Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627641
Xiaogang Guo, Zhenshen Qu, Boqi Xi
Robot localization is the key problem for mobile robot formation. In this paper, a localization method of mobile robot formation is put forward based on global-camera. According to the request of real-time control system, at first we pick-up the identifier of robot, then we estimate the position and orientation of the robot with the identifier. At last, LMS algorithm is used to minimize the estimation error. Experiments show the method is effective for localization of autonomous mobile robots formation, as well as robustness against environment disturbance
{"title":"Research on location method for mobile robots formation based on global-camera","authors":"Xiaogang Guo, Zhenshen Qu, Boqi Xi","doi":"10.1109/ISSCAA.2006.1627641","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627641","url":null,"abstract":"Robot localization is the key problem for mobile robot formation. In this paper, a localization method of mobile robot formation is put forward based on global-camera. According to the request of real-time control system, at first we pick-up the identifier of robot, then we estimate the position and orientation of the robot with the identifier. At last, LMS algorithm is used to minimize the estimation error. Experiments show the method is effective for localization of autonomous mobile robots formation, as well as robustness against environment disturbance","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"29 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123817566","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627611
Xin Wang, Zhiqiang Zhao
Image mosaic is a very important step in big frame image measurement, its precision has a great effect on the measurement precision. Twice matching can make the mosaic precision beyond the pixel dimensions. And the pixels' gray rebuilding based on pixel position and pixel area distribution also has a great help to raise the measurement precision
{"title":"High-precision image mosaic method in big frame measurement","authors":"Xin Wang, Zhiqiang Zhao","doi":"10.1109/ISSCAA.2006.1627611","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627611","url":null,"abstract":"Image mosaic is a very important step in big frame image measurement, its precision has a great effect on the measurement precision. Twice matching can make the mosaic precision beyond the pixel dimensions. And the pixels' gray rebuilding based on pixel position and pixel area distribution also has a great help to raise the measurement precision","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"3 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125105481","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627693
Baolin Wu, Xibin Cao
Numerous controllers have been proposed based on linear Hill's equations for satellite formation control. To date, most of these controllers assumed that the system model is well defined, and all the states are known. In this paper, robust constrained model predictive controllers are designed which allows explicit incorporating of the description of parametric uncertainty and the actuator magnitude uncertainty based on this linear Hill's equations. The goal is to design, at each time step, a state-feedback control law which minimizes a "worst case" infinite horizon objective function, subject to constraint on the control input. The problem is reduced to a convex optimization involving linear matrix inequalities (LMIs). The proposed robust controllers are evaluated in simulation. The simulation results demonstrate that the proposed controllers are capable of controlling the satellite formation system with parametric uncertainty and the actuator magnitude uncertainty better than LQR
{"title":"Satellite formation keeping using robust constrained model predictive control","authors":"Baolin Wu, Xibin Cao","doi":"10.1109/ISSCAA.2006.1627693","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627693","url":null,"abstract":"Numerous controllers have been proposed based on linear Hill's equations for satellite formation control. To date, most of these controllers assumed that the system model is well defined, and all the states are known. In this paper, robust constrained model predictive controllers are designed which allows explicit incorporating of the description of parametric uncertainty and the actuator magnitude uncertainty based on this linear Hill's equations. The goal is to design, at each time step, a state-feedback control law which minimizes a \"worst case\" infinite horizon objective function, subject to constraint on the control input. The problem is reduced to a convex optimization involving linear matrix inequalities (LMIs). The proposed robust controllers are evaluated in simulation. The simulation results demonstrate that the proposed controllers are capable of controlling the satellite formation system with parametric uncertainty and the actuator magnitude uncertainty better than LQR","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"63 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133892849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A novel kind of T/R module is introduced in the article. Basic principle of receiving beam scanning is reviewed and the method of using coupled oscillators to realize the receiving beam-scanning is detailed. Then a kind of more realistic scanning system possessing transmitting and receiving functionality is introduced. The T/R module based on the new beam-scanning system has the merits of low profile, low cost and high efficiency
{"title":"A novel transmit-receive module based on coupled oscillators","authors":"Zhikai Tang, Longhe Liu, Yonghua Jiang, Yuan Hao, Weiliang Gao","doi":"10.1109/ISSCAA.2006.1627556","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627556","url":null,"abstract":"A novel kind of T/R module is introduced in the article. Basic principle of receiving beam scanning is reviewed and the method of using coupled oscillators to realize the receiving beam-scanning is detailed. Then a kind of more realistic scanning system possessing transmitting and receiving functionality is introduced. The T/R module based on the new beam-scanning system has the merits of low profile, low cost and high efficiency","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"16 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115698291","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627465
Haichang Liu, Jihai Jiang, O. Celestine
The state-space equation of the hydrostatic transmission system with secondary regulation is derived and the exact linearization method of nonlinear system is proposed to transform the nonlinear system into a linear controllable one by coordinates transformation and state-space feedback. Based on the linearization model, the control law is achieved through optimal control theory of linear quadratic regulator. At the same time, the influences on system performance of weight matrix are discussed. Finally, the simulation results show that the system with designed controller is not only free from the system steady error and overshoot, but also has good robust ability
{"title":"Nonlinear control via exact linearization for hydrostatic transmission system with secondary regulation","authors":"Haichang Liu, Jihai Jiang, O. Celestine","doi":"10.1109/ISSCAA.2006.1627465","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627465","url":null,"abstract":"The state-space equation of the hydrostatic transmission system with secondary regulation is derived and the exact linearization method of nonlinear system is proposed to transform the nonlinear system into a linear controllable one by coordinates transformation and state-space feedback. Based on the linearization model, the control law is achieved through optimal control theory of linear quadratic regulator. At the same time, the influences on system performance of weight matrix are discussed. Finally, the simulation results show that the system with designed controller is not only free from the system steady error and overshoot, but also has good robust ability","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"67 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114139839","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627712
Qian Yang, G. Yi, Bochang Shen, Henian Wang
The precessional phenomenon and the dynamical model of hemispherical resonator gyro are investigated in this paper. And experiments are performed on a specimen gyro (HRG-14) to measure its zero drift and scale factor. A new analysis of precession in the view of particle force is proposed. Thin shell theory and virtual displacement principle are employed to derive the dynamical model of the hemispherical shell. The influence of shell's geometry parameters on its natural frequency and precession rate is analyzed as the approximate solution of the model. Depending on ANSYS - finite element analyzer, by comparisons among nine models gained from the elementary model, the influence of the shell's geometry parameters on each free frequency is analyzed
{"title":"Kinetic model analysis and testing of HRG","authors":"Qian Yang, G. Yi, Bochang Shen, Henian Wang","doi":"10.1109/ISSCAA.2006.1627712","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627712","url":null,"abstract":"The precessional phenomenon and the dynamical model of hemispherical resonator gyro are investigated in this paper. And experiments are performed on a specimen gyro (HRG-14) to measure its zero drift and scale factor. A new analysis of precession in the view of particle force is proposed. Thin shell theory and virtual displacement principle are employed to derive the dynamical model of the hemispherical shell. The influence of shell's geometry parameters on its natural frequency and precession rate is analyzed as the approximate solution of the model. Depending on ANSYS - finite element analyzer, by comparisons among nine models gained from the elementary model, the influence of the shell's geometry parameters on each free frequency is analyzed","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"2010 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115142265","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627714
C. Yu, M. Basarab, Qingshuang Zeng
Hemispherical resonator gyro (HRG) is a kind of high precision gyro that has wide application perspective. It's working bases on inertia of excited standing wave of rotatory symmetric enclosure. This paper is focus on the basic principle of atomic function, which is based on R-function. Atomic function has a series of advantages. Later, I will show several resolutions of the function of up(x). Meanwhile, I also give another atomic function fupn (x), and use fupn (x) to analyze the vibration model based on the dynamics. Finally, the simulation result was given
{"title":"Application of the atomic function in the field of HRG dynamics","authors":"C. Yu, M. Basarab, Qingshuang Zeng","doi":"10.1109/ISSCAA.2006.1627714","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627714","url":null,"abstract":"Hemispherical resonator gyro (HRG) is a kind of high precision gyro that has wide application perspective. It's working bases on inertia of excited standing wave of rotatory symmetric enclosure. This paper is focus on the basic principle of atomic function, which is based on R-function. Atomic function has a series of advantages. Later, I will show several resolutions of the function of up(x). Meanwhile, I also give another atomic function fupn (x), and use fupn (x) to analyze the vibration model based on the dynamics. Finally, the simulation result was given","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"351 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122764370","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627581
Y. Zhai, Xiaoming Liu
This paper presents a novel method for edge detection based on multiscale wavelet features and fuzzy c-means clustering. Firstly, an effective feature extraction algorithm using multiscale wavelet transform was proposed to extract classification features, thus the feature vector for each pixel was gained, which contained the gradient information in various directions; and then, these vectors were used as inputs for the fuzzy c-means clustering algorithm, which resulted in an automatic classification. In this way, the edge map can be obtained adaptively. Some comparisons with traditional edge detection algorithms were given in this paper. Experimental results demonstrated that the proposed method had a more satisfying performance
{"title":"Multiscale edge detection based on fuzzy c-means clustering","authors":"Y. Zhai, Xiaoming Liu","doi":"10.1109/ISSCAA.2006.1627581","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627581","url":null,"abstract":"This paper presents a novel method for edge detection based on multiscale wavelet features and fuzzy c-means clustering. Firstly, an effective feature extraction algorithm using multiscale wavelet transform was proposed to extract classification features, thus the feature vector for each pixel was gained, which contained the gradient information in various directions; and then, these vectors were used as inputs for the fuzzy c-means clustering algorithm, which resulted in an automatic classification. In this way, the edge map can be obtained adaptively. Some comparisons with traditional edge detection algorithms were given in this paper. Experimental results demonstrated that the proposed method had a more satisfying performance","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"32 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122870081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627544
G. Duan, Feng Tan
A smooth switching strategy is proposed to attenuate the chattering at the switching point for time-varying systems under multi-model switched controllers. The internal characteristics of the system are thoroughly considered and smooth switching is realized by letting the closed-loop eigenvectors, instead of the traditional feedback gain matrix, vary gradually. The method is applied to the control of a BTT autopilot system. Simulation results show that the method proposed in this paper has obvious advantage over the traditional one
{"title":"A new smooth switching strategy for multi-model control and its application on a BTT missile","authors":"G. Duan, Feng Tan","doi":"10.1109/ISSCAA.2006.1627544","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627544","url":null,"abstract":"A smooth switching strategy is proposed to attenuate the chattering at the switching point for time-varying systems under multi-model switched controllers. The internal characteristics of the system are thoroughly considered and smooth switching is realized by letting the closed-loop eigenvectors, instead of the traditional feedback gain matrix, vary gradually. The method is applied to the control of a BTT autopilot system. Simulation results show that the method proposed in this paper has obvious advantage over the traditional one","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"40 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123992894","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2006-05-08DOI: 10.1109/ISSCAA.2006.1627506
J. Qiu, Shu Lin, Ying Suo, Q. You
The Luneburg lens antenna consists of a Luneburg lens with convergent function of electromagnetic wave and a horn feed. The nonuniform medium ball simulation and the distance between the feed and the lens have great influence on the focus character of this antenna. The layer spherical shells are used to simulate Luneburg lens and the guide port is used to be the feed. It is simulated with the application of CST MIROWAVE STUDIOreg software and the paper analyze the influence of the distance between the feed and the lens on the focus character of a Luneburg lens antenna
{"title":"The simulation of the focus character of a Luneburg lens antenna","authors":"J. Qiu, Shu Lin, Ying Suo, Q. You","doi":"10.1109/ISSCAA.2006.1627506","DOIUrl":"https://doi.org/10.1109/ISSCAA.2006.1627506","url":null,"abstract":"The Luneburg lens antenna consists of a Luneburg lens with convergent function of electromagnetic wave and a horn feed. The nonuniform medium ball simulation and the distance between the feed and the lens have great influence on the focus character of this antenna. The layer spherical shells are used to simulate Luneburg lens and the guide port is used to be the feed. It is simulated with the application of CST MIROWAVE STUDIOreg software and the paper analyze the influence of the distance between the feed and the lens on the focus character of a Luneburg lens antenna","PeriodicalId":275436,"journal":{"name":"2006 1st International Symposium on Systems and Control in Aerospace and Astronautics","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2006-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129315173","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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