Autor: Angelov, J. - Katalog OPAC zbiorów

Skocz do pozycji: 1.

Tytuł:: Adaptive fault-tolerant position control of a hexacopter subject to an unknown motor failure
Autorzy:: Falconí, G. P.
Angelov, J.
Holzapfel, F.
Powiązania:: https://bibliotekanauki.pl/articles/329742.pdf
Data publikacji:: 2018
Wydawca:: Uniwersytet Zielonogórski. Oficyna Wydawnicza
Tematy:: adaptive control
fault tolerant control
fault recovery
MAV flight dynamics
MAV flight control
sterowanie adaptacyjne
sterowanie tolerujące uszkodzenia
usuwanie błędu
Opis:: This paper presents a fault tolerant position tracking controller for a hexarotor system. The proposed controller has a cascaded structure composed of a position and an attitude control loop. The nominal controller is augmented by an adaptive control allocation which compensates for faults and failures within the propulsion system without reconfiguration of the controller. Simultaneously, it is able to implement a degraded control strategy which prioritizes specific control directions in the case of extreme degradation. The main contribution is a controller that is a step closer to application scenarios by including outdoor GPS-based flight tests, onboard computation and the handling of unknown degradation and failure of any rotor.
Źródło:: International Journal of Applied Mathematics and Computer Science; 2018, 28, 2; 309-321
1641-876X
2083-8492
Pojawia się w:: International Journal of Applied Mathematics and Computer Science
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 2.

Tytuł:: Intelligent leader-follower behaviour for unmanned ground-based vehicles
Autorzy:: Sadeghi-Tehran, P.
Andreu, J.
Angelov, P.
Zhou, X.
Powiązania:: https://bibliotekanauki.pl/articles/384970.pdf
Data publikacji:: 2011
Wydawca:: Sieć Badawcza Łukasiewicz - Przemysłowy Instytut Automatyki i Pomiarów
Tematy:: leader-following robot
human-robot interaction
evolving Takagi-Sugeno
Opis:: In this paper an autonomous leader-follower is presented and tested in an unknown and unpredictable environment. Three different types of controller named as First principles-based proportional (P) controller, Fuzzy Logic Controller, and Model-based Predictive Controller are developed and tested in real-time to provide a smooth following behaviour. The follower used the leader's status sent by a smart phone to differentiate between obstacles and the leader and then using two types of sensor, laser and sonar, during the obstacle avoidance procedure. In order to identify the leader again out of many obstacles around, two alternative techniques are proposed using superposition of the scans collected by the laser and predicting the leader's trajectory using evolving Takagi- Sugeno (eTS). At the end, experiments are presented with a real-time mobile robot at Lancaster University.
Źródło:: Journal of Automation Mobile Robotics and Intelligent Systems; 2011, 5, 1; 36-46
1897-8649
2080-2145
Pojawia się w:: Journal of Automation Mobile Robotics and Intelligent Systems
Dostawca treści:: Biblioteka Nauki

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Skocz do pozycji: 3.

Tytuł:: Optical Pattern Fabrication in Amorphous Silicon Carbide with High-Energy Focused Ion Beams
Autorzy:: Tsvetkova, T.
Takahashi, S.
Sellin, P.
Gomez-Morilla, I.
Angelov, O.
Dimova-Malinovska, D.
Zuk, J.
Powiązania:: https://bibliotekanauki.pl/articles/1503892.pdf
Data publikacji:: 2011-07
Wydawca:: Polska Akademia Nauk. Instytut Fizyki PAN
Tematy:: 41.75.Ak
42.70.Ln
68.37.Uv
73.61.Jc
Opis:: Topographic and optical patterns have been fabricated in a-SiC films with a focused high-energy (1 MeV) $H^{+}$ and $He^{+}$ ion beam and examined with near-field techniques. The patterns have been characterized with atomic force microscopy and scanning near-field optical microscopy to reveal local topography and optical absorption changes as a result of the focused high-energy ion beam induced modification. Apart of a considerable thickness change (thinning tendency), which has been observed in the ion-irradiated areas, the near-field measurements confirm increases of optical absorption in these areas. Although the size of the fabricated optical patterns is in the micron-scale, the present development of the technique allows in principle writing optical patterns up to the nanoscale (several tens of nanometers). The observed values of the optical contrast modulation are sufficient to justify the efficiency of the method for optical data recording using high-energy focused ion beams.
Źródło:: Acta Physica Polonica A; 2011, 120, 1; 56-59
0587-4246
1898-794X
Pojawia się w:: Acta Physica Polonica A
Dostawca treści:: Biblioteka Nauki

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