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A re-configuring sliding-mode controller with a ustable robustness
(Pergamon-Elsevier Science Ltd, 2004)
In this paper a controller design method for underwater vehicles is presented which is based on re-configuration of a sliding-mode controller in case of disturbances caused by shallow water conditions. The disturbance ...
Optimal input design for the detection of changes towards unknown hypotheses
(Taylor & Francis Ltd, 2004)
The effects of auxiliary input signals on detecting changes in ARMAX processes via statistical tests are discussed. Two extensions to the Cumulative Sum Test are considered. The first is applicable when the direction of ...
Nonuniform sampling for detection of abrupt changes
(Birkhauser Boston Inc, 2003)
In this work detection of abrupt changes in continuous-time linear stochastic systems and selection of the sampling interval to improve the detection performance are considered. Cost functions are proposed to optimize both ...
Navigation of autonomous mobile robots in connected groups
(IEEE, 2008)
The navigation of autonomous mobile robots as a group is considered in this paper. Definitions adopted from the graph theory are given to characterize the robot group. A local steering strategy is proposed such that when ...
On preserving connectivity of autonomous mobile robots
(IEEE, 2009)
The connectivity of the autonomous mobile robots is considered in this paper. The group navigation is provided using simple local steering rules and without any explicit communication. Sub-optimal solutions are invoked to ...
Zero-crossing based demodulation of minimum shift keying
(2003)
Minimum shift keying (MSK) modulation has features such as constant envelope compact spectrum and good error performance which are all desirable in many digital applications including mobile radio. Numerous receiver ...
Sliding mode controller solution for the shallow submerged operation ok a submarine
(IFAC Secretariat, 2003)
In this paper a submarine controller is presented which can accommodate the sea wave effects on a submarine a(shallow water operation. Sliding mode method is implemented in a way that the robustness of the controller ...
Active reconfigurable control of a submarine with indirect adaptive control
(2003)
An indirect adaptive controller is designed for submersibles. The design is developed using a linearized MIMO model of a submarine. Standard recursive least squares estimation method is used to estimate the parameters. ...
Fault tolerant control with re-configuring sliding-mode schemes
(2005)
In this paper a controller design method for linear MIMO systems is presented which a sliding mode controller is reconfigured in case of system faults. Faults are detected with the residual vector generated from a standard ...