Global stable tracking control of underactuated ships with input saturation

In this paper, tracking control of underactuated ship in the presence of input saturation is addressed. By dividing the tracking error dynamic system into a cascade of two subsystems, the torques in surge and yaw axes are designed separately using the backstepping technique. More specifically, we design the yaw axis torque in such a way that its corresponding subsystem is finite time stable, which makes it to be de-coupled from the second subsystem after a finite time. This enables us to design the torque in the surge axis independently. It is shown that the closed-loop system is stable and the mean-square tracking errors can be made arbitrarily small by choosing design parameters. Simulation results also verify the effectiveness of the proposed scheme.     

Real-Time Three-Dimensional Occupancy Grid Modeling for the Detection and Tracking of Construction Resources

Awareness of the construction environment can be improved by automatic three-dimensional (3D) sensing and modeling of job sites in real time. Commercially available 3D modeling approaches based on range scanning techniques are capable of modeling static objects only, and thus cannot model dynamic objects in real time in an environment comprised of moving humans, equipment, and materials. Emerging prototype video range cameras offer an alternative by facilitating affordable, wide field of view, dynamic object tracking at frame rates better than 1?Hz (real time). This paper describes a methodology to model, detect, and track the position of static and moving objects in real time, based on data obtained from video range cameras. Experiments with this technology have produced results that indicate that video rate 3D data acquisition and analysis of construction environments can support effective modeling, detection, and tracking of project resources. This approach to job site awareness has inherent value and broad application. In combination with effective management practices and other sensing techniques, this technology has the potential to significantly improve safety on construction job sites.     

红外目标精跟踪方法的研究

本文提出了一种直接把红外前视传感器的输出作为测量值来跟踪红外目标的扩展型卡尔曼滤波跟踪算法。在滤波处理时,设置可变的测量矩阵,其目的在于提高运算速度和抑制噪声干扰。通过具体的实例,对所提跟踪算法的特点和有效性进行了细致的分析。     

无线电测控系统中三元码跟踪双环的研究

本文提出了数字遥测信号与模拟图象信与混合的无线电测控系统中用于捕获和跟踪带钟复合码的跟踪双环方案，分析了双环系统的捕获性能，理论分析和实验结果表明，双环系统不仅捕获时间短，而且具有强的抗干扰能力。     

Energy indicators for tracking sustainability in developing countries

Due to the fact that human activities and most sustainability issues are closely related to energy use, the energy system is a sound framework for providing lead indicators for sustainable development. Common energy-economic models enable the estimation of future states of the energy system. An energy system-based lead indicator set can be used to develop consistent and coherent future indicator estimates and to track sustainability, a clear advantage over existing sets.     

Robustness issues in optimal control of unstable plants

This paper presents a robustness analysis of the optimal solution of the step tracking problem in a one-degree of freedom control architecture, for the discrete-time multivariable (MIMO) case. It is shown that the resulting closed loop becomes arbitrarily fragile, i.e. the sensitivity peak becomes arbitrarily large, for certain reference directions. The cause of this problem is that the optimal controller depends on the reference direction. The paper shows that this dependence can be eliminated with an alternative formulation of the optimal problem where the cost is averaged over all reference directions.     

自由空间光通信终端机中ATP系统设计

自由空间光通信将成为未来通信一种可行且非常具有吸引力的通信手段。光束的捕获、跟踪和对准是自由空间光通信中必须解决的关键技术之一。本文介绍了自由空间光通信终端机中ATP系统的工作原理 ,详细论述了实现ATP系统功能的硬件和软件的设计 ,并给出了该系统性能测试的结果。     

Remarks on the mean square tracking error

The purpose of this paper is to extend recent results of Ljung and Priouret to a more general class of regressors.     

Tracking trajectories of the cart-pendulum system

The problem of tracking a periodic trajectory of the well-known cart-pendulum system is solved. After a change of coordinates and a change of feedback, the equations of this system are nonlinear but feedforward. This property is extensively used to carry out for this system the design of uniformly asymptotically stabilizing time-varying state feedbacks by using the forwarding approach.     

大气光通信PAT子系统指标初步设计分析

分析了跟踪角速度，功率，跟踪精度等因素对大气激光通信系统中瞄准，捕获和跟踪子系统参数选择的影响，给出了波束发散角，扫描角范围，接收视场等主要参数的选择原则，对地面终端光通信系统设计背景提出了瞄准，捕获和跟踪了系统的相应指标。