Bilinear System Identification Using Subspace Method

In this paper, a subspace identification method for bilinear systems is used . Wherein a " three-block " and " four-block " subspace algorithms are used. In this algorithms the input signal to the system does not have to be white . Simulation of these algorithms shows that the " four-block " gives fast convergence and the dimensions of the matrices involved are significantly smaller so that the computational complexity is lower as a comparison with " three-block " algorithm

Improving Leader-Follower Formation Control Performance for Quadrotors

This thesis aims to improve the leader-follower team formation flight performance of Unmanned Aerial Vehicles (UAVs) by applying nonlinear robust and optimal techniques, in particular the nonlinear H_infinity and the iterative Linear Quadratic Regulator (iLQR), to stabilisation, path tracking and leader-follower team formation control problems. Existing solutions for stabilisation, path tracking and leader-follower team formation control have addressed a linear or nonlinear control technique for a linearised system with limited disturbance consideration, or for a nonlinear system with an obstacle-free environment. To cover part of this area of research, in this thesis, some nonlinear terms were included in the quadrotors' dynamic model, and external disturbance and model parameter uncertainties were considered. Five different controllers were developed. The first and the second controllers, the nonlinear suboptimal H_infinity control technique and the Integral Backstepping (IBS) controller, were based on Lyapunov theory. The H_infinity controller was developed with consideration of external disturbance and model parameter uncertainties. These two controllers were compared for path tracking and leader-follower team formation control. The third controller was the Proportional Derivative square (PD2), which was applied for attitude control and compared with the H_infinity controller. The fourth and the fifth controllers were the Linear Quadratic Regulator (LQR) control technique and the optimal iLQR, which was developed based on the LQR control technique. These were applied for attitude, path tracking and team formation control and there results were compared. Two features regarding the choice of the control technique were addressed: stability and robustness on the one hand, which were guaranteed using the H_infinity control technique as the disturbance is inherent in its mathematical model, and the improvement in the performance optimisation on the other, which was achieved using the iLQR technique as it is based on the optimal LQR control technique. Moreover, one loop control scheme was used to control each vehicle when these controllers were implemented and a distributed control scheme was proposed for the leader-follower team formation problem. Each of the above mentioned controllers was tested and verified in simulation for different predefined paths. Then only the nonlinear H_infinity controller was tested in both simulation and real vehicles experiments

A pre-trained model vs dedicated convolution neural networks for emotion recognition

Facial expression recognition (FER) is one of the most important methods influencing human-machine interaction (HMI). In this paper, a comparison was made between two models, a model that was built from scratch and trained on FER dataset only, and a model previously trained on a data set containing various images, which is the VGG16 model, then the model was reset and trained using FER dataset. The FER+ data set was augmented to be used in training phases using the two proposed models. The models will be evaluated (extra validation) by using images from the internet in order to find the best model for identifying human emotions, where Dlib detector and OpenCV libraries are used for face detection. The results showed that the proposed emotion recognition convolutional neural networks (ERCNN) model dedicated to identifying human emotions significantly outperformed the pre-trained model in terms of accuracy, speed, and performance, which was 87.133% in the public test and 82.648% in the private test. While it was 71.685% in the public test and 67.338% in the private test using the proposed VGG16 pre-trained model

PITTMAN MOTOR CONTROL USING NEURAL NETWORKS

Neural networks are well-suited for the modeling and control of complex physical systems because of their ability to handle complex input-output mapping without detailed analytical model of the systems . In this paper internal model control associated with proportional gain is used to control the system implemented with two neural networks , model of the system and inverse mode

Integral Backstepping Controller for UAVs Team Formation

In this chapter, two controllers are investigated for stabilisation, path tracking and leader-follower team formation. The first controller is a PD2 implemented for attitude stability. The second controller is an Integral Backstepping IBS control algorithm presented for the path tracking and leader-follower team formation problems of quadrotors. This nonlinear control technique divide the control into two loops, the inner loop is for the attitude stabilisation and the outer loop is for the position control. The dynamic model of a quadrotor is represented based on Euler angles representation and includes some modelled aerodynamical effects as a nonlinear part. The IBS controller is designed for the translational part to track the desired trajectory and to track the leader quadrotor by the followers. Stability analysis is achieved via a suitable Lyapunov function. The external disturbance and model parameters uncertainty are considered in the simulation tests. The proposed controllers yielded good results in terms of Root Mean Square Error RMSE values, time-consumption, disturbance rejection and model parameter uncertainties change coverage

Enhancement Methods for Energy Consumption Prediction in Smart House based on Machine Learning

Energy efficiency in modern homes has recently become a significant issue due to the emergence of smart home infrastructure. Numerous public structures, such as homes, hospitals, schools, and other institutions, use more energy. To come close to meeting the actual energy demand, it is crucial that we create as much energy as we can. Machine learning has various advantages for improving the effectiveness and efficiency of smart home systems and appliances, including managing and lowering energy use. Additionally, as a key component of the smart home idea, we explore the potential integration of machine learning-based on some algorithm methodologies ways to improve power energy consumption system and control. The models were used to identify patterns for smart home and variations in energy consumption. This study's conclusions were used to analyze case studies and forecast energy consumption. Detection Change (of used and generation) for all appliances, which excessive foresees energy use and stops a rise in usage. Predict Future Energy use by using meteorological data and maximizing the supply of energy to forecast future energy generation and use. Finally, using five machine learning algorithms, including the Linear Regression (LR), Gradient Boosting Regression (GBoostR), Decision Tree Regression (DTR), Stochastic Gradient Descent Regression (SGDR), and Bayesian Ridge Regression (BRR), we can measure the Mean Absolute Error (MAE), Mean Squared Error (MSE), Root Mean Absolute Error (RMAE), and Root Mean Squared Percentage Error (RMSPE), in order to determine how well models