scholarly journals An Improved UAV-PHD Filter-Based Trajectory Tracking Algorithm for Multi-UAVs in Future 5G IoT Scenarios

Electronics ◽  
2019 ◽  
Vol 8 (10) ◽  
pp. 1188 ◽  
Author(s):  
Tao Tang ◽  
Tao Hong ◽  
Haohui Hong ◽  
Senyuan Ji ◽  
Shahid Mumtaz ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Detection Algorithm ◽  
Evaluation Indicator ◽  
Multiple Uavs ◽  
Target Intensity ◽  
Network Communications ◽  
Machine Type Communication ◽  
Core Service ◽  
The Stability ◽  
Emergency Detection

The 5G cellular network is expected to provide core service platform for the expanded Internet of Things (IoT) by supporting enhanced mobile broadband (eMBB), massive machine-type communication (mMTC), and ultra-reliable low latency communications (URLLC). Unmanned aerial vehicles (UAVs), also known as drones, provide civil, commercial, and government services in various fields. Particularly in a 5G IoT scenario, UAV-aided network communications will fulfill an increasingly important role and will require the tracking of multiple UAV targets. As UAVs move quickly, maintaining the stability of the communication connection in 5G will be a challenge. Therefore, it is necessary to track the trajectory of UAVs. At present, the GM-PHD filter has a problem that the new target intensity must be known, and it cannot obtain the moving target trajectory and the influence of the clutter is likely to cause false alarm. A UAV-PHD filter is proposed in this work to improve the traditional GM-PHD filter by applying machine learning to the emergency detection and trajectory tracking of UAV targets. An out-of-sight detection algorithm for multiple UAVs is then presented to improve tracking performance. The method is assessed by simulation using MATLAB, and OSPA distance is utilized as an evaluation indicator. The simulation results illustrate that the proposed method can be applied to the tracking of multiple UAV targets in future 5G-IoT scenarios, and the performance is superior to the traditional GM-PHD filter.

scholarly journals Adaptive Robust Trajectory Tracking Control of Multiple Quad-Rotor UAVs with Parametric Uncertainties and Disturbances

Sensors ◽  
2021 ◽  
Vol 21 (7) ◽  
pp. 2401
Author(s):  
Yasir Mehmood ◽  
Jawad Aslam ◽  
Nasim Ullah ◽  
Md. Shahariar Chowdhury ◽  
Kuaanan Techato ◽  
...  
Keyword(s):  
Trajectory Tracking ◽  
Control Method ◽  
Controller Design ◽  
Sliding Mode ◽  
Parametric Uncertainties ◽  
Trajectory Tracking Control ◽  
Multiple Uavs ◽  
Control Schemes ◽  
Robust Adaptive ◽  
The Stability

Recently, formation flying of multiple unmanned aerial vehicles (UAVs) found numerous applications in various areas such as surveillance, industrial automation and disaster management. The accuracy and reliability for performing group tasks by multiple UAVs is highly dependent on the applied control strategy. The formation and trajectories of multiple UAVs are governed by two separate controllers, namely formation and trajectory tracking controllers respectively. In presence of environmental effects, disturbances due to wind and parametric uncertainties, the controller design process is a challenging task. This article proposes a robust adaptive formation and trajectory tacking control of multiple quad-rotor UAVs using super twisting sliding mode control method. In the proposed design, Lyapunov function-based adaptive disturbance estimators are used to compensate for the effects of external disturbances and parametric uncertainties. The stability of the proposed controllers is guaranteed using Lyapunov theorems. Two variants of the control schemes, namely fixed gain super twisting SMC (STSMC) and adaptive super twisting SMC (ASTSMC) are tested using numerical simulations performed in MATLAB/Simulink. From the results presented, it is verified that in presence of disturbances, the proposed ASTSMC controller exhibits enhanced robustness as compared to the fixed gain STSMC.

scholarly journals Variable Structure Compensation PID Control of Asymmetrical Hydraulic Cylinder Trajectory Tracking

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Difei Liu ◽  
Zhiyong Tang ◽  
Zhongcai Pei
Keyword(s):  
Trajectory Tracking ◽  
Pid Control ◽  
Control Method ◽  
Sliding Mode ◽  
Variable Structure ◽  
Hydraulic Cylinder ◽  
Control Value ◽  
Equivalent Control ◽  
Asymmetrical Hydraulic Cylinder ◽  
The Stability

A novel variable structure compensation PID control, VSCPID in short, is proposed for trajectory tracking of asymmetrical hydraulic cylinder systems. This new control method improves the system robustness by adding a variable structure compensation term to the conventional PID control. The variable structure term is designed according to sliding mode control method and therefore could compensate the disturbance and uncertainty. Meanwhile, the proposed control method avoids the requirements for exact knowledge of the systems associated with equivalent control value in SMC that means the controller is simple and easy to design. The stability analysis of this approach is conducted with Lyapunov function, and the global stability condition applied to choose control parameters is provided. Simulation results show the VSCPID control can achieve good tracking performances and high robustness compared with the other control methods under the uncertainties and varying load conditions.

scholarly journals Online MTPA Trajectory Tracking of IPMSM Based on a Novel Torque Control Strategy

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3261 ◽  
Author(s):  
Jianxia Sun ◽  
Cheng Lin ◽  
Jilei Xing ◽  
Xiongwei Jiang
Keyword(s):  
Trajectory Tracking ◽  
Control Strategy ◽  
Torque Control ◽  
Current Reference ◽  
Torque Control Strategy ◽  
Unit Model ◽  
Interior Permanent Magnet ◽  
Simulation And Experiment ◽  
The Stability ◽  
Maximum Torque Per Ampere

The maximum-torque-per-ampere (MTPA) scheme is widely used in the interior permanent magnet synchronous machine (IPMSM) drive system to reduce copper losses. However, MTPA trajectory is complicated to solve analytically. In order to realize online MTPA trajectory tracking, this paper proposes a novel torque control strategy. The torque control is designed to be closed form. Considering the machine reluctance torque as the torque feedback, when this is compared with the torque reference, then the excitation torque reference can be obtained. Since the excitation torque is proportional to the q-axis current, the q-axis current reference can be fed by the excitation torque reference through a proportional regulator. Once the q-axis current reference is given, the d-axis current reference can be calculated based on the per-unit model, which aims to simplify the calculation and make the control strategy independent of machine parameters. In this paper, the stability of the control system is demonstrated. Meanwhile, simulation and experiment results show this torque control strategy can realize MTPA trajectory tracking online and have success in transients.

scholarly journals Design of Augmented Nonlinear PD Controller of Delta/Par4-Like Robot

2019 ◽  
Vol 2019 ◽  
pp. 1-11
Author(s):  
Amjad J. Humaidi ◽  
Ahmed Ibraheem Abdulkareem
Keyword(s):  
Trajectory Tracking ◽  
Lyapunov Method ◽  
Dynamic Performance ◽  
Parallel Robot ◽  
Pd Controller ◽  
Comparison Study ◽  
Tracking Accuracy ◽  
Control Schemes ◽  
The Stability ◽  
Made In

This work presents the design of two control schemes for a Delta/Par4-like parallel robot: augmented PD (APD) controller and augmented nonlinear PD (ANPD) controller. The stability of parallel robot based on nonlinear PD controller has been analyzed and proved based on Lyapunov method. A comparison study between APD and ANPD controllers has been made in terms of performance and accuracy improvement of trajectory tracking. Also, another comparison study has been presented between augmented nonlinear PD (ANPD) controller and nonaugmented nonlinear PD (NANPD) controller in order to show the enhancement of introducing the augmented structure on dynamic performance and trajectory tracking accuracy. The effectiveness of augmented PD controllers (APD and ANPD) and nonaugmented nonlinear PD (NANPD) controller for the considered parallel robot are verified via simulation within the MATLAB environment.

scholarly journals Control Based on Linear Algebra for Trajectory Tracking and Positioning of Second-Order Chained Form System

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Leandro Rodriguez ◽  
Emanuel Serrano ◽  
Mabel Cristina Sánchez ◽  
Gustavo Scaglia
Keyword(s):  
Linear Algebra ◽  
Trajectory Tracking ◽  
Coordinate Transformation ◽  
Nonholonomic Constraints ◽  
Second Order ◽  
Reference Trajectory ◽  
Tracking Errors ◽  
Significant Interest ◽  
The Stability ◽  
Form System

The development of controllers for underactuated systems with nonholonomic constraints has been a topic of significant interest for many researchers in recent years. These systems are hard to control because their linearization transform them into uncontrollable systems. The proposed approaches involve the use of a permanent excitation in the reference trajectory; coordinate transformation; discontinuities; or complex calculations. This paper proposes the design of the controller of the second-order chained form system for trajectory tracking by using a simpler approach based on linear algebra. Up to the present time, no controllers based on this approach have been designed for that system. The control problem is solved by setting two of the three systems variables as a reference, while the remaining variable is calculated imposing the condition that the equations system has an exact solution to ensure that tracking errors go to zero. The stability of the proposed controller is theoretically demonstrated, and simulations results show a suitable control system performance. Also, no coordinate transformation is necessary.

scholarly journals A Study on an Out-of-Step Detection Algorithm Using the Time Variation of Complex Power: Part I, Mathematical Modeling

Energies ◽  
2020 ◽  
Vol 13 (16) ◽  
pp. 4065
Author(s):  
You-Jin Lee ◽  
Jeong-Yong Heo ◽  
O-Sang Kwon ◽  
Chul-Hwan Kim
Keyword(s):  
Transmission Lines ◽  
Smart Grids ◽  
Detection Algorithm ◽  
Grid System ◽  
Step Detection ◽  
Power Swing ◽  
Complex Power ◽  
Power Part ◽  
Micro Grid ◽  
The Stability

Power quality and stability have become the most important issues in power system operations, Micro Grids, and Smart Grids. Sensitive equipment can be seriously damaged when exposed to unstable power swing conditions. An unstable system may cause serious damage to Micro Grid System elements such as generators, transformers, transmission lines, and so forth. Therefore, out-of-step detection is essential for the safe operation of a Micro Grid system. In general, Equal Area Criterion (EAC) is a method for evaluating the stability of Smart Grid systems. However, EAC can be performed only if it is possible to analyze the active power and generator angle. This paper presents an analysis of the trajectory of complex power using a mathematical model. The variation of complex power is analyzed using a mathematical method, and then the relationship between complex power and EAC is presented, and a simulation performed. Later, in part II, a novel out-of-step detection algorithm based on part I will be presented and tested.

A New Multi-Scale Harris Interesting Point Detector

2014 ◽  
Vol 602-605 ◽  
pp. 1950-1955
Author(s):  
Guang Xue Wang ◽  
Yong Chun Liu ◽  
Huan He
Keyword(s):  
Object Tracking ◽  
Detection Algorithm ◽  
Scene Analysis ◽  
Data Sets ◽  
Scale Level ◽  
Interesting Point ◽  
Multi Scale ◽  
The Stability ◽  
Point Detection ◽  
Point Detector

The interesting point is important features in images, which is frequently used for image registration, scene analysis, object tracking. Many algorithms for detecting the interesting points have been developed up to now. Among them, the Harris interesting point detector is proved most stable against rotation and noise, while it is also very sensitive to scale change. In order to solve this problem, a new multi-scale Harris interesting point detection algorithm is proposed in this paper. The algorithm consists of two main stages. In stage one, we build a multi-scale representation for Harris measure and find candidate interesting points at each scale level. In stage two, a novel measure is defined to measure the stability of each point. Based on the measure, the final interesting point is selected from candidates. The experiments on both optical and sar data sets have shown that, compared with stand Harris interesting point detector and some other multi-scale interesting point detectors, our algorithm is more robust.

scholarly journals Detection method based on improved faster R-CNN for pin defect in transmission lines

2021 ◽  
Vol 300 ◽  
pp. 01011
Author(s):  
Jun Wu ◽  
Sheng Cheng ◽  
Shangzhi Pan ◽  
Wei Xin ◽  
Liangjun Bai ◽  
...  
Keyword(s):  
Transmission Line ◽  
Defect Detection ◽  
Transmission Lines ◽  
False Positive Rate ◽  
Detection Algorithm ◽  
Detection Model ◽  
Positive Rate ◽  
Aerial Vehicle ◽  
The Stability ◽  
Small Targets

Defects such as insulator, pins, and counterweight in highvoltage transmission lines affect the stability of the power system. The small targets such as pins in the unmanned aerial vehicle (UAV) inspection images of transmission lines occupy a small proportion in the images and the characteristic representations are poor which results a low defect detection rate and a high false positive rate. This paper proposed a transmission line pin defect detection algorithm based on improved Faster R-CNN. First, the pre-training weights with higher matching degree are obtained based on transfer learning. And it is applied to construct defect detection model. Then, the regional proposal network is used to extract features in the model. The results of defect detection are obtained by regression calculation and classification of regional characteristics. The experimental results show that the accuracy of the pin defect detection of the transmission line reaches 81.25%

scholarly journals Nonlinear PD plus sliding mode control with application to a parallel delta robot

2018 ◽  
Vol 69 (5) ◽  
pp. 329-336 ◽  
Author(s):  
Chems Eddine Boudjedir ◽  
Djamel Boukhetala ◽  
Mohamed Bouri
Keyword(s):  
Convergence Rate ◽  
Error Rate ◽  
Trajectory Tracking ◽  
Sliding Mode ◽  
Tracking Error ◽  
Sliding Mode Controller ◽  
External Disturbances ◽  
On Line ◽  
Delta Robot ◽  
The Stability

Abstract In this paper, a hybrid nonlinear proportional-derivative-sliding mode controller (NPD-SMC) is developed for the trajectory tracking of robot manipulators. The proposed controller combines the advantage of the easy implementation of NPD control and the robustness of SMC. The gains of PD control are tuned on-line in order to increase the convergence rate, whereas the SMC term is introduced to reject the external disturbances without requiring to know the system dynamics. The stability of the NPD-SMC is proved using Lyaponuv theorem, and it is demonstrated that the tracking error and the tracking error rate converge asymptotically to zero. Experiments are carried out on the parallel Delta robot to illustrate the effectiveness and robustness of the proposed approach. It is also shown the superiority of the NPD-SMC control over the NPD control and PD-SMC control.

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