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Adaptive Control of MEMS Gyroscope Using Backstepping Approach |
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Yunmei Fang, Juntao Fei, Yuzheng Yang, Mingang Hua(Hohai University, China) |
| A new adaptive control system for MEMS vibratory gyroscope is presented using the backstepping approach. A dynamic model is established based on Lagrange-Maxwell electromechanical equations. Backstepping approach is used to drive the tracking errors to converge to zero rapidly with global asymptotical stability. Adaptive laws are derived to adapt the value of the parameter estimates and the unknown parameters including the angular rate. Simulation results demonstrate the effectiveness of the proposed control scheme in terms of guaranteed stability and excellent tracking performance. |
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Tuning of PID Controller using Genetic Algorithm for Ball and Hoop System |
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Faizullah Mahar(Balochistan UET , Khuzdar, Pakistan), Ishtiaq Ahmad khan, Muhammad Idrees(Balochistan University of Engineering and Technology, Pakistan), Muhammad Ashraf(Balochistan University of Information Technology and management sciences, Pakistan) |
| Dear Faizullah Mahar,
Your new PDF is ready for the following title:
Source Filename: S 2014 finallast.doc
Title: Tuning of PID Controller Using GA for Ball and Hoop System
Paper ID: 3353839
PDF Filename: 3353839.pdf
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Robust Control of a Quadrotor using Takagi-Sugeno Fuzzy Model and an LMI approach |
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Hyeonbeom Lee, H. Jin Kim(Seoul National University, Republic of Korea) |
| This paper presents robust control for a quadrotor using TS (Takagi-Sugeno) fuzzy model and an LMI approach. TS fuzzy model can provide an effective representation of nonlinear systems with a set of local linear models. We present TS fuzzy model for the quarotor which is composed of local linear models valid in different operation points. Also, a state feedback controller is designed based on LMIs with the pole placementmethod. Simulation results illustrate the more stable tracking performance of the proposed controller in comparison with a conventional LQR controller. |
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Robustness Evaluation for Point-to-Point Positioning Control of A One Mass Rotary System |
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Rozilawati Mohd Nor, Chong Shin Horng(Universiti Teknikal Malaysia Melaka, Malaysia) |
| In this paper, the Continuous Motion (CM) NCTF controller is proposed for a point-to-point (PTP) positioning system of a one mass rotary system. For this system, the CM-NCTF controller is designed based on the conventional structure of NCTF controller and improved. The CM-NCTF controller consists of Nominal Characteristic Trajectory (NCT) and Proportional Integral (PI) compensator. It is designed without knowing exact system modeling and parameter evaluation. The NCT is constructed from open loop responses while the PI compensator is designed based on the constructed-NCT itself. |
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Discrete-Time Takagi-Sugeno Fuzzy Finite Impulse Response Filter |
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Junho Chung, Changjoo Lee, HyunDuck Choi, ChoonKi Ahn, MyoTaeg Lim(Korea University, Republic of Korea) |
| In this research article, a new finite impulse response (FIR) filter for discrete time Takagi-Sugeno (T-S) fuzzy system is proposed to estimate the state of non-linear system. Compared with conventional T-S fuzzy filters which are known to have infinite impulse response (IIR) and require whole data from initial time to the current time to operate, the proposed filter is a FIR filter which guarantees to have robustness to unknown initial data. In addition, the proposed FIR filter satisfies the unbiased condition with the minimum variance error. Simulation result demonstrates that the proposed
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Adaptive Control over Quadcopter UAV under Disturbances |
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Igor Gaponov, Anastasia Razinkova, Hyun-Chan Cho(KoreaTech, Republic of Korea) |
| This paper is concerned with adaptive compensation for position tracking error of quadrotor UAVs. We propose an adaptive compensation scheme which effectively reduces errors in tracking desired position along X- and Y-axis in the presence of constant disturbance. The proposed control strategy is verified through extensive computer simulations. Implementation of the designed adaptive compensator allowed to reduce tracking error by a factor of 3 and can be effectively used in practical quadcopters |
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