Nowadays, the chattering problem in sliding mode control is one of the most important points to consider in real-time applications. To address this problem, a real-time robust altitude control scheme is proposed for the efficient performance of a Quad-rotor aircraft system using a continuous sliding mode control. The sensing of altitude measurement sensing is performed by a pressure sensor in order to obtain a robust altitude control of the vehicle in hovering mode both indoor and outdoor. The altitude measurement has the advantage of introducing this state information directly in the closed loop control which should be very useful for achieving robust stabilization of the altitude control. Accordingly, we propose a sliding mode control strategy without chattering. The sliding mode control proposed removes the chattering phenomenon by replacing a sign function with a high-slope saturation function. The control algorithm is derived from the Lyapunov stability theorem. Moreover, we have assumed that the actuators are able to respond quickly and accurately and we have not enforced limits on the control signals for a real-time application. Finally, to verify the satisfactory performance of proposed nonlinear control law, several simulations and experimental results of the Chattering-free sliding mode control for the Quad-rotor aircraft in the presence of bounded disturbances are presented. 相似文献
This work addresses the problem of fault detection and diagnosis (FDD) for a quad-rotor mini air vehicle (MAV). Actuator faults are considered on this paper. The basic idea behind the proposed method is to estimate the faults signals using the extended state observers theory. To estimate the faults, a polynomial observer (Aguilar et al. 2011; Mata-Machuca et al., Commun Nonlinear Sci Numer Simul 15(12):4114–4130, 2010, BioSystems 100(1):65–69, 2010) is presented by using the available measurements and know inputs of the system. In order to investigate the diagnosability properties of the system, a differential algebra approach is proposed (Cruz-Victoria et al., J Frankl Inst 345(2):102–118, 2008; and Martinez-Guerra and Diop, IEE P-Contr Theor Ap 151(1):130–135, 2004). The effectiveness of the methodology is illustrated by means of numerical simulations. 相似文献
Abstract. Three linear methods for estimating parameter values of vector auto-regressive moving-average (VARMA) models which are in general at least an order of magnitude faster than maximum likelihood estimation are developed in this paper. Simulation results for different model structures with varying numbers of component series and observations suggest that the accuracy of these procedures is in most cases comparable with maximum likelihood estimation. Procedures for estimating parameter standard error are also discussed and used for identification of nonzero elements in the VARMA polynomial structures. These methods can also be used to establish the order of the VARMA structure. We note, however, that the primary purpose of these estimates is to generate initial estimates for the nonzero parameters in order to reduce subsequent computational time of more efficient estimation procedures such as exact maximum likelihood. 相似文献
In this paper, we present a novel method to predict human motion, seeking to combine the advantages of both data-based and knowledge-based motion prediction methods. Our method relies on a database of captured motions for reference and introduces knowledge in the prediction in the form of a motion control law, which is followed while resembling the actually performed reference motion. The prediction is carried out by solving an optimization problem in which the following conditions are imposed to the motion: must fulfill the goals of the task; resemble the reference motion selected from the database; follow a knowledge-based dynamic motion control law; and ensure the dynamic equilibrium of the human model, considering its interactions with the environment. In this work, we apply the proposed method to a database of clutch pedal depression motions, and we present the results for three predictions. The method is validated by comparing the results of the prediction to motions actually performed in similar conditions. The predicted motions closely resemble the motions in the validation database and no significant differences have been noted either in the motion’s kinematics or in the motion’s dynamics. 相似文献
AbstractSewage treatment can be classified into three phases: liquid, gaseous, and solid. Treatment of solids is performed in several steps, and the greatest difficulty in removing water from sewage sludge is due to the bound water present in the sludge. Thus, biodrying, a drying method that can be classified as biological, has been recently applied to treat this type of waste. This review paper aims to report and compile data from 49 biodrying assays of sewage sludge found in the literature (through the present, 2019) into one synthesis table, to discuss and compare the numerous variables found in these papers and their implications for biodrying, and to suggest possibilities for future research. This paper additionally intends to improve knowledge of biodrying and to consequently contribute to the monitoring and understanding of the process. 相似文献
The role of La2O3 loading in Pd/Al2O3-La2O3 prepared by sol–gel on the catalytic properties in the NO reduction with H2 was studied. The catalysts were characterized by N2 physisorption, temperature-programmed reduction, differential thermal analysis, temperature-programmed oxidation and temperature-programmed desorption of NO.
The physicochemical properties of Pd catalysts as well as the catalytic activity and selectivity are modified by La2O3 inclusion. The selectivity depends on the NO/H2 molar ratio (GHSV = 72,000 h−1) and the extent of interaction between Pd and La2O3. At NO/H2 = 0.5, the catalysts show high N2 selectivity (60–75%) at temperatures lower than 250 °C. For NO/H2 = 1, the N2 selectivity is almost 100% mainly for high temperatures, and even in the presence of 10% H2O vapor. The high N2 selectivity indicates a high capability of the catalysts to dissociate NO upon adsorption. This property is attributed to the creation of new adsorption sites through the formation of a surface PdOx phase interacting with La2O3. The formation of this phase is favored by the spreading of PdO promoted by La2O3. DTA shows that the phase transformation takes place at temperatures of 280–350 °C, while TPO indicates that this phase transformation is related to the oxidation process of PdO: in the case of Pd/Al2O3 the O2 uptake is consistent with the oxidation of PdO to PdO2, and when La2O3 is present the O2 uptake exceeds that amount (1.5 times). La2O3 in Pd catalysts promotes also the oxidation of Pd and dissociative adsorption of NO mainly at low temperatures (<250 °C) favoring the formation of N2. 相似文献
In previous work, Nescolarde-Selva and Usó-Doménech (2014aNescolarde-Selva, J. and J. L. Usó-Doménech. “Semiotic Vision of Ideologies.” Found Sci 19 (2014a): 263–282.[Crossref], [Web of Science ®], [Google Scholar], b) discussed the theory that complex belief systems have a topological structure. In this article it is suggested that this structure is also fuzzy. We introduce the concepts of fuzzy sets in the context of beliefs (substantive and derived), and between derived beliefs themselves. Also introduced are the concepts of fuzzy covering and fuzzy invariance and the relationships between them. 相似文献
With the advent of low-cost 3D sensors and 3D printers, scene and object 3D surface reconstruction has become an important research topic in the last years. In this work, we propose an automatic (unsupervised) method for 3D surface reconstruction from raw unorganized point clouds acquired using low-cost 3D sensors. We have modified the growing neural gas network, which is a suitable model because of its flexibility, rapid adaptation and excellent quality of representation, to perform 3D surface reconstruction of different real-world objects and scenes. Some improvements have been made on the original algorithm considering colour and surface normal information of input data during the learning stage and creating complete triangular meshes instead of basic wire-frame representations. The proposed method is able to successfully create 3D faces online, whereas existing 3D reconstruction methods based on self-organizing maps required post-processing steps to close gaps and holes produced during the 3D reconstruction process. A set of quantitative and qualitative experiments were carried out to validate the proposed method. The method has been implemented and tested on real data, and has been found to be effective at reconstructing noisy point clouds obtained using low-cost 3D sensors. 相似文献
Participation is the cornerstone of any community. Promoting, understanding and properly managing it allows not only keeping the community sustainable, but also providing personalized services to its members and managers. This article presents a case study in which student participation in a course community was motivated using two different extrinsic mechanisms, and mediated by a software platform. The results were compared with a baseline community of the same course, in which participation was not motivated by external means. The analysis of these results indicates that managing a partially virtual course community requires the introduction of monitoring services, community managers and extrinsic mechanisms to motivate participation. These findings allow community managers to improve their capability for promoting participation and keeping the community sustainable. The findings also raise several implications that should be considered in the design of software supporting this kind of community, when managing the participation of its members. 相似文献