Control of robot-camera system with actuator's dynamics to track moving object

This study presents a solution to the control of robot–camera system with actuator's dynamics to track a moving object where many uncertain parameters exist in the system’s dynamics. After modeling and analyzing the system, this paper suggests a new control method using an on-line learning neural network in closed-loop to control the Pan-Tilt platform that moves the Camera to keep track an unknown moving object. The control structure based on the image feature error determines the necessary rotational velocities on the Pan joint and Tilt joint and computes the voltage controlling the DC motor in joints such that the object image should always be at the center point in the image plane. The global asymptotic stability of the closed-loop is proven by the Lyapunov direct stability theory. Simulation results on Matlab show the system tracking fast and stable

Finite time Control of Chaotic Cellular Neural Network with Uncertain Parameters

Abstract This paper solved the problem of control chaotic cellular neural network with finite time and the uncertain parameters. Non-linear control law is designed to ensure achieving the desired state in finite time. Theoretical results are demonstrated by strict Lyapunov stability theory. Simulation results performed on Matlab environment shows the effectiveness of proposed control law. Mathematics Subject Classification: 34H10, 34H15, 37D45, 37K45, 68Q0

Adaptive Synchronization of Chaotic SC-CNN with Uncertain State Template

The problem of synchronization of chaotic State Controlled Cellular Neural Network (SC-CNN) with uncertain state template is investigated. In detail, the following three cases are solved: firstly, synchronization of two identical chaotic SC-CNNs with uncertain state template, secondly, synchronization of two nonidentical chaotic SC-CNNs with all uncertain state templates, and, thirdly, synchronization between chaotic SC-CNN with uncertain state template and different uncertain parameter chaotic systems. The controllers and update laws proposed in each case are proved closely based on Lyapunov stability theory. In addition, some illustrative corresponding examples are presented to demonstrate the effectiveness and usefulness of the proposed control laws

Đo tự động nồng độ clor trong nước

For controlling a quality of water, an automatical apparatus for measuring density of clor in the water is constructed and tested. This apparatus functionates on the basis of optoelectrical principle. It can functionato auto maticall and semi-automatically. The measuring process of the apparatus is controlled by a system of mP. The measuring result is displayed in the display and is printed in the teletype. An acoustic alarm is signalired when the measuring result lies over the value determinate