25,423 research outputs found
MIMO First and Second Order Discrete Sliding Mode Controls of Uncertain Linear Systems under Implementation Imprecisions
The performance of a conventional model-based controller significantly
depends on the accuracy of the modeled dynamics. The model of a plant's
dynamics is subjected to errors in estimating the numerical values of the
physical parameters, and variations over operating environment conditions and
time. These errors and variations in the parameters of a model are the major
sources of uncertainty within the controller structure. Digital implementation
of controller software on an actual electronic control unit (ECU) introduces
another layer of uncertainty at the controller inputs/outputs. The
implementation uncertainties are mostly due to data sampling and quantization
via the analog-to-digital conversion (ADC) unit. The failure to address the
model and ADC uncertainties during the early stages of a controller design
cycle results in a costly and time consuming verification and validation (V&V)
process. In this paper, new formulations of the first and second order discrete
sliding mode controllers (DSMC) are presented for a general class of uncertain
linear systems. The knowledge of the ADC imprecisions is incorporated into the
proposed DSMCs via an online ADC uncertainty prediction mechanism to improve
the controller robustness characteristics. Moreover, the DSMCs are equipped
with adaptation laws to remove two different types of modeling uncertainties
(multiplicative and additive) from the parameters of the linear system model.
The proposed adaptive DSMCs are evaluated on a DC motor speed control problem
in real-time using a processor-in-the-loop (PIL) setup with an actual ECU. The
results show that the proposed SISO and MIMO second order DSMCs improve the
conventional SISO first order DSMC tracking performance by 69% and 84%,
respectively. Moreover, the proposed adaptation mechanism is able to remove the
uncertainties in the model by up to 90%.Comment: 10 pages, 11 figures, ASME 2017 Dynamic Systems and Control
Conferenc
Adaptive Discrete Second Order Sliding Mode Control with Application to Nonlinear Automotive Systems
Sliding mode control (SMC) is a robust and computationally efficient
model-based controller design technique for highly nonlinear systems, in the
presence of model and external uncertainties. However, the implementation of
the conventional continuous-time SMC on digital computers is limited, due to
the imprecisions caused by data sampling and quantization, and the chattering
phenomena, which results in high frequency oscillations. One effective solution
to minimize the effects of data sampling and quantization imprecisions is the
use of higher order sliding modes. To this end, in this paper, a new
formulation of an adaptive second order discrete sliding mode control (DSMC) is
presented for a general class of multi-input multi-output (MIMO) uncertain
nonlinear systems. Based on a Lyapunov stability argument and by invoking the
new Invariance Principle, not only the asymptotic stability of the controller
is guaranteed, but also the adaptation law is derived to remove the
uncertainties within the nonlinear plant dynamics. The proposed adaptive
tracking controller is designed and tested in real-time for a highly nonlinear
control problem in spark ignition combustion engine during transient operating
conditions. The simulation and real-time processor-in-the-loop (PIL) test
results show that the second order single-input single-output (SISO) DSMC can
improve the tracking performances up to 90%, compared to a first order SISO
DSMC under sampling and quantization imprecisions, in the presence of modeling
uncertainties. Moreover, it is observed that by converting the engine SISO
controllers to a MIMO structure, the overall controller performance can be
enhanced by 25%, compared to the SISO second order DSMC, because of the
dynamics coupling consideration within the MIMO DSMC formulation.Comment: 12 pages, 7 figures, 1 tabl
Adaptive Differential Feedback in Time-Varying Multiuser MIMO Channels
In the context of a time-varying multiuser multiple-input-multiple-output
(MIMO) system, we design recursive least squares based adaptive predictors and
differential quantizers to minimize the sum mean squared error of the overall
system. Using the fact that the scalar entries of the left singular matrix of a
Gaussian MIMO channel becomes almost Gaussian distributed even for a small
number of transmit antennas, we perform adaptive differential quantization of
the relevant singular matrix entries. Compared to the algorithms in the
existing differential feedback literature, our proposed quantizer provides
three advantages: first, the controller parameters are flexible enough to adapt
themselves to different vehicle speeds; second, the model is backward adaptive
i.e., the base station and receiver can agree upon the predictor and variance
estimator coefficients without explicit exchange of the parameters; third, it
can accurately model the system even when the correlation between two
successive channel samples becomes as low as 0.05. Our simulation results show
that our proposed method can reduce the required feedback by several kilobits
per second for vehicle speeds up to 20 km/h (channel tracker) and 10 km/h
(singular vector tracker). The proposed system also outperforms a fixed
quantizer, with same feedback overhead, in terms of bit error rate up to 30
km/h.Comment: IEEE 22nd International Conference on Personal, Indoor and Mobile
Radio Communications (2011
Hierarchically Clustered Adaptive Quantization CMAC and Its Learning Convergence
No abstract availabl
Distributed video coding for wireless video sensor networks: a review of the state-of-the-art architectures
Distributed video coding (DVC) is a relatively new video coding architecture originated from two fundamental theorems namely, Slepian–Wolf and Wyner–Ziv. Recent research developments have made DVC attractive for applications in the emerging domain of wireless video sensor networks (WVSNs). This paper reviews the state-of-the-art DVC architectures with a focus on understanding their opportunities and gaps in addressing the operational requirements and application needs of WVSNs
Perceptually-Driven Video Coding with the Daala Video Codec
The Daala project is a royalty-free video codec that attempts to compete with
the best patent-encumbered codecs. Part of our strategy is to replace core
tools of traditional video codecs with alternative approaches, many of them
designed to take perceptual aspects into account, rather than optimizing for
simple metrics like PSNR. This paper documents some of our experiences with
these tools, which ones worked and which did not. We evaluate which tools are
easy to integrate into a more traditional codec design, and show results in the
context of the codec being developed by the Alliance for Open Media.Comment: 19 pages, Proceedings of SPIE Workshop on Applications of Digital
Image Processing (ADIP), 201
A Novel Rate Control Algorithm for Onboard Predictive Coding of Multispectral and Hyperspectral Images
Predictive coding is attractive for compression onboard of spacecrafts thanks
to its low computational complexity, modest memory requirements and the ability
to accurately control quality on a pixel-by-pixel basis. Traditionally,
predictive compression focused on the lossless and near-lossless modes of
operation where the maximum error can be bounded but the rate of the compressed
image is variable. Rate control is considered a challenging problem for
predictive encoders due to the dependencies between quantization and prediction
in the feedback loop, and the lack of a signal representation that packs the
signal's energy into few coefficients. In this paper, we show that it is
possible to design a rate control scheme intended for onboard implementation.
In particular, we propose a general framework to select quantizers in each
spatial and spectral region of an image so as to achieve the desired target
rate while minimizing distortion. The rate control algorithm allows to achieve
lossy, near-lossless compression, and any in-between type of compression, e.g.,
lossy compression with a near-lossless constraint. While this framework is
independent of the specific predictor used, in order to show its performance,
in this paper we tailor it to the predictor adopted by the CCSDS-123 lossless
compression standard, obtaining an extension that allows to perform lossless,
near-lossless and lossy compression in a single package. We show that the rate
controller has excellent performance in terms of accuracy in the output rate,
rate-distortion characteristics and is extremely competitive with respect to
state-of-the-art transform coding
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