journals Functional Capabilities of Coupled Memristor-Based Reactance-Less Oscillators

2021 ◽  
Author(s):  
Vladimir V. Rakitin ◽  
Sergey G. Rusakov
Keyword(s):  
Input Signal ◽  
Pulse Sequences ◽  
Main Idea ◽  
Rate Of Change ◽  
Simple Circuit ◽  
Digital Signals ◽  
Oscillator Circuit ◽  
Control Approach ◽  
Functional Capabilities ◽  
Memristor Device

New functionalities of reactance-less memristor based oscillators are discussed which arise when two elementary oscillators are connected. It is shown that the system of coupled memristor based oscillators can be used for converting analog and analog-digital signals into binary pulse sequences. The approach to control the thresholds in memristor based oscillators is discussed. Standard control approach in memristor based oscillators is the exploitation of input signal to drive the rate of change in the state of the memristor. In contrast, the main idea of the considered controlling approach is to send the input signal not directly to the memristor device but to the comparator circuit and as result to control oscillator circuit behavior by change of interval of memristor resistor variation. The capabilities of coupled memristor based oscillators with control thresholds are sufficient for constructing the simple circuit elements of oscillatory computing architectures.

A Novel Nonlinear Time-Frequency Control Strategy for Underactuated Mechanical System

2019 ◽  
Author(s):  
Zilong Zhang ◽  
C. Steve Suh
Keyword(s):  
Finite Impulse Response ◽  
Frequency Control ◽  
Equations Of Motion ◽  
Control Technique ◽  
System Response ◽  
Primary Control ◽  
Least Mean Square ◽  
Nonlinear Controller ◽  
Control Approach ◽  
Time Frequency

Abstract In this paper, a novel nonlinear time-frequency control methodology is presented to address the stabilization of an underactuated surface vessel (USV). The wavelet-domain based time-frequency control technique augmented by the adaptive filters and filtered-x least-mean-square algorithm is employed as the primary control framework. A nonlinear three degrees-of-freedom planar dynamic model for the USV with only two available control inputs is considered in the study. The equations of motion are derived based on the Newton’s Second law of motion. By using wavelet transform and filter banks, the proposed nonlinear control algorithm requires no mathematical simplification or linearization of the physical system, thus retaining all the true nonlinear dynamics of the USV model. The presented nonlinear controller consists of two adaptive finite impulse response (FIR) filers that operate on wavelet coefficients: the first one is used to model the dynamic system on-line and provide a priori information in real-time while the second one serves as a feed-forward controller and rejects the uncontrollable input signal based on the first FIR filter. The proposed nonlinear time-frequency controller properly mitigates dynamical deterioration in both the time and frequency domains and regulates the system response with the desired stability. Numerical simulations are performed in MATLAB Simulink and the results validate the effectiveness of the proposed nonlinear time-frequency control approach.

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