References of "Voos, Holger 50003283"
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See detailNonlinear protocols for distributed consensus in directed networks of dynamic agents
Li, Yumei UL; Voos, Holger UL; Darouach, Mohamed

in Journal of the Franklin Institute (2015), 352(9), 3645-3669

This paper deals with the distributed consensus problem of multi-agent systems. While existing work mainly considers the design of linear protocols, we derive nonlinear protocols for directed networks of ... [more ▼]

This paper deals with the distributed consensus problem of multi-agent systems. While existing work mainly considers the design of linear protocols, we derive nonlinear protocols for directed networks of dynamic agents with fi xed and switched topologies, respectively. The obtained nonlinear protocols have the same effectiveness as the existing linear protocols, however they can satisfy the input constraints of real world physical systems, as well as the state value restrictions of agents, which ensure the smooth communication of the whole network and the correct data transmission among agents under the limited bandwidth. In contrast to most existing approaches that commonly use the Lyapunov function theory in order to prove the consensus problem, simple and effective mathematical methods are developed here for this purpose. Based on the equivalent in fi nitesimal functions and differentials as well as linear approximations as comparatively simple mathematical tools, we prove that the distributed consensus is asymptotically reachable and derive the group decision values. For balanced topology structures, these nonlinear protocols in particular guarantee that the agents asymptotically reach an average-consensus. Furthermore, the obtained protocols relax the constraints on the communication links among the agents. Finally, simulations comprising the vertical alignment maneuver of a team of unmanned aerial vehicles (UAVs) and the phase synchronization of three oscillators are studied, respectively. The simulation results underline that the developed nonlinear protocols are effective and feasible for distributed consensus in directed networks of dynamic multi-agent systems. [less ▲]

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See detailContact-State Modelling in Force-Controlled Robotic Peg-in-Hole Assembly Processes of Flexible Objects Using Optimised Gaussian Mixtures
Jasim, Ibrahim UL; Plapper, Peter UL; Voos, Holger UL

in Proceedings of the Institution of Mechanical Engineers, Part B: Journal of Engineering Manufacture (2015)

This article proposes the distribution similarity measure–based Gaussian mixtures model for the contact-state (CS) modelling in force-guided robotic assembly processes of flexible rubber parts. The wrench ... [more ▼]

This article proposes the distribution similarity measure–based Gaussian mixtures model for the contact-state (CS) modelling in force-guided robotic assembly processes of flexible rubber parts. The wrench (Cartesian force and torque) signals of the manipulated object are captured for different states of the given assembly process. The distribution similarity measure–based Gaussian mixtures model CS modelling scheme is employed in modelling the captured wrench signals for different CSs. The proposed distribution similarity measure–based Gaussian mixtures model CS modelling scheme uses the Gaussian mixtures model in modelling the captured signals. The parameters of the Gaussian mixtures models are computed using expectation maximisation. The optimal number of Gaussian mixtures model components for each CS model is determined by considering the classification success rate as an index for the similarity measure between the distribution of the captured signals and the developed models. The optimal number of Gaussian mixtures model components corresponds to the highest classification success rate; hence, object elasticity variation would be accommodated by properly choosing the optimal number of Gaussian mixtures model components. The performance of the proposed distribution similarity measure–based Gaussian mixtures model CS modelling strategy is evaluated by a test stand composed of a KUKA lightweight robot doing peg-in-hole assembly processes for flexible rubber objects. Two rubber objects with different elasticity are considered for two experiments; in the first experiment, an elastic peg of 30 Shore A hardness is considered and that of the second experiment has hardness of 6 Shore A which is even softer than the one used in experiment 1. Employing the proposed distribution similarity measure–based Gaussian mixtures model CS modelling strategy excellent classification success rate was obtained for both experiments. However, more Gaussian mixtures model components are required for the softer one that gives a strong impression of the non-stationarity behaviour increment for softer materials. Comparison is performed with the available CS modelling schemes and the distribution similarity measure–based Gaussian mixtures model is shown to provide the best classification success rate performance with a reduced computational time. [less ▲]

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See detailAdaptive sliding mode fuzzy control for unknown robots with arbitrarily-switched constraints
Jasim, Ibrahim UL; Plapper, Peter UL; Voos, Holger UL

in Mechatronics (2015), 30C

This article addresses the control problem of robots with unknown dynamics and arbitrarily-switched unknown constraints. Such kind of robots will be shown to be unknown hybrid systems with arbitrary ... [more ▼]

This article addresses the control problem of robots with unknown dynamics and arbitrarily-switched unknown constraints. Such kind of robots will be shown to be unknown hybrid systems with arbitrary switching and an Adaptive Sliding Mode Fuzzy Control (ASMFC) strategy is proposed that handles the unknown dynamics of the robot along with the unknown constraints arbitrary switching. The ASMFC is a synergy of finding a Common Lyapunov Function (CLF) between the resulted switched subsystems of the considered robots, employing the Fuzzy Logic Systems (FLS), and the use of the Sliding Mode Control (SMC). The CLF accommodates the constraints arbitrary switching, the SMC adds robustness against possible parameters drift, and the FLS approximates the unknown robot dynamics. All unknown parameters are adapted online and all closed loop signals are guaranteed to be bounded. The proposed strategy is validated by conducting an experiment on a KUKA Lightweight Robot (LWR) doing a typical force-guided peg-in-hole assembly task that falls in the category of robot systems under consideration. Excellent tracking performance is obtained when using the ASMFC strategy. Comparison is conducted with the performance of a PD controller that is widely used in commanding industrial robots and the superiority of the proposed strategy is shown. [less ▲]

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See detailGlucose-Insulin Minimal Model Augmented: Identification and Validation
Aguilera Gonzalez, Adriana UL; Voos, Holger UL; Darouach, Mohamed

in AMCA Congreso Nacional de Control Automatico 2015, Guernavaca, Mexico, 2015 (2015)

In this paper a new mathematical model of the glucose-insulin system is presented. The proposed model represents Type 1 Diabetes Mellitus patients and seeks to give a suitable model of the malfunction of ... [more ▼]

In this paper a new mathematical model of the glucose-insulin system is presented. The proposed model represents Type 1 Diabetes Mellitus patients and seeks to give a suitable model of the malfunction of the pancreas. Based on the classic minimal model, this new approach takes into account the description of the glucose dynamic in the subcutaneous layer and a meal disturbance term, together with an additional term that represents the insulin injections, which make this proposal a more realistic approach. Virtual data from UVA/Padova T1DMS software are used for rst evaluations of the effectiveness of the proposed model. [less ▲]

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See detailDecentralized Dynamic Observer-Based Control for Large Scale Nonlinear Uncertain Systems
Gao, Nan; Darouach, Mohamed; Alma, Marouane et al

in American Control Conference ACC 2015, Chicago, USA (2015)

The objective of this paper is to propose a decentralized control for a class of large scale uncertain systems. These systems consist of interconnected subsystems where the nonlinear interconnections are ... [more ▼]

The objective of this paper is to propose a decentralized control for a class of large scale uncertain systems. These systems consist of interconnected subsystems where the nonlinear interconnections are quadratic bounded. The proposed control is based on a new form of dynamic observer (DO) and the popular used proportional observer (PO) and proportional integral observer (PIO) are only particular cases of it. The control method is derived from the solution of linear matrix inequalities (LMIs), on the basis of the algebraic constraints obtained from the analysis of estimation error. A numerical example is provided to illustrate the effectiveness of the proposed method. [less ▲]

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See detailAn Approach for a Distributed World Model with QoS-Based Perception Algorithm Adaptation
Blumenthal, Sebastian; Hochgeschwender, Nico; Prassler, Erwin et al

in 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, Hamburg, Germany, 2015 (2015)

This paper presents a distributed world model that is able to adapt to changes in the Quality of Service (QoS) of the communication layer by online reconfiguration of perception algorithms. The approach ... [more ▼]

This paper presents a distributed world model that is able to adapt to changes in the Quality of Service (QoS) of the communication layer by online reconfiguration of perception algorithms. The approach consists of (a) a mechanism for storage, exchange and processing of world model data and (b) a feedback loop that incorporates reasoning techniques to adapt to QoS changes immediately. The latter introduces a Level of Detail (LoD) metric based on a spatial resolution in order to infer an upper bound for the amount of data that can be transmitted without violating an application specific transmission delay. [less ▲]

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See detailH-infinity Adaptive Observer Design and Parameter Identification for a Class of Nonlinear Fractional-Order Systems
N'Doye, Ibrahima; Voos, Holger UL; Laleg-Kirati, Taous-Meriem et al

in 53rd IEEE Conference Decision and Control, CDC’14, Los Angeles, USA, 15-17 Dec. 2014 (2014, December)

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See detailH-infinity dynamic observer design for linear time invariant systems
Gao, Nan; Darouach, Mohamed; Voos, Holger UL et al

in 2014 IEEE 53rd Annual Conference on Decision and Control (CDC), Los Angeles, USA (2014, December)

This paper proposes an H-infinity dynamic observer (DO) for a class of linear time invariant (LTI) systems in the presence of disturbances. It generalizes the existing results on the proportional observer ... [more ▼]

This paper proposes an H-infinity dynamic observer (DO) for a class of linear time invariant (LTI) systems in the presence of disturbances. It generalizes the existing results on the proportional observer (PO), the proportional integral observer (PIO) and the DO. The design method is derived from a new formulation of linear matrix inequality (LMI), based on the solutions of the algebraic constraints obtained from the unbiasedness conditions of the estimation error. A numerical example is provided to show the applicability and performances of our observer. [less ▲]

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See detailPosition Identification in Force-Guided Robotic Peg-in-Hole Assembly Tasks
Jasim, Ibrahim UL; Plapper, Peter UL; Voos, Holger UL

in Procedia CIRP (2014), 22

Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated ... [more ▼]

Position uncertainty is inevitable in many force-guided robotic assembly tasks. Such uncertainty can cause a significant delay, extra energy expenditure, and may even results in detriments to the mated parts or the robot itself. This article suggests a strategy for identifying the accurate hole position in force-guided robotic peg-in-hole assembly tasks through employing only the captured wrench (the Cartesian forces and torques) signals of the manipulated. In the framework of using the Contact-State (CS) modeling for such robotic tasks, the identification of the hole position is realized through detecting the CS that corresponds for the phase of the peg-on-hole, that is the phase in which the peg is located precisely on the hole. Expectation Maximization-based Gaussian Mixtures Model (EM-GMM) CS modeling scheme is employed in detecting the CS corresponding for the peg-on-hole phase. Only the wrench signals are used in modeling and detecting the phases of the assembly process. The considered peg-in-hole assembly process starts from free space and as soon as the peg touches the environment with missing the hole, a spiral search path is followed that would survey the whole environment surface. When the CS of the peg-on-hole is detected, the hole position is identified. Experiments are conducted on a KUKA Lightweight Robot (LWR) doing typical peg-in-hole assembly tasks. Multiple hole positions are considered and excellent performance of the proposed identification strategy is shown. [less ▲]

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See detailH∞ decentralized dynamic-observer-based control for large-scale uncertain nonlinear systems
Gao, Nan; Darouach, Mohamed; Alma, Marouane et al

in IEEE Int. Conf. on Control, Decision and Information Technologies (CoDIT), Metz, France, 3-5 Nov. 2014 (2014, November)

In this paper an H∞ decentralized observer-based control is proposed for large-scale uncertain nonlinear systems. These systems are coupled by N interconnected subsystems where the interconnections ... [more ▼]

In this paper an H∞ decentralized observer-based control is proposed for large-scale uncertain nonlinear systems. These systems are coupled by N interconnected subsystems where the interconnections satisfy the quadratic constraints. The proposed control is based on a new form of dynamic observer (DO) which generalizes the existing results on the proportional observer (PO) and the proportional integral observer (PIO). The design approach is derived from the solution of matrix inequality and based on the algebraic constraints obtained from the analysis of the estimation error. A numerical example is provided to show the effectiveness of the proposed control. [less ▲]

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See detailAdaptive Control of Aerial Manipulation Vehicle
Kannan, Somasundar UL; Alma, Marouane; Olivares Mendez, Miguel Angel UL et al

in Porceedings of the 4th IEEE INTERNATIONAL CONFERENCE ON CONTROL SYSTEM, COMPUTING AND ENGINEERING (2014, November)

Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling ... [more ▼]

Adaptive Control of an Aerial Manipulation Vehicle is discussed here. The aerial manipulation vehicle consisting of a quadrotor and a robotic arm has a highly coupled dynamics. The nonlinear coupling introduces additional forces and moments on the quadrotor which prevents it from precisely hovering at a position and tracking of reference trajectory. A decentralized control of robotic arm and quadrotor is considered. The robotic arm is controlled by a PID approach with acceleration feedback, and the quadrotor is controlled by PD method in the inner loop and adaptive position control in the outer loop. The proposed method successfully handles the problem of hover stabilization and trajectory tracking. [less ▲]

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See detailA Stochastic Cyber-Attack Detection Scheme for Stochastic Control Systems Based on Frequency-Domain Transformation Technique
Li, Yumei UL; Voos, Holger UL; Darouach, Mohamed

in Au, Man ho (Ed.) International Conference on Network and System Security, NSS 2014, Xi'An, China, 15-17 October 2014 (2014, October 15)

Based on frequency-domain transformation technique, this paper proposes an attack detection scheme for stochastic control systems under stochastic cyber-attacks and disturbances. The focus is on designing ... [more ▼]

Based on frequency-domain transformation technique, this paper proposes an attack detection scheme for stochastic control systems under stochastic cyber-attacks and disturbances. The focus is on designing an anomaly detector for the stochastic control systems. First, we construct a model of stochastic control system with stochastic cyber-attacks which satisfy the Markovian stochastic process. And we also introduced the stochastic attack models that a control system is possibly exposed to. Next, based on the frequency-domain transformation technique and linear algebra theory, we propose an algebraic detection scheme for a possible stochastic cyber-attack. We transform the detector error dynamic equation into an algebraic equation. By analyzing the rank of the stochastic matrix E(Q (z0)) in the algebraic equation, residual information is obtained and anomalies in the stochastic system are detected. In addition, sufficient and necessary conditions guaranteeing the detectability of the stochastic cyber-attacks are obtained. The presented detection approach in this paper is simple, straightforward and more ease to implement. Finally, the results are applied to some physical systems that are respectively subject to a stochastic data denial-of-service (DoS) attack and a stochastic data deception attack on the actuator. The simulation results underline that the detection approach is efficient and feasible in practical application. [less ▲]

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See detailFahrerassistenzsystem zur vorausschauenden energieeffizienten Geschwindigkeitsregelung speziell für Elektrofahrzeuge
Schwickart, Tim Klemens UL; Voos, Holger UL

in Tagungsband VDI Tagung Fahrerassistenzsysteme (2014, October 14)

Eines der größten Probleme heutiger Elektrofahrzeuge ist nach wie vor die limitierte Reichweite, die fast ausschließlich auf die technisch begrenzte Akkukapazität zurückgeführt werden kann. Baldige ... [more ▼]

Eines der größten Probleme heutiger Elektrofahrzeuge ist nach wie vor die limitierte Reichweite, die fast ausschließlich auf die technisch begrenzte Akkukapazität zurückgeführt werden kann. Baldige substanzielle Fortschritte im Bereich der Akku-Technologie sind fragwürdig und eine Effizienzsteigerung des Fahrzeuges selbst ist durch bereits jetzt sehr hohe Wirkungsgrade (ca. 85 %) kaum mehr möglich. Ein lohnendes Feld zur Reichweitenverlängerung ist jedoch der Fahrstil selbst - hier verschwenden ungeübte oder unbewusste Fahrer einen großen Teil an Energie durch eine nicht vorausschauende Fahrweise, die beispielsweise zu vermeidbaren Bremsmanövern führt. In neuesten Elektrofahrzeugen wie dem e-Golf wurde dies bereits in ers-ten Ansätzen berücksichtigt. So kann der Fahrer dort zwischen verschiedenen Modi auswählen (z.B. Eco-Modus, Eco-Plus-Modus), hierbei wird jedoch lediglich die Fahrleistung an sich ge-drosselt und damit ein geringerer Energieverbrauch erreicht. In diesem Beitrag wird ein speziell auf Elektrofahrzeuge zugeschnittenes Fahrerassistenzsystem zur optimierungsbasierten vorausschauenden und energieeffizienten Geschwindigkeitsregelung vorgestellt. Basierend auf einem dynamischen Modell des Energieverbrauchs des Fahrzeugs, Informationen zur zukünftigen Fahrstrecke aus Karten (elektronischer Horizont) und In-formationen zu anderen Verkehrsteilnehmern (etwa durch Radar-Abstandsmessung zum vo-rausfahrenden Fahrzeug) kann das Fahrzeugverhalten durch Lösung eines Optimalsteuerungs-problems so geplant werden, dass sich für einen geeignet gewählten Prädiktionshorizont der beste Kompromiss aus Energieverbrauch und Fahrgeschwindigkeit ergibt. Nach dem Prinzip der Modellprädiktiven Regelung wird dieses Optimalsteuerungsproblem in jedem Zeitschritt ak-tualisiert und erneut gelöst. Die Besonderheit des vorgestellten Systems ist hierbei die spezielle Formulierung des Optimal-steuerungsproblems. Durch eine Koordinatentransformation wird die Fahrzeugbewegung mittels der kinetischen Energie des Fahrzeugs anstelle der Geschwindigkeit beschrieben. Weiterhin wird durch eine konvexe stückweise lineare Approximation des Verbrauchskennfelds eine besonders günstige mathematische Problemformulierung in Form eines quadratischen Programms mit linearen Beschränkungen erreicht. Dies ermöglicht im Gegensatz zu den meisten nichtlinearen Optimalsteuerungsansätzen eine Lösung in Echtzeit und mit garantierter Konvergenz. Zur experimentellen Validierung wird dieses Fahrerassistenzsystem aktuell für einen Smart Electric Drive realisiert. Dazu wurde das dynamische Energieverbrauchsmodell des Smart-ED in umfangreichen Prüfstandversuchen identifiziert und das Fahrzeug zur Realisierung der Assistenzfunktion technisch umgerüstet. [less ▲]

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See detailNetwork Design for Distributed Model-Based Fault Detection and Isolation
Rosich, Albert; Voos, Holger UL; Pan, Lin UL

in IEEE Multi-Conference on Systems and Control, MSC 2014 (2014, October 08)

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See detailExponential Synchronization for a New Class of Complex Dynamical Network with PIPC and Hybrid TVD
Pan, Lin UL; Voos, Holger UL; Darouach, Mohamed

in IEEE Multi-Conference on Systems and Control, MSC 2014 (2014, October 08)

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See detailA Real-Time Implementable Model-Predictive Cruise Controller for Electric Vehicles and Energy-Efficient Driving
Schwickart, Tim Klemens UL; Voos, Holger UL; Darouach, Mohamed

in IEEE Multi-Conference on Systems and Control (MSC), Antibes, France, Oct. 2014 (2014, October)

This paper presents a novel energy-efficient model-predictive cruise control formulation for electric vehicles. The controller and the underlying dynamic model are designed to meet the properties of a ... [more ▼]

This paper presents a novel energy-efficient model-predictive cruise control formulation for electric vehicles. The controller and the underlying dynamic model are designed to meet the properties of a series-production electric vehicle whose characteristics are identified by measurements. A predictive eco-cruise controller involves the minimisation of a compromise between terms related to driving speed and energy consumption which are in general both described by nonlinear differential equations. In this work, a coordinate transformation is used which leads to a linear differential motion equation without loss of information. The energy consumption map is approximated by the maximum of a set of linear functions which is implicitly determined in the optimisation problem. The reformulations finally lead to a model-predictive control approach with quadratic cost function, linear prediction model and linear constraints that corresponds to a piecewise linear system behaviour and allows a fast real-time implementation with guaranteed convergence. Simulation results of the MPC controller in closed-loop operation finally show the effectiveness of the approach. [less ▲]

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See detailDeclarative Specification of Robot Perception Architectures
Hochgeschwender, Nico; Schneider, Sven; Voos, Holger UL et al

in Int. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR), Bergamo, Italy, Oct. 2014 (2014, October)

Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing re ... [more ▼]

Service robots become increasingly capable and deliver a broader spectrum of services which all require a wide range of perceptual capabilities. These capabilities must cope with dynamically changing re- quirements which make the design and implementation of a robot percep- tion architecture a complex and tedious exercise which is prone to error. We suggest to specify the integral parts of robot perception architec- tures using explicit models, which allows to easily configure, modify, and validate them. The paper presents the domain-specific language RPSL, some examples of its application, the current state of implementation and some validation experiments. [less ▲]

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See detailA Multilayer Software Architecture for Safe Autonomous Robots
Gribov, Vladislav UL; Voos, Holger UL

in Proceedings of 19th IEEE International Conference on Emerging Technologies and Factory Automation, Barcelona, Spain, 16-19 Sept. 2014 (2014, September)

In this paper a safety-oriented model based software architecture for robotic solutions is proposed. The main focus herein is to consider aspects such as real-time, het- erogeneity, deployment, modeling ... [more ▼]

In this paper a safety-oriented model based software architecture for robotic solutions is proposed. The main focus herein is to consider aspects such as real-time, het- erogeneity, deployment, modeling and analysis of emerging effects as well as functional safety and to combine all aspects into an overall development approach. The architecture shall capture the complexity caused by the autonomy and mobility of the robot and support the developer with a suitable chain of evidence especially suited for the safety relevant functions. A use case comprising a lightweight robotic manipulator which will be integrated in a mobile service robot underlines the feasibility of this approach. [less ▲]

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See detailV-REP & ROS Testbed for Design, Test, and Tuning of a Quadrotor Vision Based Fuzzy Control System for Autonomous Landing
Olivares Mendez, Miguel Angel UL; Kannan, Somasundar UL; Voos, Holger UL

in Porceedings of The International Micro Air Vehicle Conference and Competition 2014 (2014, August)

This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control ... [more ▼]

This paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) working in parallel for design, test, and tuning of a vision based control system to command an Unmanned Aerial Vehicle (UAV). Here, is presented how to configure the V-REP, and ROS to work in parallel, and how to use the developed packages in ROS for the pose estimation based on vision and for the design and use of a fuzzy logic control system. It is also shown in this paper a novel vision based fuzzy control approach for the autonomous landing task on a static and on a moving platform. The control system is based on four fuzzy logic controllers (FLC) working in parallel on an external control loop based on the visual information. All the controllers were designed and tuned to command the vertical, longitudinal, lateral, and heading velocities of the UAV. [less ▲]

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See detailUncertainty Quantification of Group Synchronization and Control of a New Class of Adaptive Complex Dynamical Network with Brownian Motion and Time-varying Delay
Pan, Lin UL; Voos, Holger UL; Darouach, Mohamed

in Control Conference (CCC), 2014 33rd Chinese (2014, July 28)

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