Robust visual servoing control for quadrotors landing on a moving target

In this paper, a robust visual servoing control approach is proposed to address the landing problem for quadrotors on a moving platform. A vision system is implemented to estimate the position and velocity of the quadrotor. A robust cascade controller is proposed by following backstepping-like fundamentals and robust compensating theory. The effects of time-varying uncertainties, including parameter uncertainties and external disturbances, and time-varying delays resulted from image acquisition, image processing, and sensor measurement delays can be restrained. Experimental results using a quadrotor to land on a ground moving target illustrate the effectiveness of the proposed approach.     

Robust sliding mode guidance and control for soft landing on small bodies

The variable structure control (VSC) with sliding mode is presented to design a tracking control law to ensure the fast and accurate response and robustness of guidance law in this paper. First, the small body dynamic equation is deduced in the landing site coordinate system. Second, the desired trajectory is planned in the condition of safe soft landing constraints. Third, the guidance law based on VSC is designed to track the desired trajectory and succeed in landing on the surface of small body. Finally, the guidance and control algorithm is formed and the effectiveness of algorithm is verified by numerical Monte Carlo simulations.     

Hopf bifurcation and synchronization of a five-dimensional self-exciting homopolar disc dynamo using a new fuzzy disturbance-observer-based terminal sliding mode control

Having found hidden hyperchaos in a 5D self-exciting homopolar disc dynamo, we study the existence of a Hopf bifurcation, which leads to unstable limit cycles bifurcating from a stable equilibrium. Hidden chaos with only stable equilibria can be observed from the Hopf bifurcation: a typical way to enable hidden attractors to be located. We then provide a new fuzzy controller, and a fast fuzzy disturbance observer, based on terminal sliding mode control for synchronization of the hyperchaotic system. Fuzzy inference is considered to weaken the chattering phenomena. Using Lyapunov stability theory, the stability of the closed-loop system is proved. Finally, simulations of synchronization are illustrated to show the efficient performance of the designed control method via external disturbances and dynamic uncertainties.     

Stability and Hopf bifurcation analysis of an eco-epidemiological model with delay

In this paper, an eco-epidemiological model with time delay is considered. The asymptotical stability of the three equilibria, the existence of stability switches about both the disease-free planar equilibrium and the positive equilibrium are investigated. It is found that Hopf bifurcation occurs when the delay τ passes through a critical value. Some explicit formulae determining the stability and the direction of the Hopf bifurcation periodic solutions bifurcating from Hopf bifurcations at the positive equilibrium are obtained by using the normal form theory and center manifold theory. Some numerical simulations for justifying the theoretical analysis are also provided. Finally, biological explanations and main conclusions are given.     

Hopf bifurcation for a predator-prey biological economic system with Holling type II functional response

In this paper, a biological economic system which considers a prey-predator system with Holling type II functional response and harvest effort on prey is proposed. By using the differential-algebraic system theory and Hopf bifurcation theory, Hopf bifurcation of the proposed system is investigated. Different from previous researches on the dynamic behaviors of predator-prey systems, our model is described by differential-algebraic equations due to the economic factor. The economic profit is chosen as a positive bifurcation parameter here. It is found that a phenomenon of Hopf bifurcation occurs as the economic profit increases beyond a certain threshold. Lastly, with the help of Matlab software, numerical simulations are carried out to demonstrate the effectiveness of our results.     

Robust block second order sliding mode control for a quadrotor

This paper presents the design of a controller based on the block control technique combined with the super twisting control algorithm for trajectory tracking of a quadrotor helicopter. A first order exact differentiator is used in order to estimate the virtual control inputs, which simplifies the control law design. In addition, the wind parameter resulting from the aerodynamic forces is also estimated in order to ensure robustness against these unmatched perturbations. The stability and finite time convergence of the exact differentiator have been recently proved by means of Lyapunov functions, and therefore the stability analysis of the proposed controller has been carried out along the same lines. The performance and effectiveness of the proposed controller are tested in a simulation study taking into account external disturbances.     

Robust homography-based visual servo control for a quadrotor UAV tracking a moving target

In this study, a new robust homography-based visual tracking control approach for the quadrotor unmanned aerial vehicle (UAV) is developed. Specifically, employing the homography matrix as feedback, a hierarchical homography-based visual servoing (HBVS) scheme with a new command attitude extraction method to account for the underactuation of UAV is proposed. On this basis, a smooth hyperbolic tangent function is fulfilled as an augmented part of the backstepping control scheme, which guarantees the non-negative total thrust and avoid singularity. Additionally, a cascaded filter-based estimator and adaptive laws with integrable functions are embedded to counteract uncertainties including external perturbations, unknown acceleration of the moving target, and unknown image depth, and to facilitate the system’s asymptotic stability simultaneously. The theoretical analysis testifies that the whole close-loop system is asymptotically stable. Simulations further verify that the proposed HBVS controller can realize the visual tracking with a superior performance.     

Robust cooperative control for a group of mobile robots with quantized information exchange

In this paper we investigate the cooperative tracking control problem with quantized time delay information exchange for a group of wheeled mobile robots networked through a connected graph modeling the underlying communication topology. A cooperative controller is proposed using a combination of backstepping technique, graph theory and neural network radial basis functions. We show, using the small gain theorem, that the states of each mobile robot in the group converge to and remain inside a tube centered around its assigned trajectory to form a desired geometric pattern whose centroid is assumed to move along a predefined trajectory. Experimental results on a group of three mobile robots forming a triangular shape are presented to demonstrate the good performance of the proposed cooperative controller.     

移动虚拟旅游应用模式探讨与实现

文章在对传统虚拟旅游特点进行分析的基础上,提出了移动虚拟旅游的概念及应用模式,借此可将虚拟旅游与现实旅游有机的结合在一起,打通数字化旅游的"最后一公里道路"。这样不仅可以将虚拟旅游的价值发挥到最大,而且可以有效提升旅游资源管理的效率,促进旅游资源的可持续发展,从而达到共赢的目的。     

Robust output Nash strategies based on sliding mode observation in a two-player differential game

This paper tackles the problem of a two-player differential game affected by matched uncertainties with only the output measurement available for each player. We suggest a state estimation based on the so-called algebraic hierarchical observer for each player in order to design the Nash equilibrium strategies based on such estimation. At the same time, the use of an output integral sliding mode term (also based on the estimation processes) for the Nash strategies robustification for both players ensures the compensation of the matched uncertainties. A simulation example shows the feasibility of this approach in a magnetic levitator problem.     

Robust ground moving target detection for airborne radar using a novel feature-based machine learning approach

A novel ground-moving target detection method is introduced using a distinguishing target, and clutter feature for airborne radar. The clutter proximity feature is extracted based on the Euclidean distance between a signal pixel and the expected clutter ridge in the angle-Doppler domain. Subsequently, target and clutter pixels are classified based on the extracted features for target detection without actually removing clutters or clutter estimation. The proposed technique is especially suitable for effective airborne radar target detection in the unknown ground clutter. The experimental results have validated the effectiveness of the new approach, which enables ground moving target detection in inhomogeneous clutter.     

Robust sliding mode control of a DC/DC Boost converter with switching frequency regulation

This paper presents the design of a hysteresis band controller to regulate the switching frequency in a sliding mode controlled nonlinear Boost power converter. The proposed architecture relies on a piecewise linear modeling of the switching function behavior within the hysteresis band, and consists of a continuous-time integral-type controller that modifies the amplitude of the hysteresis band of the comparator in accordance with the error between the desired and the actually measured switching period. The study provides the dynamical models of the converter operating in sliding mode and the switching frequency control loop. Moreover, the design of the parameters of both the sliding mode control and the switching frequency controller guarantee the fulfilment of the desired output voltage regulation of the Boost converter and the steady state setting of the switching frequency with a known, taylored dynamics. A Boost power converter prototype has been built to validate the proposal. Experimental results confirm the predicted good performance of the controllers, as well as the robustness with respect to changes in the switching frequency reference and the system parameters.     

Asymmetry of red blood cell motions in a microchannel with a diverging and converging bifurcation

In microcirculation, red blood cells (RBCs) flowing through bifurcations may deform considerably due to combination of different phenomena that happen at the micro-scale level, such as: attraction effect, high shear, and extensional stress, all of which may influence the rheological properties and flow behavior of blood. Thus, it is important to investigate in detail the behavior of blood flow occurring at both bifurcations and confluences. In the present paper, by using a micro-PTV system, we investigated the variations of velocity profiles of two working fluids flowing through diverging and converging bifurcations, human red blood cells suspended in dextran 40 with about 14% of hematocrit level (14 Hct) and pure water seeded with fluorescent trace particles. All the measurements were performed in the center plane of rectangular microchannels using a constant flow rate of about 3.0 × 10⁻¹² m³/s. Moreover, the experimental data was compared with numerical results obtained for Newtonian incompressible fluid. The behavior of RBCs was asymmetric at the divergent and convergent side of the geometry, whereas the velocities of tracer particles suspended in pure water were symmetric and well described by numerical simulation. The formation of a red cell-depleted zone immediately downstream of the apex of the converging bifurcation was observed and its effect on velocity profiles of RBCs flow has been investigated. Conversely, a cell-depleted region was not formed around the apex of the diverging bifurcation and as a result the adhesion of RBCs to the wall surface was enhanced in this region.     

Finite-time sliding mode control of Markovian jump systems subject to actuator nonlinearities and its application to wheeled mobile manipulator

This work is concerned with the finite-time sliding mode control for a class of Markovian jump systems subject to actuator nonlinearities, where the elements in the transition rate matrix are uncertain or even completely unknown. A suitable sliding mode controller is designed such that the finite-time stochastic boundedness of state trajectories is attained during a given finite-time interval, in which two different robust terms are introduced for the known and unknown modes to deal with the effect of uncertain transition rates. Moreover, the connections among sliding functions under Markovian jumping for SMC systems are analyzed. Finally, some simulation results with a wheeled mobile manipulator are provided.     

Stability and bifurcation control of a delayed fractional-order eco-epidemiological model with incommensurate orders

In this paper, a delayed fractional eco-epidemiological model with incommensurate orders is proposed, and a control strategy of this model is discussed. Firstly, for the system with no controller, the stability and Hopf bifurcation with respect to time delay are investigated. Secondly, under the influence of the controller, the stability and Hopf bifurcation of the system is discussed, and it is indicated that the stability of the system can be changed by increasing the feedback control delay. In particular, a separate study is carried out on the bifurcation with respect to the extended feedback delay, and the bifurcation point is calculated. At last, to support the theoretical results, some numerical simulations are depicted.     

一种移动式辅助装卸搬运工具的设计研制

介绍了物流装卸搬运作业中一种装卸方法,阐述了该方法配套装备的设计特点。