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A Filtered-x Scheduled Step-size Active Noise Cancellation Algorithm Considering Implementation |
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Taesu Park(Pohang University of Science and Technology, Korea), Minseon Gwak, Poogyeon Park(POSTECH, Korea) |
| This paper proposes an active noise cancellation algorithm by using adaptive filter. We apply the normalized subband adaptive filter which is one of the adaptive filter algorithm to a filtered-x algorithm. We analyze the mean-square deviation of the NSAF to schedule the step size according to the iteration. The noise cancellation simulation shows that the proposed algorithm performs better than the existing active noise cancellation algorithm using variable step size NSAF without additional calculation. |
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Joint Position Tracking Control of a Two-Link Planar Robot Arm Using Fuzzy Fractional Order Sliding-Mode Strategy |
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Hsiu-Ming Wu(National Taipei University of Technology, Taiwan) |
| In this study, a fuzzy fractional order sliding-mode control (FFOSMC) is proposed for the joint position tracking of a two-link planar robot arm in the presence of external disturbances. First, nonlinear sliding surfaces represented by tracking errors of each joint with fractional order terms are designed. Then, the nonlinear sliding surfaces are asymptotically regulated to zero via the proposed fuzzy inference systems. Once the tracking errors reach to the designed sliding surfaces, tracking errors of each joint converge to zero in finite time. Finally, simulations are conducted to verify the |
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Gliding Trajectory Programming of Guided Projectile Based on Improved L1 Penalty Successive Convex Programming Algorithm |
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Qinghai Wang, Qi Chen, Zhongyuan Wang(NanJing University of Science and Technology, China) |
| This paper proposes an improved L1 penalty successive convex programming algorithm(ILPSCP).
The algorithm introduces the feasibility judgment process , which has the property of avoiding solving the more complex L1 subproblem PL1 when the original subproblem P0 is feasible.
The simulation results of the ILPSCP algorithm are highly consistent with those of GPOPS2, which proves the effectiveness of the proposed ILPSCP algorithm, and the convergence rate of ILPSCP algorithm is improved by 46.36% compared with traditional LPSCP algorithm. |
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The Design of PI with Delayed-Time Integral Mode Controller for Wireless Networked Control System |
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Arjin Numsomran(King Mongkut's Institute of Technology Ladkrabang, Thailand), Warakon Jantapoon, Vittaya Tipsuwanporn(King Mongkut’s Institute of Technology Ladkrabang, Thailand) |
| The problem of delay time and data packet loss in a wireless network control system causes a negative effect on the controller's performance in reference tracking of the process variable. Therefore, this research presents the design of PI with a delayed-time integral mode controller for the wireless networked control system which adds a term of delay time to an integral control in the forward path to compensate for the unnecessary integration of the controller, while supporting the control system to track the reference values continuously and efficiently.The performance tests are implemented in the first-order plus dead time process, a vertical take-off landing (VTOL). |
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A Sliding-mode Control Approach Towards Design of Driving Assistance System for Lane-change Maneuver in Connected Vehicles |
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Uddipan Barooah, Sreelakshmi Manjunath(Indian Institute of Technology Mandi, India) |
| Advanced driver assistance systems (ADAS) that can assist a human driver in performing complicated maneuvers are known to reduce driver stress, enhance safety, and improve road throughput. We approach the design of ADAS, specifically for lane changing in connected vehicles, from a trajectory tracking perspective. In particular, we design a sliding-mode controller that ensures that the dynamics of the subject vehicle (SV) tracks a reference trajectory for safe lane changing, while avoiding collisions with lead vehicles (LVs) in the current and target lanes. The analytical results are corroborated with numerical simulations. It is seen that the proposed controller ensures safe lane changing. |
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On a Proxy-Based Control as Multiple Controllers with Feedback Interconnections |
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Auralius Manurung(Universitas Pertamina, Indonesia), Sigit Santoso(BATAN, Indonesia), Nur Uddin(Universitas Pembangunan Jaya, Indonesia), Lisa Kristiana(Institut Teknologi Nasional Bandung, Indonesia) |
| A proxy-based control, in its core, is two controllers combined in series. This paper presents the fundamental aspects of such a unique control technique. We first establish the main features of a proxy-based control. These features are mainly related to the stability of a controlled system. Additionally, we propose a simple form of a proxy-based control and implement it into a test device for proof of concept. The simple proxy-based control that we propose in this paper is composed of two constant gains (proportional terms) and one integral term to remove the steady-state error. |
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