The Serret-Andoyer transformation is a classical method for reducing the free rigid body dynamics... more The Serret-Andoyer transformation is a classical method for reducing the free rigid body dynamics, expressed in Eulerian coordinates, to a 2-dimensional Hamiltonian flow. First, we show that this transformation is the computation, in 3-1-3 Eulerian coordinates, of the symplectic (Marsden-Weinstein) reduction associated with the lifted left-action of SO(3) on T * SO(3)-a generalization and extension of Noether's theorem for Hamiltonian systems with symmetry. In fact, we go on to generalize the Serret-Andoyer transformation to the case of Hamiltonian systems on T * SO(3) with left-invariant, hyperregular Hamiltonian functions. Interpretations of the Serret-Andoyer variables, both as Eulerian coordinates and as canonical coordinates of the co-adjoint orbit, are given. Next, we apply the result obtained to the controlled rigid body with momentum wheels. For the class of Hamiltonian controls that preserve the symmetry on T * SO(3), the closed-loop motion of the main body can again be reduced to canonical form. This simplifies the stability proof for relative equilibria , which then amounts to verifying the classical Lagrange-Dirichlet criterion. Additionally, issues regarding numerical integration of closed-loop dynamics are also discussed. Part of this work has been presented in [16].
This paper proposes an alternative optimization-based EMD based on the notions of: 1. local mean ... more This paper proposes an alternative optimization-based EMD based on the notions of: 1. local mean points that impose mode symmetry via a Tikhonov regularized least-square (RLS) problem, and 2. efficient bootstrap sifting that guarantees asymptotic convergence of the mean envelope to the local mean points, regardless of regularization. Mathematical proof of convergence and a straightforward extension to the 2D-multivariate setting and CIELAB color image sare presented. Performance is demonstrated with a univariate signal and two images. Spectral analysis confirms coordinated feature extraction among image components, and separation of spatial spectra among the intrinsic mode functions.
This paper addresses the dynamic consensus and formation problems of multi-agent systems for both... more This paper addresses the dynamic consensus and formation problems of multi-agent systems for both leader-less and leader-follower cases under fixed and switched topologies. Necessary and/or sufficient conditions are presented in terms of graph topology, detectability, stabilizability, rank condition and Lyapunov inequality constraints. These conditions explicitly reveal how the intrinsic dynamics of the agents and the communication topology affect consensusability and formationability. In addition, several constructive procedures for protocol design are proposed to achieve consensus and formation. In particular, the so-called separation principle is established, which simplifies the design procedure greatly.
Automatica a Journal of Ifac the International Federation of Automatic Control, Oct 1, 2009
In this paper, we present the design and implementation of an autonomous flight control law for a... more In this paper, we present the design and implementation of an autonomous flight control law for a smallscale unmanned aerial vehicle (UAV) helicopter. The approach is decentralized in nature by incorporating a newly developed nonlinear control technique, namely the composite nonlinear feedback control, together with dynamic inversion. The overall control law consists of three hierarchical layers, namely, the kernel control, command generator and flight scheduling, and is implemented and verified in flight tests on the actual UAV helicopter. The flight test results demonstrate that the UAV helicopter is capable of carrying out complicated flight missions autonomously.
A novel H 8 UIO design for actuator FDI in finite frequency domain
Int J Control Autom Syst, 2011
Aeroelastic responses identification of a high-aspect-ratio flexible wing model and its active flutter suppression strategy
57th AIAA/ASCE/AHS/ASC Structures, Structural Dynamics, and Materials Conference, 2016
Autonomous Flight Control Design for a Small-scale Unmanned Helicopter
AIAA Guidance, Navigation, and Control Conference, 2011
Infinite-Dimensional Linearization and Extended Adjoint Method for Nonlinear Homing Loop Analysis
AIAA Guidance, Navigation, and Control Conference and Exhibit, 2003
Simultaneous localization and mapping based on particle filter for sparse environment
2014 International Conference on Mechatronics and Control (ICMC), 2014
Extended blending techniques with applications in robust tracking control and fault-tolerant control
In this paper, we extend the blending technique introduced in [2] to a general case. Different fr... more In this paper, we extend the blending technique introduced in [2] to a general case. Different from, where all the columns of the distribution matrices of the exogenous inputs should be linearly independent of each other, we only require that part of the columns are linearly independent, and the other matrices have full column ranks. Based on this blending technique, we present a novel approach to the robust fault-tolerant control scheme and robust tracking problem. The novelty lies in the fact that we can separately design the controller gains for different performance indices, while simultaneously achieving all the indices via an elegant construction of an overall controller. The design procedure is based on LMI techniques and basic linear algebra tools.
Automated image tracking based on the CAMSHIFT algorithm with adaboost and target trajectory and size estimation
11th IEEE International Conference on Control & Automation (ICCA), 2014
ABSTRACT In order to overcome a shortcoming of traditional CAMSHIFT which requires manual target ... more ABSTRACT In order to overcome a shortcoming of traditional CAMSHIFT which requires manual target designation and object color similarity between frames, this paper proposes an image tracking algorithm by a combination of CAMSHIFT with Adaboost object detection and the Kalman estimator. The proposed method alleviates loss-of-track problems caused by accelerating target motion and color noise. Robustness against occlusion is also improved, while the number of iterations that CAMSHIFT requires is reduced
A SOS-based approach to residual generators for discrete-time polynomial nonlinear systems
2007 46th IEEE Conference on Decision and Control, 2007
This paper mainly discusses the residual generation problem for discrete-time polynomial nonlinea... more This paper mainly discusses the residual generation problem for discrete-time polynomial nonlinear systems with unknown inputs. By employing state-dependent polynomial Lyapunov functions, sufficient conditions for fault detection using lscr2-gain performance indices are presented in terms of nonlinear matrix inequalities (NMIs). We show that those NMIs can be solved by the recently developed technique named sum of squares (SOS), which essentially
FDI of disturbed nonlinear systems: A nonlinear UIO approach with SOS techniques
2010 IEEE Conference on Cybernetics and Intelligent Systems, 2010
ABSTRACT This paper presents a novel unknown input observer (UIO) design method for fault detecti... more ABSTRACT This paper presents a novel unknown input observer (UIO) design method for fault detection and isolation (FDI) of a class of nonlinear affine systems with disturbance. By using Lie geometry and sum-of-squares (SOS) theory as the main tools, a simple and systematic design procedure is proposed. Compared with the traditional UIO design, the rank constraint is much relaxed. Meanwhile, we show that the threshold can be easily obtained from a L2 gain result using a SOS formulation.
Joint aerodynamics and electromagnetics design of S-shaped intake using proper orthogonal decomposition method
2008 IEEE Antennas and Propagation Society International Symposium, 2008
... Jun-Mei Zhang, Chao-Fu Wang, and Kai-Yew Lum ... The design process combines the key techniqu... more ... Jun-Mei Zhang, Chao-Fu Wang, and Kai-Yew Lum ... The design process combines the key techniques of shape parameterization using Hicks-Henne functions, design of experiments (DOE), computational fluid dynamics (CFD) simulation, EM simulation, and proper orthogonal ...
Identification of a Hammerstein model for wing flutter analysis using CFD data and correlation method
Proceedings of the 2010 American Control Conference, 2010
ABSTRACT A correlation approach for the identification of a Hammerstein model of unsteady aerodyn... more ABSTRACT A correlation approach for the identification of a Hammerstein model of unsteady aerodynamics using CFD data is presented. The main idea is to use correlation functions of the input-output processes as data for the identification problem. It is shown in a numerical example of the AGARD 445.6 wing that the proposed method can more accurately approximate the linear aerodynamic response, which is needed for a first-order prediction of wing flutter boundaries.
A fault detection and diagnosis scheme for discrete nonlinear system using output probability density estimation
2008 IEEE International Conference on Automation and Logistics, 2008
Parameter estimation of ARX/NARX model: a neural network based method
Proceedings of the 9th International Conference on Neural Information Processing, 2002. ICONIP '02., 2002
ABSTRACT
S-Shaped Inlet Design Optimization Using the Adjoint Equation Method
42nd AIAA/ASME/SAE/ASEE Joint Propulsion Conference & Exhibit, 2006
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