Pub Date : 2014-12-18DOI: 10.1109/ICCAS.2014.6987963
Tushar Sandhan, Sukanya Sonowal, J. Choi
Automatic audio event recognition plays a pivotal role in making human robot interaction more closer and has a wide applicability in industrial automation, control and surveillance systems. Audio event is composed of intricate phonic patterns which are harmonically entangled. Audio recognition is dominated by low and mid-level features, which have demonstrated their recognition capability but they have high computational cost and low semantic meaning. In this paper, we propose a new computationally efficient framework for audio recognition. Audio Bank, a new high-level representation of audio, is comprised of distinctive audio detectors representing each audio class in frequency-temporal space. Dimensionality of the resulting feature vector is reduced using non-negative matrix factorization preserving its discriminability and rich semantic information. The high audio recognition performance using several classifiers (SVM, neural network, Gaussian process classification and k-nearest neighbors) shows the effectiveness of the proposed method.
{"title":"Audio Bank: A high-level acoustic signal representation for audio event recognition","authors":"Tushar Sandhan, Sukanya Sonowal, J. Choi","doi":"10.1109/ICCAS.2014.6987963","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987963","url":null,"abstract":"Automatic audio event recognition plays a pivotal role in making human robot interaction more closer and has a wide applicability in industrial automation, control and surveillance systems. Audio event is composed of intricate phonic patterns which are harmonically entangled. Audio recognition is dominated by low and mid-level features, which have demonstrated their recognition capability but they have high computational cost and low semantic meaning. In this paper, we propose a new computationally efficient framework for audio recognition. Audio Bank, a new high-level representation of audio, is comprised of distinctive audio detectors representing each audio class in frequency-temporal space. Dimensionality of the resulting feature vector is reduced using non-negative matrix factorization preserving its discriminability and rich semantic information. The high audio recognition performance using several classifiers (SVM, neural network, Gaussian process classification and k-nearest neighbors) shows the effectiveness of the proposed method.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"168 1","pages":"82-87"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73217063","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987738
K. Motonaka, Keigo Watanabe, S. Maeyama
In this research, it is aimed at guiding an X4-Flyer, which is a VTOL type UAV, to an arbitrary target point. In the previous research, we proposed a controller for an X4-Flyer to move on the X-Y plane by using a 2-dimensional harmonic potential field (HPF), assuming that the X4-Flyer keeps its altitude constantly. In this paper, the controller guides the X4-Flyer to an arbitrary target point in a 3-dimensional space by switching some 2-dimensional HPFs appropriately. It is confirmed on the simulation that the X4-Flyer can reach the arbitrary target point in the 3-dimensional space by using the proposed method.
{"title":"3-dimensional kinodynamic motion planning for an X4-Flyer using 2-dimensional harmonic potential fields","authors":"K. Motonaka, Keigo Watanabe, S. Maeyama","doi":"10.1109/ICCAS.2014.6987738","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987738","url":null,"abstract":"In this research, it is aimed at guiding an X4-Flyer, which is a VTOL type UAV, to an arbitrary target point. In the previous research, we proposed a controller for an X4-Flyer to move on the X-Y plane by using a 2-dimensional harmonic potential field (HPF), assuming that the X4-Flyer keeps its altitude constantly. In this paper, the controller guides the X4-Flyer to an arbitrary target point in a 3-dimensional space by switching some 2-dimensional HPFs appropriately. It is confirmed on the simulation that the X4-Flyer can reach the arbitrary target point in the 3-dimensional space by using the proposed method.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"12 1","pages":"1181-1184"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74747510","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987827
Seungmin Jung, K. An, Jongbae Kim, Hyungsik Kim
Hand movements such as those necessary to use smart devices or credit cards are vital to modern-day daily life, both for able-bodied people and those with disabilities. Therefore, we have developed a robotic gadget for assisting people with severe disabilities by supporting the hand movements needed for everyday life and social activities, and thus promote those persons' participation in the community. To select the optimal services to be provided, we implemented focus-group interviews, targeting people with spinal cord injuries above the C4 vertebrae. Based on the extracted optimal services, we developed a robotic gadget to assist with a wide range of hand movements. The robotic gadget consists of a complex work module (offering three degrees of freedom) to assist with a range of hand movements, and a robotic arm (also with three degrees of freedom) to move the complex work module. The robotic arm incorporates a “tendon mechanism” whereby wires are used to minimize the size of the robotic arm joint. A parallel link mechanism automatically controls the position of the complex work module so that the smart device always faces the user regardless of the rotation of the robotic arm. The use of the parallel link mechanism also reduces the number of actuators required to keep the complex work module facing the user. The complex work module incorporates a card holder, which can load and eject up to four cards, and uses micro piezo motors to minimize its size. By implementing kinematic analysis, we calculated the position and orientation of an end-effector that can determine the space in which the complex work module operates. In this study, we verified the performance of the robotic gadget by building a prototype. The robotic gadget for supporting hand movements can be installed on a wheelchair or within the user's range of activity, and is expected to help severely disabled people as it improves their access to smart devices, assists them with the hand movements needed to partake in social activities, increases their interactions with able-bodied people, and promotes their participation in the community.
{"title":"Mechanism and kinematic analysis of a robotic gadget for assisting hand movements of persons with severe disabilities to promote their community participation","authors":"Seungmin Jung, K. An, Jongbae Kim, Hyungsik Kim","doi":"10.1109/ICCAS.2014.6987827","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987827","url":null,"abstract":"Hand movements such as those necessary to use smart devices or credit cards are vital to modern-day daily life, both for able-bodied people and those with disabilities. Therefore, we have developed a robotic gadget for assisting people with severe disabilities by supporting the hand movements needed for everyday life and social activities, and thus promote those persons' participation in the community. To select the optimal services to be provided, we implemented focus-group interviews, targeting people with spinal cord injuries above the C4 vertebrae. Based on the extracted optimal services, we developed a robotic gadget to assist with a wide range of hand movements. The robotic gadget consists of a complex work module (offering three degrees of freedom) to assist with a range of hand movements, and a robotic arm (also with three degrees of freedom) to move the complex work module. The robotic arm incorporates a “tendon mechanism” whereby wires are used to minimize the size of the robotic arm joint. A parallel link mechanism automatically controls the position of the complex work module so that the smart device always faces the user regardless of the rotation of the robotic arm. The use of the parallel link mechanism also reduces the number of actuators required to keep the complex work module facing the user. The complex work module incorporates a card holder, which can load and eject up to four cards, and uses micro piezo motors to minimize its size. By implementing kinematic analysis, we calculated the position and orientation of an end-effector that can determine the space in which the complex work module operates. In this study, we verified the performance of the robotic gadget by building a prototype. The robotic gadget for supporting hand movements can be installed on a wheelchair or within the user's range of activity, and is expected to help severely disabled people as it improves their access to smart devices, assists them with the hand movements needed to partake in social activities, increases their interactions with able-bodied people, and promotes their participation in the community.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"111 1","pages":"1594-1599"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78524634","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987931
Su-Gil Lee, Byeong-Song Lee, Jun-Ho Lee, Chan-Bae Park, Jae-hee Kim, Shin-Myung Jung
The influence of logistics on the national economy increases as the economy advances. Vehicle transportation, however, cannot meet the ever-increasing transportation demand, with its economic efficiency deteriorating over time. Judging that such transportation demand cannot be met only by vehicle transportation, the government also seeks to increase transportation through railroads. In this study, the voltage supplied to train in trial operation was monitored and analyzed to identify the voltage condition supplied by the existing railroad. To directly measure the voltage supplied to train, PT was installed at the bottom of train pantograph for monitoring the primary voltage of the transformer, and for accurate measuring, surrounding environment and conditions were recorded and the analysis of stringing voltage using CBEMA curve was conducted. As a result, some of the section on Honam, Jonngang and Taebaek line were supplied 110[%] pf rated voltage (25[kV]) for more than 200[s] frequently exceeding 110[%] Taebaek line appeared to have had the installed voltage in worst condition.
{"title":"A study of train braking energy for energy bank design","authors":"Su-Gil Lee, Byeong-Song Lee, Jun-Ho Lee, Chan-Bae Park, Jae-hee Kim, Shin-Myung Jung","doi":"10.1109/ICCAS.2014.6987931","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987931","url":null,"abstract":"The influence of logistics on the national economy increases as the economy advances. Vehicle transportation, however, cannot meet the ever-increasing transportation demand, with its economic efficiency deteriorating over time. Judging that such transportation demand cannot be met only by vehicle transportation, the government also seeks to increase transportation through railroads. In this study, the voltage supplied to train in trial operation was monitored and analyzed to identify the voltage condition supplied by the existing railroad. To directly measure the voltage supplied to train, PT was installed at the bottom of train pantograph for monitoring the primary voltage of the transformer, and for accurate measuring, surrounding environment and conditions were recorded and the analysis of stringing voltage using CBEMA curve was conducted. As a result, some of the section on Honam, Jonngang and Taebaek line were supplied 110[%] pf rated voltage (25[kV]) for more than 200[s] frequently exceeding 110[%] Taebaek line appeared to have had the installed voltage in worst condition.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"14 1","pages":"997-1001"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"78753943","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987745
Der-Cherng Liaw, Cheng Yu, K. Wu
Due to the development of the advanced technologies, in the recent years, electronic devices for the communication and computer engineering have been considered to implement the so-called “X-by-Wire” scheme for steering control and braking control of the vehicles. It is known that the weight reduction of vehicle systems can decrease the power consumption when the traditional mechanical components can be replaced by electronic devices. Thus, X-by-wire system will be a trend in the automotive industry for saving energy. An event trigger design for vehicle control is proposed in this paper for vehicle control by using the protocol of Controller Area Network (CAN). The proposed design covers the development of CAN communication node, which is developed by using microprocessor chip Microchip PIC18F4585 and MCP2551 CAN transceiver. In addition, an interactive GUI-based utility program developer is also built up for user to easily develop the required function call to cope with the design specification. A wireless electric-driven control vehicle is served as a platform to verify the design of drive-by-wire and brake-by-wire operations. Experimental results demonstrate the success of the proposed design.
{"title":"A CAN-based design for the control of electric vehicle","authors":"Der-Cherng Liaw, Cheng Yu, K. Wu","doi":"10.1109/ICCAS.2014.6987745","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987745","url":null,"abstract":"Due to the development of the advanced technologies, in the recent years, electronic devices for the communication and computer engineering have been considered to implement the so-called “X-by-Wire” scheme for steering control and braking control of the vehicles. It is known that the weight reduction of vehicle systems can decrease the power consumption when the traditional mechanical components can be replaced by electronic devices. Thus, X-by-wire system will be a trend in the automotive industry for saving energy. An event trigger design for vehicle control is proposed in this paper for vehicle control by using the protocol of Controller Area Network (CAN). The proposed design covers the development of CAN communication node, which is developed by using microprocessor chip Microchip PIC18F4585 and MCP2551 CAN transceiver. In addition, an interactive GUI-based utility program developer is also built up for user to easily develop the required function call to cope with the design specification. A wireless electric-driven control vehicle is served as a platform to verify the design of drive-by-wire and brake-by-wire operations. Experimental results demonstrate the success of the proposed design.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"35 1","pages":"1233-1237"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73824386","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987860
Sungdae Sim, K. Kwak, J. Kim, Sanghyun Joo
By increasing the requirement of reliable and accurate sensor information, the integration of multiple sensors has gained attention. Especially, the fusion of a LIDAR(Light Detection And Ranging) and a camera is one of the sensor combination broadly used because it provides the complementary and redundant information. Many existing calibration approaches consider the problem estimating the relative pose between each sensor pair such as a LIDAR and a camera. However, these approaches do not provide accurate solutions for multisensor configurations such as a LIDAR and cameras or LIDARs and cameras. In this paper, we propose a new extrinsic calibration algorithm using closed-loop constraints for multi-modal sensor configuration. The extrinsic calibration parameters are estimated by minimizing the distance between corresponding features projected onto the image plane. We conduct several experiments to evaluate the performance of our approach, such as comparison of the RMS distance of the ground truth and the projected points, and comparison between the independent sensor pair and our approach.
随着对传感器信息可靠性和准确性要求的不断提高，多传感器的集成得到了人们的关注。特别是激光雷达(LIDAR, Light Detection And Ranging)与相机的融合，由于其提供了互补和冗余的信息，是目前应用广泛的传感器组合之一。许多现有的校准方法都考虑了每个传感器对(如激光雷达和相机)之间的相对姿态估计问题。然而，这些方法并不能为多传感器配置提供精确的解决方案，如激光雷达和摄像头或激光雷达和摄像头。本文提出了一种基于闭环约束的多模态传感器外部标定算法。通过最小化投影到图像平面上的相应特征之间的距离来估计外部校准参数。我们进行了几个实验来评估我们的方法的性能，例如地面真值和投影点的均方根距离的比较，以及独立传感器对与我们的方法之间的比较。
{"title":"Closed loop-based extrinsic calibration of multi-modal sensors","authors":"Sungdae Sim, K. Kwak, J. Kim, Sanghyun Joo","doi":"10.1109/ICCAS.2014.6987860","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987860","url":null,"abstract":"By increasing the requirement of reliable and accurate sensor information, the integration of multiple sensors has gained attention. Especially, the fusion of a LIDAR(Light Detection And Ranging) and a camera is one of the sensor combination broadly used because it provides the complementary and redundant information. Many existing calibration approaches consider the problem estimating the relative pose between each sensor pair such as a LIDAR and a camera. However, these approaches do not provide accurate solutions for multisensor configurations such as a LIDAR and cameras or LIDARs and cameras. In this paper, we propose a new extrinsic calibration algorithm using closed-loop constraints for multi-modal sensor configuration. The extrinsic calibration parameters are estimated by minimizing the distance between corresponding features projected onto the image plane. We conduct several experiments to evaluate the performance of our approach, such as comparison of the RMS distance of the ground truth and the projected points, and comparison between the independent sensor pair and our approach.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"27 1","pages":"647-651"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"73457267","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987943
Whee Jae Yim, Jin Bae Park
In this paper, we focus on the analysis of the mobile robot navigation problems with the vector field histogram (VFH) under various driving and environmental conditions. The VFH is one of the popular autonomous navigation algorithms. It constructs a polar histogram on the histogram grid map to express obstacles. To analyze the VFH, a number of numerical simulations are carried out where the number of sectors, the robot speed and the width of the path are regulated. As a result, we obtain the minimum number of sectors depending on the regulated driving and environmental conditions for successful navigation in given environments.
本文主要研究了基于矢量场直方图(vector field histogram, VFH)的移动机器人在不同驾驶和环境条件下的导航问题。VFH是目前比较流行的自主导航算法之一。在直方图网格图上构造一个极坐标直方图来表示障碍物。为了分析VFH，对扇区数量、机器人速度和路径宽度进行了数值模拟。因此，我们获得了在给定环境中成功导航的最小扇区数量，这取决于受管制的驾驶和环境条件。
{"title":"Analysis of mobile robot navigation using vector field histogram according to the number of sectors, the robot speed and the width of the path","authors":"Whee Jae Yim, Jin Bae Park","doi":"10.1109/ICCAS.2014.6987943","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987943","url":null,"abstract":"In this paper, we focus on the analysis of the mobile robot navigation problems with the vector field histogram (VFH) under various driving and environmental conditions. The VFH is one of the popular autonomous navigation algorithms. It constructs a polar histogram on the histogram grid map to express obstacles. To analyze the VFH, a number of numerical simulations are carried out where the number of sectors, the robot speed and the width of the path are regulated. As a result, we obtain the minimum number of sectors depending on the regulated driving and environmental conditions for successful navigation in given environments.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"70 1","pages":"1037-1040"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86325034","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987951
Yoonsik Kim, Donghoon Shin, C. Chung
In this paper, we propose nonlinear adaptive speed control under three-phase voltage unbalance of permanent magnet synchronous motors. An adaptive control applied in a-b-c frame dynamics is proposed to compensate three-phase voltage unbalance by different values of resistance. At this method can estimate actual resistances. For velosity tracking, it is proven that the tracking error is globally asymptotically stable via Lyapunov theorem. The proposed method is performed to validate via the simulation.
{"title":"Nonlinear adaptive speed control for permanent magnet synchronous motors under the unbalanced resistances of phase windings","authors":"Yoonsik Kim, Donghoon Shin, C. Chung","doi":"10.1109/ICCAS.2014.6987951","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987951","url":null,"abstract":"In this paper, we propose nonlinear adaptive speed control under three-phase voltage unbalance of permanent magnet synchronous motors. An adaptive control applied in a-b-c frame dynamics is proposed to compensate three-phase voltage unbalance by different values of resistance. At this method can estimate actual resistances. For velosity tracking, it is proven that the tracking error is globally asymptotically stable via Lyapunov theorem. The proposed method is performed to validate via the simulation.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"24 1","pages":"17-22"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86832484","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987743
Youngjun Joo, Gyunghoon Park
As a robust control scheme, a disturbance observer (DOB) has been widely employed in industrial applications to reject the effect of disturbances and plant uncertainties. The disturbance rejection performance of DOB is mainly determined by the design of two Q-filters, which are the core components of DOB structure. Despite the different roles of each Q-filter, they have been typically designed to have the same structure. In this paper, we generalize Q-filters' structures based on the observation about each Q-filter's objective and derive a robust stability condition for the proposed DOB based control system. In addition, following the generalized Q-filter design scheme, a reduced order type-k DOB is proposed to enhance the disturbance rejection performance and reduce the order of type-k DOB compared with the conventional one. Finally, a constructive Q-filter design procedure for guaranteeing robust stability of the closed-loop system is proposed under parametric uncertainties of plant which belong to an arbitrarily large compact set.
{"title":"Reduced order type-k disturbance observer based on a generalized Q-filter design scheme","authors":"Youngjun Joo, Gyunghoon Park","doi":"10.1109/ICCAS.2014.6987743","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987743","url":null,"abstract":"As a robust control scheme, a disturbance observer (DOB) has been widely employed in industrial applications to reject the effect of disturbances and plant uncertainties. The disturbance rejection performance of DOB is mainly determined by the design of two Q-filters, which are the core components of DOB structure. Despite the different roles of each Q-filter, they have been typically designed to have the same structure. In this paper, we generalize Q-filters' structures based on the observation about each Q-filter's objective and derive a robust stability condition for the proposed DOB based control system. In addition, following the generalized Q-filter design scheme, a reduced order type-k DOB is proposed to enhance the disturbance rejection performance and reduce the order of type-k DOB compared with the conventional one. Finally, a constructive Q-filter design procedure for guaranteeing robust stability of the closed-loop system is proposed under parametric uncertainties of plant which belong to an arbitrarily large compact set.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"441 1","pages":"1211-1216"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"86854066","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 : 2014-12-18DOI: 10.1109/ICCAS.2014.6987909
Fan Jun-fang, Chen Ying, Lin Peng
A novel control evaluation approach for tactical missile is detailed. The characteristics of non-minimum phase and static instability of a tail-controlled tactical missile are presented firstly. Then the frequency-domain controllable analysis is derived. Due to the limitations of traditional stability margins, the vector margin (VM) is introduced and compared with sensitivity function to show their essential relationship. A longitudinal three-loop autopilot is designed to stabilize the non-minimum phase static unstably missile dynamics and used as the baseline for all the tan available linear autopilot topologies given with the identical closed-loop characteristic equation and time-domain step response. Then vector margin method is adopted to compute and evaluate the stability of all available autopilots. The analysis and computation results show that the vector margin method could give better evaluation on system stability.
{"title":"Control analysis for a non-minimum phase static unstably missile","authors":"Fan Jun-fang, Chen Ying, Lin Peng","doi":"10.1109/ICCAS.2014.6987909","DOIUrl":"https://doi.org/10.1109/ICCAS.2014.6987909","url":null,"abstract":"A novel control evaluation approach for tactical missile is detailed. The characteristics of non-minimum phase and static instability of a tail-controlled tactical missile are presented firstly. Then the frequency-domain controllable analysis is derived. Due to the limitations of traditional stability margins, the vector margin (VM) is introduced and compared with sensitivity function to show their essential relationship. A longitudinal three-loop autopilot is designed to stabilize the non-minimum phase static unstably missile dynamics and used as the baseline for all the tan available linear autopilot topologies given with the identical closed-loop characteristic equation and time-domain step response. Then vector margin method is adopted to compute and evaluate the stability of all available autopilots. The analysis and computation results show that the vector margin method could give better evaluation on system stability.","PeriodicalId":6525,"journal":{"name":"2014 14th International Conference on Control, Automation and Systems (ICCAS 2014)","volume":"13 1","pages":"947-952"},"PeriodicalIF":0.0,"publicationDate":"2014-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"84235766","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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